55 results about "Distal phalange" patented technology

The invention discloses a bionic rope-driven finger, which adopts single tendon rope drive to be matched with a movement coupling transmission rod, and solves the technical problems that the number of tendon ropes of the existing rope-driven finger is large, and multi-joint coordinated movement is difficult. The finger comprises a near-end knuckle, a middle knuckle and a far-end knuckle which are hinged in sequence, and the whole finger can be driven to bend through a tendon rope anchored to the far-end knuckle. The tendon rope is connected to the near-end knuckles and the far-end knuckles in a pivoted mode through the movement coupling transmission rods arranged on the spanning middle knuckles, and when the tendon rope pulls the far-end knuckles to bend, the movement coupling transmission rods mechanically transmit movement to the near-end knuckles, so that the two knuckles automatically form a coordinated bending proportion, and the natural movement mode of human fingers is simulated. The elastic restoring element provides stretching restoring force when the tendon rope is loosened, so that the fingers automatically return to the straightened state, and bidirectional movement control is achieved through the single tendon rope. According to the scheme, the tendon rope layout is simplified, the assembling efficiency and reliability are improved, and stable grabbing is achieved.

The application relates to the technical field of robots, in particular to a finger module, a dexterous hand, a clamping jaw and a robot, and solves the problem that the finger structure of a dexterous hand or a clamping jaw is poor in universality and cannot be adapted to various dexterous hands or clamping jaws. The finger module comprises a first phalanx, a first driving assembly, a second phalanx and a second driving assembly. The first driving assembly is connected with the first phalanx and is configured to drive the first phalanx to rotate around a first axis, the second phalanx is rotatably connected with the first phalanx around a second axis, the second driving assembly is arranged on the first phalanx and is connected with the second phalanx and is configured to drive the second phalanx to rotate around the second axis, that is, the second driving assembly is built-in the first phalanx and does not need to be installed on a palm, the modularity of the finger module is realized, the finger module can be conveniently installed on various dexterous hands or clamping jaws, and the finger module can be flexibly configured and arranged according to different application conditions.

The invention discloses a single-motor-driven two-finger clamping jaw with a parallel clamping and self-adaption function, and relates to the technical field of industrial robots. A winding groove is integrally formed in the center of the tail end of each far knuckle and hinged to the top end of the corresponding near knuckle through a front joint shaft, the tail end of each near knuckle is hinged to the top end of the corresponding root knuckle through a rear joint shaft, and the far knuckles apply eversion torque. The winding wheel disc is installed on the rear joint shaft and provided with a reset clockwork coil spring, the driving connecting piece is connected with the tail end of the far knuckle and the edge of the winding wheel disc, and the coupling rope is connected with the edge of a winding groove of the far knuckle and the top end of the root knuckle. The linear motor drives a sliding block in a longitudinal sliding groove in the middle of the base, the two mechanical fingers are symmetrically installed on the two transverse sides of the base, the middle of the driving rope penetrates through the sliding block, and the two ends of the driving rope are fixed and wound on the winding wheel disc. The two two-degree-of-freedom mechanical fingers are driven by a single motor, flexible switching between parallel clamping grabbing and self-adaptive grabbing is achieved, the grabbing efficiency, stability and environment adaptability are improved, and the control difficulty is reduced.

The invention belongs to the field of robots, and particularly relates to a three-degree-of-freedom rigid-flexible coupling dexterous finger and a dexterous hand, and the dexterous finger comprises a finger knuckle module, a double-end spherical hinge connecting rod, a palm inner finger driving module, a driving transmission mechanism and an arm inner finger driving module. By fusing a rigid space connecting rod mechanism and a flexible driving transmission mechanism, the contradiction that a traditional rigid structure lacks flexibility and a flexible structure is insufficient in rigidity is ingeniously solved. Two degrees of freedom of flexion and extension and adduction and abduction of fingers at metacarpophalangeal joints are realized by utilizing a spatial connecting rod mechanism formed by a knuckle supporting frame, a proximal phalanx, a deflection transverse shaft and a double-end spherical hinge connecting rod; meanwhile, the power of the finger driving module in the arm is efficiently transmitted to the interphalangeal joints through the driving transmission mechanism, the middle joint and the distal phalanx are driven to achieve coupling or self-adaptive buckling, and therefore the third degree of freedom is obtained, and the problem that the contradiction exists between insufficient flexibility of a traditional rigid structure and insufficient rigidity of a flexible structure is solved.

