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Dexterous hand tendon rope driving unit, driving device and bionic dexterous hand

A rope-driven, tendon-rope technology, applied in the field of robotics, can solve problems such as the difficulty of stabilizing the joint rotation posture of the bionic dexterous hand, and achieve the effect of stable and fine control and realization of posture

Active Publication Date: 2022-05-27
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a dexterous hand tendon rope driving unit, a driving device and a bionic dexterous hand, which are used to solve or improve the problem that the existing tendon rope traction mechanism is difficult to stably and finely control the rotation posture of the upper joints of the bionic dexterous hand

Method used

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  • Dexterous hand tendon rope driving unit, driving device and bionic dexterous hand

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Embodiment Construction

[0036] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] Combine below Figure 1-Figure 11 Describe a dexterous hand tendon cord driving unit, driving device and bionic dexterous hand of the present invention.

[0038] like figure 1 and figure 2 As shown, the present embodiment provides a dexterous tendon cord driving unit, and the smart hand tendon cord driving unit 11 includes: a tendon cord driving module 111 , a tendon cord tensioning module 112 , a first ...

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Abstract

The invention provides a dexterous hand tendon rope driving unit, a driving device and a bionic dexterous hand. The dexterous hand tendon rope driving unit comprises a tendon rope driving module, a tendon rope tensioning module, a first tendon rope and a second tendon rope. The tendon rope driving module comprises a first mounting seat, a driving motor, a first guide wheel, a second guide wheel, a first force measuring element and a second force measuring element; one end of the first tendon rope is wound on a driving shaft of the driving motor, and the other end of the first tendon rope sequentially bypasses the first guide wheel and the tendon rope tensioning module and is connected with a joint of the bionic dexterous hand; one end of the second tendon rope is wound on a driving shaft of the driving motor, and the other end of the second tendon rope sequentially passes through the second guide wheel and the tendon rope tensioning module and is connected with the joint; the first force measuring element is used for detecting the tension on the first tendon rope, and the second force measuring element is used for detecting the tension on the second tendon rope. According to the bionic dexterous hand joint, the lengths of the first tendon rope and the second tendon rope can be conveniently and accurately adjusted, so that the rotating posture of the bionic dexterous hand joint is stably and finely controlled.

Description

technical field [0001] The invention relates to the technical field of robotics, in particular to a dexterous hand tendon rope driving unit, a driving device and a bionic dexterous hand. Background technique [0002] With the continuous exploration of the natural world by humans, the working space is becoming increasingly dangerous and complex. However, the traditional end manipulators have problems such as poor versatility, less freedom and low flexibility, and can no longer replace humans to complete sophisticated and complex operation tasks. With the continuous development of robot design and manufacturing, drive control and intelligent perception technology, in order to achieve refined operation, the bionic dexterous hand came into being. Here, in order to ensure that the bionic dexterous hand can perform various grasping actions finely, the dexterous hand drive device, as a key component of the bionic dexterous hand, puts forward higher requirements for its design. [...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J18/00
CPCB25J9/104B25J18/00
Inventor 王瑛璐王鹏张天懿郝高明沈晓飞
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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