Bionic manipulator driving structure and driving method

Abstract

The invention discloses a bionic manipulator driving structure. The driving structure is characterized in that five finger assemblies are connected with a palm assembly, and the palm assembly is connected with a small arm; a small arm framework is formed by butt joint of two frameworks of hollow structures, and a plurality of clamping positions are arranged in the frameworks and used for correspondingly installing grooved wheels and fixing guide pipes; and a finger steering engine and a wrist swing steering engine are arranged in the hollow structures of the small arm framework, a finger traction rope and a wrist swing traction rope penetrate through respective traction rope pipelines, one end of the finger traction rope is connected with a finger tail end knuckle, the other end of the finger traction rope is connected with the finger steering engine through the grooved wheels, one end of the wrist swing traction rope is connected with wrist swing grooved wheels, the other end of the wrist swing traction rope is connected with the wrist swing steering engine, and a wrist rotating motor is arranged at the rear end of the small arm. A high-torque motor can be selected to the maximum extent, the wrist swings through hinge joint, the small arm rotates backwards, so that the wrist is simple in structure, and the cost is reduced; through the cross array layout of the steering engines, the space is effectively utilized, and the finger load is greatly improved; and the guide pipes are flexibly arranged, and the space of the small arm is fully utilized.

Description

technical field [0001] The invention relates to a driving structure and a driving method of a bionic manipulator, belonging to the field of robots. Background technique [0002] Existing bionic manipulators that can imitate all-round movements of human fingers and wrists, due to consideration of the wrist swing and rotation mechanism, the main layout is to place the micro motor in the narrow space between the palm and fingers, which makes the structure complex and the torque is not large, and the load capacity is weak. Poor practicality. Contents of the invention [0003] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a bionic manipulator driving structure as flexible and powerful as a human hand, and provides its driving method. [0004] In order to achieve the above-mentioned technical purpose, the technical solution adopted by the present invention is: a bionic manipulator drive structure, including five finger as...

AI Technical Summary

Problems solved by technology

[0002] Existing bionic manipulators that can imitate all-round movements of human fingers and wrists, due to consideration of the wrist swing and rotation mechanism, the main layout is to place the micro motor in the narrow space between the palm and fingers, which makes the structure complex and the torque is not large, and the load capacity is weak. Poor practicality

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