A multi-degree-of-freedom bionic dexterous hand, comprising a palm structure (1), a bionic thumb (2), a multifunctional bionic finger (3) and a dexterous bionic finger (4). The bionic thumb (2) comprises a first phalanx structure (21) and a rotary table (22), wherein the rotary table (22) is rotatably arranged on the palm structure (1), and the first phalanx structure (21) is hinged to the rotary table (22), the rotation axis of the rotary table (22) not being parallel to that of the first phalanx structure (21). The multifunctional bionic finger (3) comprises a second phalanx structure (31), wherein the second phalanx structure (31) is universally hinged to the palm structure (1), and the second phalanx structure (31) can perform flexion-extension movement and swinging movement. The dexterous bionic finger (4) comprises a third phalanx structure (41), wherein the third phalanx structure (41) is hinged to the palm structure (1), and the third phalanx structure (41) can perform flexion-extension movement.

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

This invention discloses a flexible cable-driven, fully actuated, anthropomorphic dexterous hand finger mechanism, comprising a base, a first phalanx, a first joint, a second phalanx, a second joint, a third phalanx, a third joint, a fourth phalanx, and a fourth joint. The first phalanx is connected to the base via the first joint; the second phalanx is connected to the first phalanx via the second joint; and the third phalanx is connected to the second phalanx via the third joint. Flexible cable pulley mechanisms are installed at the second and third joints, driving the third phalanx to rotate around the third joint, the second phalanx to rotate around the second joint, and the first phalanx to swing around the first joint. The fourth phalanx is connected to the third phalanx via the fourth joint, and the third phalanx drives the fourth phalanx to rotate around the fourth joint via a four-bar linkage. This invention achieves anthropomorphism and modularity in anthropomorphic dexterous fingers, meeting the requirements for end-effector motor capabilities in dexterous operations.

The application provides an underactuated bionic dexterous hand, a system and a control method thereof. The underactuated bionic dexterous hand comprises a palm, five fingers, a control plate and a steering engine installed on the back of the palm through a threaded hole. The thumb comprises a joint, a tendon rope for driving the bending of the finger, a metacarpal bone, a proximal phalanx and a distal phalanx connected through a cylindrical pin in sequence. The index finger, the middle finger, the ring finger and the little finger have the same structure and each comprises a joint, a tendon rope for driving the bending of the finger, a distal phalanx, a middle phalanx and a proximal phalanx connected through a cylindrical pin in sequence. A finger root stroke limiter is arranged at the metacarpophalangeal joint of the thumb and the palm, and the metacarpophalangeal joint of the index finger, the middle finger, the ring finger and the little finger and the palm, the middle phalanx and the distal phalanx are each provided with a finger root stroke limiter. The application has high human simulation degree, is light and flexible, and solves the technical problems of the overlarge size, the overly complex structure, the rigid motion and the low human simulation degree of the dexterous hand.

The utility model discloses a finger structure and robot, finger structure includes linear drive assembly, near-end knuckle, middle knuckle, far-end knuckle and flexible rope, linear drive assembly includes motor, worm and worm gear that connect in proper order, near-end knuckle, middle knuckle and far-end knuckle are rotatingly connected in proper order, and the flexible rope is connected in proper order to drive the near-end knuckle, middle knuckle and far-end knuckle. One end of the flexible rope is wound on the worm gear, the other end of the flexible rope is connected to the far-end knuckles, and the motor, the worm and the worm gear sequentially drive the flexible rope to be stretched or loosened so as to drive the far-end knuckles and the middle knuckles to be bent or straightened. By the adoption of the design mode, due to the flexibility characteristic of the flexible rope, the state of the fingers can be adjusted in a self-adaptive mode in the buckling and stretching process, and therefore the flexible self-adaptive grabbing function is achieved, and objects of different shapes and sizes can be flexibly coped with. In addition, due to the fact that the worm gear and the worm have the self-locking characteristic, the finger has the large load capacity.

