一种旋转耦合双关节推挽式柔性绳索驱动方法
By using a rotationally coupled dual-joint push-pull flexible rope drive method, the disturbance torque and minimum driving torque are obtained through simulation or experiment. Four logic controllers are designed to solve the coupling and reverse drive problems of the fingers in the rope-driven dual-joint dexterous hand, thus achieving high-precision finger control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
- Filing Date
- 2023-04-18
- Publication Date
- 2026-07-17
AI Technical Summary
The finger control of the rope-driven dual-joint dexterous hand suffers from joint coupling, rope dead zones, and the inability to reverse drive, resulting in the finger control failing to meet the requirements of low latency and high precision.
A rotary-coupled double-joint push-pull flexible rope drive method is adopted. The disturbance torque and minimum driving torque are obtained through simulation or experiment. Four logic controllers are designed to establish a coupled double-joint push-pull rope drive control model. The disturbance torque is used to control the double-joint coupling. The four logic controllers solve the problem that the rope must be taut and cannot be driven in reverse.
It achieves low-latency, high-precision motion control of fingertips, laying the foundation for multi-finger collaborative operation of dexterous hands, solving the problems of non-retractable ropes and coupling, and reducing the amount of computation.
Smart Images
Figure CN116690548B_ABST