Bionic mechanical palm based on netlike linkage structure

Abstract

The invention discloses a bionic mechanical palm based on a netlike linkage structure. The bionic mechanical palm comprises a thumb, an index finger, a middle finger, a ring finger, a little finger and a palm body. An operator wears a specially-made data glove on a hand and binds a data transmission module to a forearm with an elastic nylon binding belt; bending sensors are integrated inside the data glove, the bending angle of each finger of the operator is read in real time, and signals are transmitted to a processor at a glove end for merged processing; and the data glove transmits a command to a bionic mechanical palm end in a wireless manner, and thus real-time control over the bionic mechanical palm conducted through the hand is achieved.

Description

technical field [0001] The invention relates to a bionic mechanical palm, in particular to a bionic mechanical palm based on a mesh linkage structure. Background technique [0002] With the popularity of robots, industrial robotic arms have replaced many workers and occupied half of the factory. Industrial robotic arms are mechatronic devices that anthropomorphize the functions of arms, wrists, and hands. It can move any object or tool according to the time-varying requirements of space posture (position and attitude), so as to complete the operation requirements of an industrial production. Such as clamping welding tongs or welding torches, spot welding or arc welding the car or motorcycle body; handling die-casting or stamping parts or components; laser cutting; spraying; assembling mechanical parts and so on. The advantages of industrial robotic arms are precise positioning, high stability, and the ability to accurately and repeatedly perform tasks such as simple or comp...

AI Technical Summary

Problems solved by technology

Among them, pneumatic and hydraulic have high requirements on the maturity of equipment technology, so the cost is also high, and it is difficult to take into account the accuracy under the condition of ensuring the output torque

Although artificial muscles are technologically advanced, they are also extremely expensive to manufacture

The wire-pull drive takes into account the positioning accuracy while ensuring the output torque, but due to the complex internal structure, it is time-consuming and laborious to assemble, and the stability is not good

For example, the patent with publication number CN 105583829A introduces a simulated mechanical finger based on steel wire pulling, which has the advantages of high precision and high output torque, but because it is based on the principle of wire pulling, the power device must be embedded in the arm, so that Deficiencies that lead to insufficient flexibility in the wrist

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