A bionic thumb, comprising a thumb body (10) and a root movable structure (20), wherein the thumb body (10) comprises first linear extension and flexion members (2), and a plurality of phalanges (1) which are rotatably connected in sequence, wherein each first linear extension and flexion member (2) drives the phalanges (1), which are connected at two ends thereof, to rotate relative to each other; the root movable structure (20) comprises a second linear extension and flexion member (3) and a swing assembly (4), the swing assembly (4) comprises a third linear extension and flexion member (41) and a swing plate (42), the swing plate (42) is configured to be rotatably arranged on a palm structure (30), and the proximal phalanx (1) of the thumb body (10) is rotatably connected to the swing plate (42); the second linear extension and flexion member (3) is hinged to the swing plate (42) at a first end, and is hinged to the phalanx (1) at a second end; and the third linear extension and flexion member (41) is configured to be hinged to the palm structure (30) at a first end, and is hinged to the swing plate (42) at a second end, and the rotation axis α of the swing plate (42) is not parallel to the rotation axis β of the proximal phalanx (1).

The utility model discloses an elastic power-assisted fingerstall for assisting typewriting. The elastic power-assisted fingerstall comprises a near knuckle sleeve and a wrist sleeve, wherein the near knuckle sleeve is sleeved on a near knuckle of an index finger, and the wrist sleeve is sleeved on a wrist; the near knuckle sleeve is connected with the wrist sleeve through an elastic strip, and the elastic strip is distributed along the back of the index finger and the back of the palm; and the elastic strip is provided with a tension degree adjusting mechanism. After the elastic assisting fingerstall is worn, the tension degree of the elastic strip is adjusted through the tension degree adjusting mechanism, so that the elastic strip is in an elastic stretching state in a ready typing state. When the keyboard or the mouse is knocked and the index finger is lifted, the elastic strip elastically contracts along the finger back to provide backward and upward pulling assisting force; the working mode that the index finger completely depends on active contraction is changed into the working mode that active contraction and passive contraction are mixed, the index finger extensor contraction strength is reduced through assistance, the tension degree of the index finger extensor and auxiliary muscle groups of the index finger extensor is effectively relieved, and therefore the morbidity probability of chronic strain is reduced.

The application belongs to the technical field of robots, and discloses a motion decoupling double-path rope-driven bionic thumb device, which comprises a distal phalanx, a proximal phalanx, a metacarpal bone, a thumb base, IP joints, MCP joints and CMC joints for connecting the phalanges; the distal phalanx, the proximal phalanx, the metacarpal bone and the thumb base are connected through tendon rope transmission. The rope path for driving the IP joint does not pass through the MCP joint, and the part of the rope path across the MCP joint is wrapped by a Bowden tube assembly, so that the length of the rope path remains constant when the MCP joint moves, and the motion decoupling of the MCP joint and the IP joint is realized; the rope path for driving the MCP joint is also wrapped by a Bowden tube assembly outside, so that the length of the rope path remains constant when the CMC joint moves, and the motion decoupling of the MCP joint and the CMC joint is realized. The application has the advantages of compact structure, joint motion decoupling, precise force control, strong bearing capacity and the like.

The invention provides a finger of a dexterous hand, and relates to the technical field of artificial intelligence, the finger of the dexterous hand comprises at least two knuckles, and the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged in the direction from the finger root to the fingertip in the axial direction of the finger; the first knuckles are provided with first driving modules used for driving the first knuckles, and the second knuckles are provided with second driving modules used for driving the second knuckles. Wherein the second knuckle comprises a fingertip and a connecting part, the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the invention, each knuckle is directly driven, the transmission path is short, and the control precision can be improved. And through the detachable fingertips, the fingertips can be quickly replaced according to actual scene requirements, the whole hand does not need to be replaced, and the cost is reduced.

