Modularized dexterous hand mechanical structure

Abstract

The invention discloses a modularized dexterous hand mechanical structure which comprises a palm, a thumb and three or four fingers. The thumb comprises a thumb steering engine, a thumb base, a thumb base joint, a thumb base joint motor, a thumb near knuckle connecting base, a thumb base joint worm gear, a thumb base joint worm, a thumb near knuckle joint shaft, a thumb near knuckle, a first thumb coupling connecting shaft, a second thumb coupling connecting shaft, a thumb coupling transmission connecting rod, a thumb far knuckle joint shaft and a thumb far knuckle. A coupling four-link mechanism is formed by the thumb near knuckle joint shaft and the first thumb coupling connecting shaft, the thumb near knuckle joint shaft and the thumb far knuckle connecting shaft, the second thumb coupling connecting shaft and the thumb far knuckle connecting shaft and the thumb coupling transmission connecting rod. By means of the modularized dexterous hand mechanical structure, a thumb tip and the middle of an index finger can be used in cooperation to grip an article, the thumb tip and any finger tip can be used in cooperation to grip an article, and the whole structure can be implement grab an article in an enveloping manner.

Description

Technical field[0001]The present invention belongs to the technical field of robot, in particular a modular consted mobile phone structure.Background technique[0002]With the development of science and technology, people are increasingly eager to free from a single repetitive mechanical labor, and the use of robots or part of the robot in traditional labor-intensive production work is increasingly strong. In the field of robotics, an important research direction is the structural design of the smart hand, and it is also a hot spot in the current research. Human hand distributes up to more than 20 degrees of freedom, and if all of the motor driven is controlled, not only cost is expensive, but also the real-time control requirements, even if a simple object also requires complex sensing and control. In order to reduce the difficulty of control, it is guaranteed that the grip is still stable and reliable, one method is to reduce the number of motor simultaneously to ensure the real-tim...

AI Technical Summary

Problems solved by technology

There are more than 20 degrees of freedom in the human hand. If all of them are controlled by motor drive, it is not only expensive, but also requires high real-time control. Even grasping a simple object requires complex sensing and control.

In order to reduce the difficulty of control and ensure that the grasp is still stable and reliable, one method is to reduce the number of motors working at the same time to ensure the real-time performance of grasping objects, but reducing the motor will weaken the anthropomorphic effect of the dexterous hand at the same time. It is difficult to guarantee the stability and reliability of the grasping action

[0003] At present, most dexterous hands use tendon drive, which is an underactuated form. Tendon drive can only realize the flexible grasping method of enveloping grasp, which is suitable for large objects, and it is difficult to pinch and grasp flakes with fingertips. object, and there are problems with unstable grip and the need for pretension

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