Knuckle movement module of five-finger dextrous hande based on worm wheel and worm mechanism

Abstract

The invention designs a knuckle movement module of a five-finger dextrous hand based on the structural features and kinetic characteristics of a worm wheel and worm mechanism. Movement functions of all fingers are satisfied, additionally, the space structure of knuckles can be optimized to the maximum, the used worm wheel and worm mechanism has a self-locking function, and therefore, the designed knuckle movement module of the five-finger dextrous hand can achieve the poweroff self-locking function, so that the grasping ability of the dextrous hand is increased, and the movement and grasping requirements of the five-finger dextrous hand are satisfied. A worm wheel and worm speed reducer which is used as a driving unit of the knuckle module is mainly composed of a worm wheel, a worm, a gear, a shaft, a bearing, a box body and accessories and can be divided into three basic structures including the box body, a worm wheel and worm gear set and the combination of the bearing and the shaft, wherein the box body is a base of all parts in the worm wheel and worm mechanism and is an important part for supporting and fixing shaft components, guaranteeing correct positions of all transmission parts and supporting loads which act on the speed reducer; the worm wheel and worm gear set is used for transferring output power of a motor and changing the direction of the output power; the combination of the bearing and the shaft is mainly used for transferring power, supporting operation and improving the efficiency.

Description

technical field [0001] The invention belongs to the technical field of mechanical dexterous hands, specifically relates to the specific application of a worm gear mechanism in a humanoid five-fingered dexterous hand, and proposes a novel knuckle movement module, which optimizes the structure of the entire finger. Background technique [0002] With the continuous advancement of science and technology and the emergence of emerging interdisciplinary subjects, space exploration, nuclear energy development, medical equipment and other fields have put forward higher requirements for robotics, but traditional industrial robot end grippers have some outstanding shortcomings. , such as poor flexibility, low perception, and low control accuracy of position and force. In recent years, due to the urgent needs of engineering applications, the research work on multi-fingered dexterous hands has developed rapidly and has gradually become a specialized research field, covering some major to...

AI Technical Summary

Problems solved by technology

However, at present, the biggest difficulty of the humanoid dexterous hand at home and abroad lies in the design of the fingers and knuckles. How to make a reasonable layout in a small space to make it complete the predetermined goal is an important problem that people need to solve urgently.

Images