The invention relates to the technical field of manipulators, and discloses a bionic dexterous hand. The bionic dexterous hand comprises a palm mechanism, a thumb mechanism and at least one finger mechanism, the rotary driving assembly is used for driving the first side-sway driving assembly to rotate around a first axis, the first side-sway driving assembly is used for driving the first near knuckle to perform side-sway motion around a second axis, and the first driving part is in driving connection with the first near knuckle and is used for driving the first middle knuckle assembly to perform flexion and extension motion; the second driving part is in driving connection with the first far knuckle assembly and is used for driving the first far knuckle assembly to bend and stretch; the first far knuckle assembly is used for driving the first fingertip to bend and stretch; the second side-sway driving assembly is used for driving the second near knuckle assembly to make side-sway motion around a sixth axis, and the second near knuckle assembly is used for driving the second middle knuckle assembly to make flexion and extension motion; the second middle knuckle assembly is used for driving the second far knuckle assembly to bend and stretch, and the second far knuckle assembly is used for driving the second fingertip to bend and stretch.

The application relates to the technical field of robots, in particular to a dexterous hand thumb, a dexterous hand and a robot, which solve the problem that a dexterous hand thumb with three degrees of freedom cannot simultaneously consider joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb. The dexterous hand thumb comprises a metacarpal bone driving assembly, a metacarpophalangeal driving assembly, a first phalanx, a second phalanx, a tendon and an interphalangeal driving assembly, realizes one palmar freedom degree and two bending freedom degrees of the dexterous hand thumb. The metacarpophalangeal driving assembly comprises a metacarpophalangeal driving source, a first worm, a first worm wheel and at least one first guide wheel. The tendon is sequentially passed through the first phalanx, bypasses one side of the first guide wheel away from the first worm, passes through a first shaft hole and is connected with the interphalangeal driving assembly, realizes movement decoupling of the tendon and the metacarpophalangeal driving assembly, the metacarpal bone driving assembly, the metacarpophalangeal driving assembly and the interphalangeal driving assembly can be arranged on a palm base plate, and the size of the dexterous hand thumb is reduced.

This invention discloses a bionic finger, robotic hand, and robot. The bionic finger includes: a phalanx, comprising a base and a nail portion, the base and nail portion being integrally formed; a support body, mounted on the nail portion; a circuit board, located on the side of the support body opposite to the nail portion; and a sensing envelope, connected to the support body and enclosing the circuit board and support body, abutting against the edges of the base and nail portion. The sensing envelope mimics the skin of a real finger and assists in achieving touch sensing functionality; the sensing envelope abuts against the nail portion, mimicking the skin and nail of a real finger. The nail portion is located on the upper surface of the fingertip, and the sensing envelope covers the front, lower, left, and right surfaces of the fingertip. The support body is configured to assemble the circuit board and sensing envelope onto the phalanx. The sensing envelope is connected to the support body, so that the circuit board is held within the support body and the sensing envelope. The bionic finger exhibits high biomimetic effects in both morphology and function.

The application discloses a finger prosthesis and relates to the technical field of prostheses. The finger prosthesis comprises a fixing frame, a proximal phalanx sleeve, a traction rope, a sliding block, a first transmission member, a second transmission member, a middle phalanx prosthesis and a distal phalanx prosthesis. The fixing frame is connected with the sliding block through the traction rope, the sliding block is slidably arranged on the proximal phalanx sleeve, one end of the middle phalanx prosthesis is hingedly connected with the proximal phalanx sleeve, the other end of the middle phalanx prosthesis is hingedly connected with the distal phalanx prosthesis, the sliding block is rotationally matched with the middle phalanx prosthesis through the first transmission member, the middle phalanx prosthesis is rotationally matched with the distal phalanx prosthesis through the second transmission member, the proximal phalanx sleeve can rotate relative to the fixing frame when a disabled person bends the proximal phalanx, so as to pull the sliding block to slide through the traction rope, thereby driving the middle phalanx prosthesis to rotate through the first transmission member, and further driving the distal phalanx prosthesis to rotate through the second transmission member. The finger prosthesis provided by the application can realize flexible rotation, meets the daily life needs of the disabled person, has a simple structure, low production cost and wide application range.

