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Robot anthropomorphic multi finger band device

A robot and anthropomorphic technology, applied in the field of anthropomorphic robots, can solve problems such as the appearance of human hands, the number of fingers, the number of joint degrees of freedom, and the large difference in movement flexibility, and achieve the effects of light weight, easy control, and small size

Inactive Publication Date: 2003-04-16
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

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  • Robot anthropomorphic multi finger band device
  • Robot anthropomorphic multi finger band device
  • Robot anthropomorphic multi finger band device

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Embodiment Construction

[0069] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0070] The embodiment of a robot anthropomorphic multi-fingered hand device designed in the present invention looks like figure 1 , 2 3, it mainly includes palm 1, thumb 2, index finger 3, middle finger 4, ring finger 5, little finger 6, thumb root joint 7, and four-finger root joint 8. The shape of the entire device is similar to that of a human hand. The detailed structure diagram of this embodiment is as Figure 4 , 5 Shown. The thumb 2 includes the root knuckle 21, the underactuated joint 214 at the end of the thumb, and the end knuckle 24 of the thumb; the index finger 3, the middle finger 4, the ring finger 5 and the little finger 6 respectively include the base knuckle and the middle underactuated joint , Middle knuckle, end underactuated joint, end knuckle; the index finger, middle finger, ring finger an...

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Abstract

An anthropomorphic multi-finger hand device for robot is composed of palm, thumb, forefinger, middle finger, ring finger, little finger, root joint for thumb and the root joints for other fingers. The root joints are active ones driven by motors. Each finger has three joints, and the joints have 11 degrees of freedom in total. All the other joints are under-driven ones. Its advantages are highly integrated level, easy control, small size and light weight.

Description

Technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and particularly relates to a structural design of a multi-finger hand device for machine insertion. Background technique [0002] In the research of intelligent robots, people regard anthropomorphic robots as the highest level of robot research, and they have always regarded the realization of human-like behavior as their dream goal. Similar to humans, most of the functions of anthropomorphic robots must be realized by hand operation, 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 system, drive system, information processing system and control system of the anthropomorphic robot are completely carried by itself, so very strict requirements are put forward for the design of its hand. The weight and volume of the hand device are required to be small, and to To reduce the difficulty o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10B25J18/00
CPCB25J15/0009
Inventor 张文增陈强孙振国徐济民
Owner TSINGHUA UNIV
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