Tendon transmission full drive humanoid dexterous robotic hand

Abstract

The invention provides a tendon transmission full drive humanoid dexterous robotic hand in order to overcome the technical problems that due to a small number of degrees of freedom of a dexterous handin the prior art, the dexterity of the dexterous hand is low, and a tendon rope is prone to interference with an internal structure of fingers. The tendon transmission full drive humanoid dexterous robotic hand comprises a palm and a plurality of finger base joints, each finger base joint comprises a swing joint and a bending joint group, each bending joint group comprises a plurality of hinged bending joints, one end of each swing joint is connected with the palm, and the other ends of the swing joints are connected with the bending joints. A pulley is arranged at the connection between every two adjacent bending joints, a bending tendon rope, a return tendon rope and a swing tendon rope are arranged in each finger base joint, each swing joint is provided with a first groove hole, the bending tendon ropes, the return tendon ropes and the swing tendon ropes penetrate out of the first groove holes and then are connected with the palm, the palm is provided with constant force springs connected with the return tendon ropes, the constant force springs correspond to the finger base joints one by one, the bending joints and the swing joints are provided with angle transducers, and the palm is provided with a monitoring response module.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a tendon-driven fully-driven humanoid dexterous hand. Background technique [0002] The dexterous hand is the end effector of the robot, which can replace humans to operate in unknown or dangerous environments. Since the humanoid dexterous hand has multiple degrees of freedom, its flexibility is high, and its applicability to the environment is strong, so it can realize various humanoid operations in unknown environments. [0003] At present, dexterous hands have the problems of low degree of freedom, cumbersome structure, and large finger space. First of all, in order to reduce the difficulty of control, the current design of dexterous hands is often equipped with fewer degrees of freedom, resulting in a significant reduction in the dexterity of the five-fingered hand and a poorer human-like simulation effect; In the process of opening and clenching the entire palm, due ...

AI Technical Summary

Problems solved by technology

[0005] The present invention overcomes the low dexterity of the dexterous hand due to too few degrees of freedom in the prior art, the tendency for the tendon cord to interfere with the internal structure of the finger during the movement of the tendon-driven dexterous hand, and the use of elastic elements for finger base joints. When resetting, the elastic element will occupy a certain amount of finger space, which does not meet the technical problems of the current design requirements of the humanoid hand design. A tendon-driven full-drive humanoid dexterous hand is provided, which can effectively realize the structure of the five-fingered dexterous hand. Simplified and reasonable layout of the tendon rope in the fingers, the inner space of the palm is large, and the movement of the fingers will not be too restricted

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