Bionic tension and compression body two degrees of freedom mechanical wrist

A degree of freedom and mechanical wrist technology, applied in the field of bionic robots, can solve the problems of motion and flexibility of human wrists, achieve high safety, and improve the effect of output torque and speed

Active Publication Date: 2022-03-04
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for the mechanical wrists that are closely related to the performance of the manipulator, many of them adopt a simple serial pin design, which cannot achieve the mobility and flexibility close to the human wrist.

Method used

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  • Bionic tension and compression body two degrees of freedom mechanical wrist
  • Bionic tension and compression body two degrees of freedom mechanical wrist
  • Bionic tension and compression body two degrees of freedom mechanical wrist

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] Such as figure 1 , figure 2 and image 3 As shown, a bionic tension-compression two-degree-of-freedom mechanical wrist is composed of a distal arm 1, a wrist 2 and a palm 3, wherein the bones are connected by ligaments 4 and driven by a motor 6 through tendons 5;

[0026] Described tendon 5 comprises radial side flexor tendon 51, radial side extensor tendon 52, ulnar side flexor tendon (53) and ulnar side extensor tendon 54;

[0027] Described motor 6 comprises first motor 61, second motor 62, the 3rd motor 63 and the 4th motor 64:

[0028] The distal arm 1 includes the distal portion of the radius 11 and the ulna 12, the distal radial joint of which is fused and fixed;

[0029] Described wrist 2 is made up of near row carpal bone 21 and far row carpal bone 22; Near row carpal bone 21 comprises scaphoid bone 211, lunate bone 212, triangular bone 213 and lentiform bone 214; Far row carpal bone 22 comprises trapezoid bone 221, Small trapezium 222, capitate bone 223, ...

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Abstract

A two-degree-of-freedom mechanical wrist with bionic tension and compression body, including the distal arm, wrist and palm; the 3D printed skeleton is connected by 21 braided artificial ligaments to form a bionic mechanical wrist composed of the radiocarpal joint and the middle wrist joint, which is responsible for The 7 ligaments constraining the range of motion of the wrist joint are adjustable in length, and are driven by motors through 4 artificial tendons to achieve extension, flexion, abduction and adduction. The mechanical wrist can imitate the two degrees of freedom of the human wrist, and both of them are actively driven, which realizes the mobility and flexibility close to the human wrist, and has high safety. The movement of the wrist bone can further improve the output torque and output torque of the wrist joint. speed.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a highly flexible bionic tension-compression two-degree-of-freedom mechanical wrist based on the human skeletal muscle system. Background technique [0002] In recent decades, in order to simulate the functions of human hands, many research institutions at home and abroad have achieved outstanding results in the design and control of humanoid manipulators. However, for the mechanical wrists closely related to the performance of the manipulator, many of them adopt a simple serial pin design, which cannot achieve the mobility and flexibility close to the human wrist. Contents of the invention [0003] In order to solve the above existing problems, the present invention proposes a two-degree-of-freedom mechanical wrist of a bionic tension-compression body. [0004] A bionic tension-compression two-degree-of-freedom mechanical wrist, consisting of a distal arm, wrist and pal...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J9/10B25J17/02
CPCB25J15/0009B25J9/1075B25J17/02
Inventor 任雷樊航冰魏国武钱志辉
Owner JILIN UNIV
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