A finger joint of tendon-driven humanoid dexterous hand

Abstract

In order to overcome the complex structure of the humanoid dexterous hand in the prior art and require a large amount of space on the finger joints, the present invention provides a tendon-driven finger joint of the humanoid dexterous hand, including a swing joint and a bending joint group. The joint group includes several bending joints connected by hinges, one end of the swing joint is connected with the palm of the humanoid dexterous hand, the other end of the swing joint is connected with the bending joint, and the connection between two adjacent bending joints is provided with Roller skating, the bending joint is provided with a first slot, the limit knot is located on the side of the first slot away from the swing joint, the bending joint is provided with a second slot, and the bending tendon rope edge is located near the bending joint After the roller skating at one end of the swing joint is wound around in the circumferential direction, it passes through the second slot hole. The recovery tendon rope is arranged in the finger joint, the swing tendon rope is arranged in the swing joint, and the third slot hole is arranged on the swing joint. The folded tendon cord, the recovery tendon cord and the swing tendon cord are connected to the palm after passing through the third slot.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a finger joint of a tendon-driven human-like dexterous hand. Background technique [0002] With the continuous improvement of the intelligence level and operation ability of robots, the humanoid dexterous hand has a wide range of application prospects in the fields of aerospace, compact machinery, military, industrial and medical equipment due to its human-like characteristics, which requires dexterity. The hand has more degrees of freedom and more accurate grasping operation ability. Therefore, the research focus of the human-like dexterous hand is to simplify the structure reasonably and have a certain flexibility on the basis of simulating the structure of the human hand as much as possible. [0003] In order to meet the requirements of certain flexibility and grasping accuracy of the current dexterous hand, the designed dexterous hand will occupy a large amount of inte...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the technical problems of the complex structure of the humanoid dexterous hand in the prior art and the need for a large amount of space on the finger joints, the present invention provides a tendon-driven finger joint of the humanoid dexterous hand, which uses less tendon ropes to achieve more freedom The structure is compact and reasonable on the basis of the size similar to that of the human hand, and the tendon rope transmission effect is achieved by using the structural characteristics. It has a certain degree of flexibility while being highly integrated, and can achieve more precise position control.

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