Bionic three-finger manipulator

Abstract

The invention provides a bionic three-finger manipulator. The bionic three-finger manipulator comprises three joints of finger roots, finger middles and finger tips to form fingers; three fingers are provided; the finger tips are hinged with the finger middles through first rotating shafts; the finger middles are hinged with the finger roots through second rotating shafts; and a finger driving device drives a push rod driving mechanism to link the finger middles with the finger tips. The bionic three-finger manipulator further comprises a cylindrical skeleton for mounting the fingers, a palm control device for controlling the fingers to rotate in the horizontal direction, and a palm mounted between the finger roots and the cylindrical skeleton. The bionic three-finger manipulator adopts a new transmission mode of the finger driving device and the palm control device, and uses a localized motor for realizing low-cost design and high-precision control demands; the finger tip control realizes fixed-ratio swing of the finger middles and the finger tips by a parallelogram push rod driving mechanism; and the design is high in transfer efficiency and transmission precision, and cannot generate transmission errors caused by slip.

Description

technical field [0001] The invention relates to the technical field of bionic robotic hands, in particular to a bionic three-fingered robotic hand. Background technique [0002] With the rapid development of robots, it has become one of the core technologies of Industry 4.0. The manipulator is one of the main means for the robot to interact and operate with the outside world, and plays an irreplaceable role, especially with the versatility and flexibility of the human hand. Dexterous hands are imminent. [0003] At present, many literatures have focused on the research of manipulators, including special manipulators for specific problems, and 5-finger manipulators that imitate human hands; for example, the bh series hands of Beihang University and the th series hands of Tsinghua University. However, the former is a specialized manipulator designed for a specific operation object, and cannot be used without a specific target, and cannot be used as a highly bionic component s...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects of the prior art. Based on the shape of the barrettband manipulator, in order to solve the problems of low flexibility, poor versatility, and poor force control ability of the robot hand, a bionic three-finger closed manipulator is proposed.

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