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Modular three-degree-of-freedom tendon-rope transmission humanoid dexterous mechanical finger and control method

A mechanical finger and modular technology, applied in the field of bionic robots, can solve problems such as limited range of use, cumbersome assembly and maintenance, and complex transmission links, and achieve the effect of ensuring operational flexibility and simplifying assembly and maintenance

Active Publication Date: 2022-05-13
HARBIN INST OF TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing multi-degree-of-freedom dexterous hand generally integrates the hand and the forearm, and the driver is arranged in the forearm, which leads to a large size of the dexterous hand and limits the scope of use; at the same time, the transmission link is more complicated, and the assembly and maintenance are more cumbersome

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  • Modular three-degree-of-freedom tendon-rope transmission humanoid dexterous mechanical finger and control method
  • Modular three-degree-of-freedom tendon-rope transmission humanoid dexterous mechanical finger and control method
  • Modular three-degree-of-freedom tendon-rope transmission humanoid dexterous mechanical finger and control method

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Embodiment Construction

[0059] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0060] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0061] Such as Figure 1-Figure 9 As shown, a modular three-degree-of-freedom tendon-rope transmission humanoid dexterous mechanical finger includes an interphalangeal joint 1, a base joint 2, a test module 5, a driving module 4, and a driving tendon rope 6 driven by the driving module 4;

[0062] The interphalangeal joint 1 includes a fingertip structure 1-1, a distal interphalangeal joint 1 (a), a proximal interphalangeal joint 1 (b) and an interphalangeal joint connection part 1 (c). The distal interphalangeal joint 1(a) is connected to the proximal interphalangeal joint 1(b) by a coupling tendon to generate coupled motion between the distal interphalangeal joint 1(a) and proximal in...

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Abstract

The invention provides a modular three-degree-of-freedom tendon-driven humanoid dexterous mechanical finger and a control method. The mechanical finger includes an interphalangeal joint, a base joint, a test module, a driving module and a driving tendon driven by the driving module. The driving tendon The rope is used to drive the bending and unfolding of the interphalangeal joint and the bending and unfolding and side swinging motion of the base joint. The test module is used to test the pitching moment of the interphalangeal joint and the pitching moment and side swinging moment of the base joint. When the fingertip load is sufficient, the present invention not only ensures that the flexibility of the finger is similar to that of human fingers, but also can centrally arrange the motor in the metacarpal part of the finger to achieve long-distance tendon transmission, and at the same time, the structure of the finger is designed as a module ization, simplifying assembly and maintenance.

Description

Technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a modular three-degree-of-freedom tendon-driven humanoid dexterous mechanical finger and a control method. Background technique [0002] As a multifunctional end operator of a robot, the dexterous hand has the advantages of strong flexibility and wide range of applicable tasks. As the execution unit of the robot's gripper, the finger's dexterity, reliability, and size have an important impact on the gripper. [0003] Although there are many studies on human-like dexterous hands at home and abroad, they are generally aimed at operating activities in general environments. For some extremely special environments such as high and low temperatures and high radiation, the design of dexterous hands requires special considerations, such as the centralized arrangement of electronic systems, which is conducive to the implementation of protective measures such as temperat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J17/00B25J19/02B25J9/16
CPCB25J15/00B25J17/00B25J19/02B25J9/16B25J15/0009
Inventor 刘宏樊绍巍李柏毅金明河
Owner HARBIN INST OF TECH
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