Three-finger dexterous hand driven by wire traction mechanism

Through the three-finger dexterity hand driven by wire-tight mechanism and dual-rail design, the problems of hardware coupling and hand design of full-drive dexterity hand hardware are solved, and a dexterity hand design with high freedom, low cost and high precision is achieved.

CN119704232AActive Publication Date: 2025-03-28ZHEJIANG UNIV
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Patent Information

Application Number
CN202510102195.9
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-22
Publication Date
2025-03-28
Estimated Expiration
2045-01-22

AI Technical Summary

Technical Problem

The existing fully-driven smart hands have a large number of joints and small space, which leads to serious hardware coupling, making it difficult to achieve a non-coupled design. At the same time, the number of fingers is difficult to customize, and the cost is high and the damage rate is high.

Method used

The three-finger clever hand design is driven by a wire-tie mechanism, and the non-coupled design is achieved through a bidirectional wire rope connection and a master-slave dual guide rail. The modular finger design is adopted to customize the number of fingers and reduce the volume of the tensioning mechanism through a spring-based tensioning mechanism.

Benefits of technology

It realizes a small size, high degree of freedom and dexterity hand design, solves the hardware coupling problem, reduces costs, improves the accuracy and reliability of dexterity hand, and the number of fingers can be adjusted according to needs.

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Abstract

The invention discloses a three-fingered dexterous hand driven by a wire traction mechanism. The three-fingered dexterous hand can realize full-drive and non-coupling characteristics. The robot dexterous hand is composed of fingers, a palm, a driving motor and a tensioning mechanism. The finger part is provided with an index finger, a middle finger and a thumb, the index finger is provided with four joints, the middle finger is provided with four joints, and the thumb is provided with three joints. And each joint is controlled by a corresponding motor. The whole robot dexterous hand has eleven degrees of freedom. The joints are physically uncoupled within an error allowable range, that is, the joints do not interfere with one another in movement. According to the robot dexterous hand, small objects can be grabbed, and objects such as shuttlecocks can be grabbed skillfully.
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