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A robot and anthropomorphic technology, applied in the direction of manipulators, claw arms, chucks, etc., can solve the problems of the appearance of the human hand, the number of fingers, the number of joint degrees of freedom, and the large difference in movement flexibility, etc., and achieve light weight, easy control, and small size. Effect
Inactive Publication Date: 2005-12-14
TSINGHUA UNIV
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Its disadvantages are: the hand actually has only 2 fingers, its index finger has only 2 joints, and the whole hand has only 4 joint degrees of freedom. These are different from human hands in terms of appearance, number of fingers, joint degrees of freedom, and flexibility Larger mean difference
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[0069] The content of the specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0070] The appearance of an embodiment of a robot anthropomorphic multi-fingered hand device designed by the present invention is as follows: figure 1 , 2 , 3, mainly including palm 1, thumb 2, index finger 3, middle finger 4, ring finger 5, little finger 6, thumb base joint body 7, four finger base joint body 8; the profile of the whole device is similar to that of a human hand. The detailed structural diagram of this embodiment is as follows Figure 4 , 5 shown. Said thumb 2 includes thumb root knuckle 21, thumb end underactuated joint 214, thumb end knuckle 24; said index finger 3, middle finger 4, ring finger 5 and little finger 6 all include root knuckle and middle underactuated joint , middle phalanx, terminal underactuated joint, terminal phalanx; said index finger, midd...
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Abstract
The robot anthropomorphic multi-fingered hand device relates to a mechanical finger device, which mainly includes a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger, a joint body at the base of the thumb, and a joint body at the base of the four fingers. The index finger, middle finger, ring finger, and little finger all include root phalanx, middle underactuated joint, middle phalanx, terminal underactuated joint, and terminal phalanx, respectively. The index finger, middle finger, ring finger and little finger are respectively socketed on the same four-finger root joint body and connected with the palm. The base joint body of the thumb and the base joint body of the four fingers are active joints driven by motors, and the middle underactuated joints, end underactuated joints and thumb end underactuated joints of the index finger, middle finger, ring finger and little finger all adopt the same underactuated joint. Its appearance, size and movement are similar to human hands, with 11 degrees of freedom and high integration. It only needs 2 motors to drive, and the motor and its driver are hidden in the hand. It is easy to control and can stably grasp objects of different shapes and sizes. on anthropomorphic robots.
Description
technical field [0001] The invention relates to a mechanical finger device, in particular to the structural design of a robot anthropomorphic multi-fingered hand device. Background technique [0002] In the study of intelligent robots, people regard anthropomorphic robots as the highest state of robot research, and have always regarded the realization of human-like behavior as a dream goal. Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. The power supply system, drive system, information processing system and control system of the humanoid robot are completely carried by itself, so it puts forward very strict requirements for the design of its hand, requiring the hand device to be small in weight and volume, and in order to To reduce the difficulty of control, it is required to redu...
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