Prosthetic electric smart manipulator

Abstract

The invention discloses a prosthetic electric smart manipulator. The prosthetic electric smart manipulator comprises an electric thumb, four electric fingers and a mechanical palm, wherein the electric thumb and the four electric fingers respectively sequentially an upper metacarpophalangeal joint, a middle metacarpophalangeal joint, a lower metacarpophalangeal joint and a base body, the lower metacarpophalangeal joints of the four electric fingers are respectively arranged in the mechanical palm in the same direction by virtue of the respective base bodies, the lower metacarpophalangeal joint of the electric thumb is arranged in the mechanical palm by virtue of the base body of the electric thumb, the electric thumb is positioned at the other side of the mechanical palm, and the five electric fingers and the mechanical palm are in the same plane; and the electric thumb has four driving degrees of freedom, each electric finger has three driving degrees of freedom and one driven degree of freedom, so that sixteen driving degrees of freedom and four driven degrees of freedom are formed in total, are consist with the degrees of freedom of a hand, thus a hardware device is provided for master-slave control of the manipulator. According to the invention, arrangement in a bionic hand shape, skeleton structure of fingers of the hand and movement functional design of the fingers of the hand are adopted, thus the manipulator in the invention not only can be applied to the industrial field but also can be used as an artificial limb of the hand.

Description

technical field [0001] The invention relates to a robot manipulator, in particular to an anthropomorphic electromechanical dexterous hand with sixteen active degrees of freedom and four slave degrees of freedom consistent with the degrees of freedom of a human hand. Background technique [0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, a dexterous manipulator (referred to as dexterous hand) came into being. The dexterous hand has multiple degrees of freedom, can grasp objects of various shapes and materials, and can also perform fine manipulations on the grasped objects. Using it instead of a special gripper and installing it at the end of the robot man...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs.

In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, the dexterous manipulator (dexterous hand for short) came into being

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