The invention discloses a movable anthropomorphic palm device, which comprises a palm part and five fingers, the five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, each finger comprises a first knuckle and a second knuckle, and one end of each first knuckle is rotatably connected to the palm part and is driven by a driving mechanism; the second knuckles are rotationally connected to the ends, away from the palm part, of the first knuckles, the first knuckles and the second knuckles are in linkage through linkage mechanisms, and the second knuckles can deflect along with the first knuckles. According to the scheme, the palm device is composed of the palm part and the five movable fingers, each finger is provided with a driving motor and an encoder, and the rotation angle of the finger can be independently controlled. Wherein the thumb is provided with two phalanges, and a two-stage planet synchronous belt transmission mechanism is adopted. Each of the other four fingers is provided with three phalanges, and a three-stage planetary synchronous belt transmission mechanism is adopted.

The application provides a modularized finger structure and a robot, and the finger structure comprises: a first phalanx, which is provided with a force sensor; a second phalanx, which is rotationally connected with the first phalanx and is linked with the first phalanx; a third phalanx, which is rotationally connected with the second phalanx, and a first joint between the third phalanx and the second phalanx is provided with a first angle sensor; a driving mechanism, which is rotationally connected with the third phalanx, and a second joint between the driving mechanism and the third phalanx is provided with a second angle sensor; the driving mechanism comprises a first driving motor and a second driving motor, the first driving motor drives the second phalanx to rotate through a tendon rope one, and the second driving motor drives the third phalanx to rotate through a tendon rope two. The finger structure has high flexibility and universality, solves the common problem of multiple fingers of the robot, simplifies the finger structure design, and is convenient for installation and maintenance.

The application provides a mechanical finger, a dexterous hand and a robot, and relates to the technical field of robots.The mechanical finger comprises at least one first phalanx, each first phalanx comprising a first phalanx body and a second phalanx body, the first phalanx body of each first phalanx being provided with a first clamping part, the second phalanx body of each first phalanx being provided with a second clamping part, and the first clamping part being clamped with the second clamping part.In this way, the assembly process of each first phalanx does not need to use screws and additional tools, which not only helps to simplify the assembly process of the mechanical finger and improve the production efficiency of the dexterous hand, but also helps to reduce the weight of the dexterous hand.

The application relates to a connecting rod transmission three-joint underdrive mechanism for finger rehabilitation, which comprises a proximal phalanx sliding groove connecting rod mechanism and a middle phalanx sliding groove connecting rod mechanism. Through the proximal phalanx sliding groove and the proximal phalanx connecting rod system, the middle phalanx can keep following the proximal phalanx; in the same way, the distal phalanx can keep following the middle phalanx through the middle phalanx sliding groove connecting rod. Therefore, the mechanism can adopt one drive to synchronously control the angles of the three phalanges. The application can effectively reduce the driving quantity of a non-flexible hand rehabilitation medical robot, reduce the control difficulty, and solve the defects of poor control precision, high device cost and heavy weight of the existing non-underdrive manipulator.

The application discloses a mechanical finger, a control method, device and equipment of the mechanical finger and a medium, and relates to the field of robots.The mechanical finger 100 comprises a proximal phalanx 10, a distal phalanx 20 and a base 30; the bottom of the proximal phalanx 10 is movably connected with the top of the base 30, and the bottom of the distal phalanx 20 is movably sleeved on the top of the proximal phalanx 10; a proximal phalanx motor 11 and a distal phalanx motor 21 are fixedly arranged in the base 30, the proximal phalanx 10 is in transmission connection with the proximal phalanx motor 11, and the distal phalanx 20 is in transmission connection with the distal phalanx motor 21.In this embodiment, the proximal phalanx motor 11 and the distal phalanx motor 21 are arranged in the base 30, so that the sizes of the proximal phalanx 10 and the distal phalanx 20 tend to the actual sizes of a human hand, and thus the precise control of the mechanical finger 100 is realized.

