Humanoid manipulator mechanism

Abstract

The invention discloses a mechanism of a humanoid robot hand, which is composed of a palm, five fingers and a mechanical interface. The five fingers are installed on the palm, and the root of the palm is provided with a mechanical interface. The connection between the mechanism and the robot arm. In the humanoid robotic hand mechanism of the present invention, the thumb and forefinger each have a degree of freedom and are respectively driven by a motor; the middle finger, ring finger and little finger share a degree of freedom and are driven by the same motor, and the transmission of the three fingers adopts the same modular design, The only difference lies in the length of the distal knuckles of the three fingers. The first two joints of the index, middle, ring, and little fingers are kinematically coupled individually. There is a motion decoupling device at the connection shaft between the proximal knuckles of each finger and the palm. When the proximal knuckles of the fingers are blocked from touching the object, the other knuckles can continue to move to complete the envelope grasping of the object.

Description

technical field [0001] The invention relates to a humanoid robot hand mechanism with a humanoid robot hand mechanical structure with five fingers and fourteen joints and three degrees of freedom. Background technique [0002] Human research on hand and hand function begins with the development of prosthetic limbs and the assessment of disability in the field of medical surgery. With the development of modern technology, various types of grippers and manipulators are emerging. In the early 1860s, Tomovic and Boni of Yugoslavia developed the first mechanical hand with five fingers and five degrees of freedom. At the end of the 1970s, a variety of gripper designs were produced. Since then, manipulators have developed in two directions: one is the robotic dexterous hand, which has more degrees of freedom, often more than nine; the other is the humanoid robot hand, which has fewer degrees of freedom, usually less than five. [0003] In recent years, humanoid robots have been p...

AI Technical Summary

Problems solved by technology

These transmission methods have their own advantages and disadvantages: the wire rope transmission has good flexibility, which is beneficial to long-distance transmission, but the problem of wire rope tension needs to be solved; the connecting rod transmission structure is simple, the transmission accuracy is high, but the motion continuity is poor; the toothed belt transmission High precision is good for long-distance transmission, but there is a limit to the size of the pulley; gear transmission has high precision and long maintenance cycle, but it is not conducive to long-distance transmission

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