Robot anthropomorphic multi- finger hand device

Abstract

The robot anthropomorphic multi-fingered hand device relates to a mechanical finger device, which mainly includes a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger, a joint body at the base of the thumb, and a joint body at the base of the four fingers. The index finger, middle finger, ring finger, and little finger all include root phalanx, middle underactuated joint, middle phalanx, terminal underactuated joint, and terminal phalanx, respectively. The index finger, middle finger, ring finger and little finger are respectively socketed on the same four-finger root joint body and connected with the palm. The base joint body of the thumb and the base joint body of the four fingers are active joints driven by motors, and the middle underactuated joints, end underactuated joints and thumb end underactuated joints of the index finger, middle finger, ring finger and little finger all adopt the same underactuated joint. Its appearance, size and movement are similar to human hands, with 11 degrees of freedom and high integration. It only needs 2 motors to drive, and the motor and its driver are hidden in the hand. It is easy to control and can stably grasp objects of different shapes and sizes. on anthropomorphic robots.

Description

technical field [0001] The invention relates to a mechanical finger device, in particular to the structural design of a robot anthropomorphic multi-fingered hand device. Background technique [0002] In the study of intelligent robots, people regard anthropomorphic robots as the highest state of robot research, and have always regarded the realization of human-like behavior as a dream goal. Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. The power supply system, drive system, information processing system and control system of the humanoid robot are completely carried by itself, so it puts forward very strict requirements for the design of its hand, requiring the hand device to be small in weight and volume, and in order to To reduce the difficulty of control, it is required to redu...

AI Technical Summary

Problems solved by technology

Its disadvantages are: the hand actually has only 2 fingers, its index finger has only 2 joints, and the whole hand has only 4 joint degrees of freedom. These are different from human hands in terms of appearance, number of fingers, joint degrees of freedom, and flexibility Larger mean difference

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