The present invention relates to a finger rehabilitation exercise apparatus comprising: a proximal bracket for supporting the proximal phalange of a finger; a linear actuating module which has a proximal end hinge-coupled to the proximal bracket, and which can extend and contract in the longitudinal direction of the proximal bracket; a first scissor linkage assembly which is folded or unfolded in a scissor linkage form and which has proximal ends hinge-coupled to two points of the distal end of the proximal bracket and the distal end of the linear actuating module so as to be bent and unfolded toward the palm when the linear actuating module extends and to be folded toward the front of the proximal bracket when the linear actuating module contracts; a middle phalange bracket which supports the middle phalange of the finger and which has a proximal end to which each of both sides of the distal side of the first scissor linkage assembly is hinge-coupled, so as to rotate toward the palm when the first scissor linkage assembly is unfolded and to rotate toward the front of the proximal bracket when the first scissor linkage assembly is folded; a second scissor linkage assembly which is folded or unfolded in a scissor linkage form, and which is hinge-coupled to each of both sides of the distal side of the middle phalange bracket so as to be symmetrical to the first scissor linkage assembly with the middle phalange bracket therebetween; a gear assembly provided on the middle phalange bracket so as to transmit, as the folding or unfolding motion of the second scissor linkage assembly, the folding or unfolding motion of the first scissor linkage assembly; and a distal bracket provided at the distal end of the second scissor linkage assembly so as to support the distal phalange of the finger. Therefore, independent rehabilitation exercises for each individual finger, that is, the index finger, the middle finger, the ring finger, the little finger, and the thumb are possible.

The application provides a pneumatic skeleton flexible perception ecological manipulator and a preparation and application method, and the manipulator comprises a manipulator kit, a flexible pneumatic muscle module, an embedded ecological skeleton module, a flexible self-powered pressure sensing module, a flexible self-powered curvature sensing module and a mounting flange module; the flexible pneumatic muscle module is used for simulating three-degree-of-freedom grabbing motion of a human finger and driving the embedded ecological skeleton module; the embedded ecological skeleton module is embedded in the flexible pneumatic muscle module and simulates a human finger bone; the flexible self-powered pressure sensing module is integrated on the middle phalanx and the distal phalanx of the mechanical finger and is used for sensing the force of a grabbed object; the flexible self-powered curvature sensing module is integrated at a joint of the mechanical finger and is used for monitoring the bending angle of the joint of the mechanical finger; and the mounting flange module is used for mounting and fixing the pneumatic skeleton flexible perception ecological manipulator. The application solves the problem that the manipulator in the prior art cannot accurately perceive the pressure of a grabbed object in the grabbing process.

The application discloses a dexterous hand finger structure and a dexterous hand, wherein the dexterous hand finger structure comprises a base, a proximal phalanx, a middle phalanx, a distal phalanx, a first driving assembly and a second driving assembly. The proximal phalanx is hinged to the base through a first joint shaft, and the middle phalanx and the distal phalanx are sequentially hinged. The first driving assembly drives the proximal phalanx to bend through a first tendon. The second driving assembly drives the middle phalanx and the distal phalanx to bend through a second tendon. The first joint shaft is fixed to the base, and a side wall of the first joint shaft is provided with a through hole. The transmission path of the second tendon is configured as follows: the second tendon is led out from a second driver, sequentially passes through the through hole on the base and the first joint shaft, and is fixed to the distal phalanx after passing around the second joint shaft and the third joint shaft. The design makes the tendon path for driving the middle phalanx and the distal phalanx pass through the fixed joint shaft center, effectively blocks the path length interference of the tendon for the middle phalanx and the distal phalanx caused by the movement of the proximal phalanx, realizes the complete decoupling and independent precise control of the movement of each joint, and is simple and reliable in structure and suitable for precise operation scenes.

