Rigidity-variable skeleton of rigid-flexible coupling dexterous hand

Abstract

The invention discloses a rigidity-variable skeleton of a rigid-flexible coupling dexterous hand. The dexterous hand comprises a palm skeleton and single-finger skeletons rotationally connected with the palm skeleton. The single-finger skeletons include a thumb skeleton; the thumb skeleton comprises a fingertip and a tail knuckle; each of the other single finger skeletons comprises a fingertip, a middle knuckle and a tail knuckle, and the middle knuckle and the fingertip are movably connected through a joint, the middle knuckle and the tail knuckle are movably connected through a joint, and the fingertip and the tail knuckle are movably connected through a joint; each joint comprises a shell, an air bag arranged in the shell and a set of rotating bosses which penetrate through the wall of the shell and are coaxially arranged; each middle knuckle and the corresponding fingertip which are rotationally connected with each other through the corresponding rotating bosses, each middle knuckle and the corresponding tail knuckle are rotationally connected with each other through the corresponding rotating bosses, and each fingertip and the corresponding tail knuckle are rotationally connected with each other through the corresponding rotating bosses; and when each air bag expands, the outer wall of the air bag abuts against one ends of the corresponding rotating bosses to drive the rotating bosses to move towards the two sides along the axis, and the other ends of the corresponding rotating boss abut against the corresponding fingertip or the corresponding middle knuckle or the corresponding tail knuckle. According to the rigidity-variable skeleton of the rigid-flexible coupling dexterous hand, the rigidity of the finger joints can be quickly changed, so that the whole hand is better attached to an object, finer objects are grabbed, and the safety of human beings is guaranteed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dexterous hand skeleton with rigid-flexible coupling and variable stiffness. Background technique [0002] Traditional rigid robots have experienced half a century of development and have become very mature. With the development of science and technology and the improvement of living standards, the application of robots is not only used in the industrial field, but also can enter life and get more practical applications. But traditional robotic manipulators, which consist of rigid components, links, and joints, usually have limited adaptability, lack compliance, and are not safe for humans. Therefore, soft robots have received a lot of attention. With the continuous efforts of scientists, the field of soft robots has developed rapidly. Compared with traditional rigid robots, soft robots have super redundant degrees of freedom and flexible movement. And operational capabilities,...

AI Technical Summary

Problems solved by technology

In this scheme, each finger joint has flexible bending ability, but the stiffness of the finger joint cannot be changed quickly

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