Multi-freedom-degree flexible mechanical hand with mechanical flexibility

Abstract

A multi-freedom-degree flexible mechanical hand with mechanical flexibility comprises a left half palm, a right half palm, four fingers and a thumb. The left half palm and the right half palm are hinged, and motors drive compressed / stretching connecting rods so that the palm can be bent by a certain angle. The joints of near knuckles, middle knuckles and far knuckles of the four fingers and the thumb are hinged. The near knuckles of the index finger and the middle finger are hinged to the left half palm through universal balls, and the near knuckles of the ring finger and the litter finger arehinged to the right half palm through universal balls. The joints of the middle knuckles and the far knuckles of the fingers are coupled, and the near knuckles of the fingers are bent by the motors in the palm through linear drive and are driven by elastic ropes to stretch. The fingers are expanded outwards / contracted inwards through the motors in the palm via connecting rod drive. The joints ofthe middle knuckle and the far knuckle of the thumb are hinged and are bent / stretched by the motor mounted in the middle knuckle through connecting rod drive. The thumb is expanded outwards / contractedinwards through connecting rod drive, and the thumb rotates by directly driving a thumb base. The multi-freedom-degree flexible mechanical hand achieves 21 degrees of freedom and 16 drive degrees offreedom.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a multi-degree-of-freedom humanoid dexterous manipulator with mechanical flexibility. Background technique [0002] In the society, there are many patients with amputations caused by accidental hand injuries and lesions. Losing the most functional hand of the human body has brought great inconvenience to their life and work. These patients have an urgent need for hand function reconstruction. needs and desires. However, with the current level of human technology, it is difficult to achieve hand regeneration from a biological point of view, so humanoid manipulators have always been an important means for amputee patients to restore some functions of the hand. [0003] Since the industrial revolution, many relatively dangerous working environments have been created. For some production processes, humans need to use robots to complete. For a certain station or operation, i...

AI Technical Summary

Problems solved by technology

But there are few robotic hands that can achieve near-human dexterity at the size of an adult hand without mounting the actuator on an extra arm

[0005]In many dexterous manipulator designs, torque control is relatively less concerned, and some manipulators use current-algorithm control to achieve torque control. Additional current sensors lead to a further increase in the size of the manipulator, while lacking compliance, that is, the ability to resist unknown external forces

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