The invention belongs to the technical field of dexterous hand touch sensing, and particularly relates to a dexterous hand far-end phalanx full-surface contact force sensing method based on a redundant tether. The method comprises the following steps: constructing a dexterous hand system comprising a redundant tethered driving mechanism and an external sensing module; establishing a kinematic model of the dexterous hand system based on the rope length change information; establishing a statics model considering gravity compensation and low-speed friction compensation, and solving the magnitude, direction and moment of external contact force acting on the dexterous hand system; and solving an intersection point of the external force acting line and the phalanx outer surface model through a numerical calculation method to obtain force acting point information of the contact point on the surface of the dexterous hand system. The redundant rope system mechanism is used for driving the fingers to move, the sensing module is completely arranged at the safe position away from the hand body, and the three-dimensional vector of the contact force borne by the fingertips and the accurate force acting point position of the three-dimensional vector can be reversely solved only by collecting rope length changes and tension information of the driving rope and the return rope.

The application discloses an attaching device based on an underactuated manipulator and claw thorn, and relates to the field of climbing robots. The main base of the attaching device is hinged with underactuated double-joint fingers on the front side and the left and right sides; the proximal phalanx and the distal phalanx of each double-joint finger are designed with flexible claw thorns on the bottom surfaces. A special winch is installed on the main base, two attaching driving ropes and two detaching driving ropes are connected with the four fingers by penetrating the slot on the winch, and then the winch is driven to rotate by only one drive, so that the loading of the four fingers can be realized, the left and right and front and back fingers are bent downward by the two attaching driving ropes, and the attaching function is realized; the two detaching driving ropes are also penetrated on the winch, and the left and right and front and back fingers are respectively realized to move in the opposite direction, and the detaching is realized. Meanwhile, the distal phalanx and the claw thorn part thereon have a moving pair in the front and back directions, so that the attaching has good shape adaptability and provides greater attaching force.

A kind of double-degree-of-freedom underactuated robot thumb based on linear slide rod mechanism relates to intelligent robot technical field.Base joint frame, proximal phalanx frame and distal phalanx frame are connected by metacarpophalangeal joint and interphalangeal joint to form base structure, two drivers are connected transmission screw lever at bottom, transmission link is Y-shaped structural member, two branch arms of which are hinged to the bottom end of distal phalanx frame, the main arm is provided with slide hole and slide rod to form sliding pair, the bottom end is supported by spring, the bottom end of slide rod is hinged to metacarpophalangeal joint, screw nut and screw lever are arranged on the both sides of the bottom end of transmission link to form ball screw pair, position sensor collects distal phalanx frame position signal, and magnet steel and hall sensor measure proximal phalanx frame position signal.Two degrees of freedom motion is realized by using parallel structure, stable and flexible adaptive enveloping grasping of object is realized, the overall structure is simple and efficient, and has the advantages of high integration, high power density, fast response speed and accurate measurement.

The application provides a mechanical hand finger and a mechanical hand, and relates to the technical field of mechanical hands. The mechanical hand finger comprises a distal phalanx, a proximal phalanx and a finger root which are connected in relative rotation, a driving mechanism, a driving connecting rod and a web, the driving mechanism is installed on the finger root, a joint shaft is arranged at the connection position of the proximal phalanx and the finger root, the driving connecting rod is located on the side of the proximal phalanx facing or facing away from the finger web, the upper end of the driving connecting rod is hinged to the distal phalanx, the lower end of the driving connecting rod is hinged to the web, the web is connected to the joint shaft, the driving mechanism is drivingly connected to the web and is used for driving the web and the joint shaft to rotate synchronously, so that the proximal phalanx rotates relative to the finger root, and the driving connecting rod rotates relative to the proximal phalanx through the rotation of the web. The load borne by the joint between the distal phalanx and the proximal phalanx is reduced, so that the stability of the joint between the distal phalanx and the proximal phalanx of the mechanical hand finger is improved.

This application relates to the field of robotic hand technology, disclosing a robotic finger and a robotic hand. The robotic finger includes: a distal phalanx; a proximal phalanx, drivenly connected to the distal phalanx; and a driving connection portion disposed at the connection between the root of the proximal phalanx and the palm base, for forming the metacarpophalangeal joint of the robotic finger. The driving connection portion includes an avoidance connection mechanism and a driving device unit, the driving device unit being drivenly connected to the proximal phalanx via the avoidance connection mechanism. The driving device unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the robotic finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism absorbs part of the impact force and allows the proximal phalanx to move an additional distance.