Rigid and flexible combined humanoid five-finger mechanical gripper

Abstract

The invention discloses a rigid and flexible combined humanoid five-finger mechanical gripper. The mechanical gripper comprises bionic finger joints, rigid wire drive joints and a bionic palm. Each bionic finger joint comprises a flexible finger far joint, a conformal airbag, a pressurization airbag, a flexible finger middle joint and a middle joint rigid phalanx. Each rigid wire drive joint comprises a bolt shaft, a reset spring, a steel wire role, a cable winding disc, a near joint rigid phalanx and a middle joint rigid phalanx. The bionic palm comprises a derive design metacarpal bone and areplaceable hard outer palm face. According to the rigid and flexible combined humanoid five-finger mechanical gripper, the mechanism integration degree is extremely high, through the adoption of therigid and flexible combined structure features, the technical features that soft machines are held stably by hand and the locating precision of a rigid mechanical hand is high are used in combination, objects in uncertain shapes can be stably grabbed and held, most postures of human palms can be simulated, fidelity, flexibility and autonomy are high, the mechanical gripper is suitable for multiple occasions, and people can be helped to complete work the same as human hands accurately and finely.

Description

technical field [0001] The invention relates to a master-slave manipulator, that is, a control unit and a controlled unit jointly complete the corresponding space movement, and relates to the design of a rigid-flexible human-like five-finger manipulator. Background technique [0002] Since the advent of manipulators, it can provide indispensable help to human beings in many fields. Rigid manipulators are used in special operations due to their high positioning and repeated positioning accuracy, but traditional rigid manipulators require extremely complex processes to precisely control the hardware to ensure the success and stability of grasping objects and reduce the damage to objects caused by the grasping process. . [0003] Although the flexible manipulators emerging in recent years have a stronger ability to hold irregular objects stably, it is still difficult to achieve the same level of positioning accuracy as rigid manipulators in terms of positioning accuracy. At t...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of the above-mentioned robotic claws, such as complex grasping process, poor positioning accuracy, and unacceptable to people, the present invention provides a mechanical claw that combines rigidity and flexibility, is easy to achieve stable grasping, and has precise positioning, imitating the palm of a human five-finger production method

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