Adaptive motion synergy underactuated variable-damping bionic manipulator and robot
By designing an underactuated variable damping bionic manipulator with adaptive motion coordination, the rapid engagement and disengagement of the fingers are achieved by utilizing a damping screw drive pair and a magnetohydrodynamic piezoresistive bearing. This solves the structural redundancy and control complexity problems of existing bionic manipulators, and enhances the ability to effectively grasp objects of different shapes and interact with the environment.
CN118204999BActive Publication Date: 2026-06-23TONGJI UNIV
Patent Information
- Application Number
- CN202410521945.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-28
- Publication Date
- 2026-06-23
- Estimated Expiration
- 2044-04-28
Smart Images
Figure CN118204999B_ABST
Abstract
The application provides a self-adaptive motion cooperative underactuated variable-damping bionic manipulator and robot in the technical field of bionic artificial limb and robot, which comprises a palm plate, a damping screw rod transmission pair, a finger, a motor, a gear transmission pair and a bevel gear transmission pair, the finger is connected with the damping screw rod transmission pair, the damping screw rod transmission pair is connected with the gear transmission pair, the gear transmission pair is connected with the bevel gear transmission pair, the bevel gear transmission pair is connected with one motor, and the damping screw rod transmission pair, the motor, the gear transmission pair and the bevel gear transmission pair are connected with the palm plate respectively; the motor drives the bevel gear transmission pair to rotate, the bevel gear transmission pair drives the gear transmission pair to rotate, and the damping screw rod transmission pair drives the finger to do push-pull motion through the gear transmission pair. The application realizes the control of multi-finger parallel cooperative motion freedom under single driving force input, effectively improves the compliant grasping of the manipulator to objects with different shapes and the energy utilization efficiency, and widens the multi-target application scene of the manipulator.
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Citation Information
Patent Citations
Under-actuated prosthetic hand capable of reproducing hand grasping function
CN104382674A
Magnetorheological fluid indirect-adaptive underactuation robot finger device
CN104802177A