A tendon-driven fully-actuated humanoid dexterous hand

Abstract

In order to overcome the technical problems of low dexterity caused by the too few degrees of freedom of the dexterous hand in the prior art, and the internal structure of tendons and fingers is likely to interfere, the present invention provides a tendon-driven fully-driven humanoid dexterous hand, including The base joints of the palm and several fingers, the base joints of the fingers include swing joints and bending joint groups, the bending joint group includes several bending joints connected by hinges, one end of the swing joint is connected with the palm, and the other end of the swing joint is connected with the palm The bending joints are connected, and roller skating is provided at the junction of two adjacent bending joints. There are bending tendon cords, recovery tendon cords and swing tendon cords in the finger base joints, and a first slot hole is provided on the swing joints. The tendon rope, the restoring tendon rope and the swinging tendon rope pass through the first slot and are connected to the palm. The palm is provided with a constant force spring connected with the restoring tendon rope. The constant force spring corresponds to the base joints of the fingers one by one. Angle sensors are provided on the joints and swing joints, and a monitoring and response module is provided on the palm.

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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