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Multi-finger hand simulating human hand for robot

A robot and anthropomorphic technology, which is applied in the field of anthropomorphic robots, can solve the problems of large number of device joints and complex control, and achieve the effect of light weight, small volume, and few number

Inactive Publication Date: 2002-08-28
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcomings are: the number of joints of the device is large, and the control is complicated; there is a large drive box outside the hand, which is used to install the drive and wind the wire rope; , are not suitable for installation on anthropomorphic robots

Method used

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  • Multi-finger hand simulating human hand for robot
  • Multi-finger hand simulating human hand for robot
  • Multi-finger hand simulating human hand for robot

Examples

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Embodiment Construction

[0072] Content of the present invention is described in detail as follows in conjunction with embodiment and accompanying drawing:

[0073] The appearance of an embodiment of a robot anthropomorphic multi-fingered hand device designed by the present invention is as follows: figure 1 , 2 As shown, it mainly consists of palm 1, index finger first knuckle 2, index finger second knuckle 3, thumb first knuckle 4, thumb second knuckle 5, index finger first knuckle 6, index finger second knuckle 7, thumb second knuckle It consists of 9 parts such as the first joint 8 and the second thumb joint 9 . Among them, the shape of the first knuckle 2 and the second knuckle 3 of the index finger is designed to be similar to the four fingers of the human hand—the index finger, middle finger, ring finger, and little finger. Between the palm 1 and the first knuckle 2 of the index finger, the first knuckle of the index finger is The knuckle 2 and the second knuckle 3 are respectively connected b...

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Abstract

An anthropometric multi-finger hand of robot is composed of palm, the first and the second knuckles of thumb and forefinger, and the first and the second joints of thumb and forefinger. The said palmand knuckles are hollow for installing joint and motor driver in them. Its advantages include fewer number of drivers, easy control small size, light weight and several actions.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, in particular to a structural design of an anthropomorphic multi-fingered hand device for a robot. 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
CPCB25J15/0009
Inventor 张文增陈强徐济民
Owner TSINGHUA UNIV
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