A rigid-soft coupling multi-fingered dexterous hand driven by tendon rope and electromagnetic force

Abstract

The invention relates to a rigid-soft coupling multi-finger dexterous hand driven by combined tendon rope-electromagnetic force, which is composed of four mechanical finger parts, a mechanical palm part, and a transmission module. The mechanical finger part consists of four proportional link units. The connecting rod unit is composed of an iron convex ball and two semi-arc electromagnetic grooves, and there is a limited size between the joints to ensure the single-axis swing between the joints. The palm part is used to connect the four mechanical finger parts and the transmission module. The transmission module is used to control the stretching and grasping of each mechanical finger part to realize the transmission of the mechanical claw. Compared with the existing dexterous hands, the present invention has the characteristics of rigid-soft coupling, better stability and grasping force, and can adapt to a variety of objects with large differences in shape, and has good adaptability and practicability .

Description

technical field [0001] The invention relates to the field of dexterous hands, and relates to automatic grasping, in particular to a rigid-soft coupled multi-finger dexterous hand driven by combined tendon rope and electromagnetic force, which is mainly used for flexible grasping of various objects with different characteristics. Background technique [0002] As a hot spot in recent decades, the dexterous hand, as the key component of the robot's grasping and placing operation, has received a lot of attention and has a wide range of applications. The traditional dexterous hand generally adopts the design method of multi-rigid electromechanical drive joint fingers, and the flexibility of its movements often requires very complicated control technology to realize, which limits its scope of use. At present, based on pneumatic drive technology, such as new flexible and dexterous hands composed of pneumatic artificial muscles, etc., have good movement flexibility and show advantag...

AI Technical Summary

Problems solved by technology

The traditional dexterous hand generally adopts the design method of multi-rigid electromechanical drive joint fingers, and the flexibility of its movements often requires very complicated control technology to achieve, which limits its scope of use

At present, based on pneumatic drive technology, such as new flexible and dexterous hands composed of pneumatic artificial muscles, etc., have good movement flexibility and show advantages in grasping fragile and fragile objects, but such flexible and dexterous hands are often Can not meet the required stiffness requirements

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