Mechanical palm, manipulator and robot

Abstract

The embodiment of the invention discloses a mechanical palm which comprises a palm, a thumb, an index finger, a middle finger, a ring finger and a little finger, wherein the palm comprises a palm shell and five linear motors arranged on the palm shell, the thumb, the index finger, the middle finger, the ring finger and the little finger are installed on the palm shell, and the five linear motors are connected with the thumb, the index finger, the middle finger, the ring finger and the little finger correspondingly, control the thumb to rotate towards the center of the palm and control the index finger, the middle finger, the ring finger and the little finger to conduct grabbing actions towards the palm correspondingly. The thumb, the index finger, the middle finger, the ring finger and the little finger are each connected with one linear motor, each finger is controlled by one linear motor to achieve multiple degrees of freedom, and the problem that a full-drive dexterous hand needs too many drivers in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical palm, a mechanical hand and a robot. Background technique [0002] The hand is an extension of human consciousness and an irreplaceable part of the human body. With the continuous development of robot technology, the humanoid dexterous hand has become one of the research hotspots in the field of robotics. At the same time, the dexterous hand is the most sophisticated and complex part of a humanoid robot. The main difficulty lies in not only integrating the mechanical structure, drive, and electrical system in a limited space, but also ensuring sufficient grasping force, grasping accuracy and A relatively rich library of gestures and gestures. Since the development of humanoid dexterous hand technology, the existing dexterous hands are mainly divided into fully-actuated dexterous hands and under-actuated dexterous hands. The number of actuators of the fully-actuated...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the present invention provides a mechanical palm, a mechanical hand and a robot, which are used to solve the problem that the full-drive dexterous hand in the prior art needs too many drivers

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