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Base joint mechanism of humanoid dextrous hand

A joint-based and hand-based technology, applied in the field of robotics, can solve the problems of small palm size space, increased weight, and the inability of long-distance transmission of gear trains to achieve the effect of saving hand space

Active Publication Date: 2017-06-30
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In the prior art, the differential gear train transmission mechanism is mainly used to realize the two-degree-of-freedom movement of the base joint, but the gear train cannot be transmitted over a long distance, and the driving device needs to be placed nearby, but the space of the palm is small, which is not conducive to the placement of the motor. Increases the volume and weight of the entire hand

Method used

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  • Base joint mechanism of humanoid dextrous hand
  • Base joint mechanism of humanoid dextrous hand
  • Base joint mechanism of humanoid dextrous hand

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Embodiment Construction

[0032] Such as figure 1 As shown, the basic structure of the humanoid dexterous hand base joint mechanism according to the present invention mainly consists of base joints, support rods, two fasteners, four aluminum sleeves, four pulleys and supports, four sections of rope, two rope pulleys and two motor drive systems.

[0033] Such as Figure 2-4 As shown, the base joint is in contact with the small ball on the support rod through the middle ball socket, and the first fastener and the second fastener connect the support rod and the base joint through screws to form a ball joint connection; there is a first aluminum sleeve on the base joint , the second aluminum sleeve, the third aluminum sleeve and the fourth aluminum sleeve, wherein the first aluminum sleeve is opposite to the second aluminum sleeve, the third aluminum sleeve is opposite to the fourth aluminum sleeve, and these aluminum sleeves are placed between the fixed points of the base joint On the top, the end of th...

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Abstract

The invention provides a base joint mechanism of a humanoid dextrous hand, and belongs to the technical field of robots. The humanoid dextrous hand comprises a palm, finger middles, fingertips, base joints, supporting rods, fasteners, aluminum sleeves, pulleys, pulley supports, ropes, rope wheels, motors, rope wheels, gears and flange plates. According to the mechanism, swing motion of the thumb from the side face of the palm to the front face of the palm, the opening and closing motion that the thumb is attached to the palm or is away from the palm or the motion of the other four fingers in planes parallel to and perpendicular to the palm can be achieved. The mechanism has a spherical hinge connecting manner of humanoid finger bases, the motors can be arranged inside or outside the palm through rope transmission, and the hand space is saved.

Description

technical field [0001] The invention relates to a humanoid dexterous hand, in particular to a humanoid dexterous hand-based joint mechanism with two degrees of freedom, belonging to the technical field of robots. Background technique [0002] Robots require a pair of dexterous hands to perform a wide variety of tasks, giving them versatility. Robots also need to use both hands and hand-eye coordination to improve their intelligence, enter human life, and penetrate into various fields. With the rapid development and progress of robot science and technology, the design of humanoid dexterous hands is faced with the requirements of miniaturization, light weight and more flexible control. [0003] Except for the thumb, the base joints of human fingers are composed of two degrees of freedom, which are respectively to realize the swing of the fingers in the plane parallel to the palm and perpendicular to the palm. The movement of the base joint of the thumb is the most complex an...

Claims

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Application Information

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IPC IPC(8): B25J15/02B25J15/10B25J17/00
CPCB25J15/0009B25J15/0213B25J15/10B25J17/00
Inventor 余张国孙宁陈学超黄强张伟民韩连强于大程汤承龙
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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