CN111098320B - 12-degree-of-freedom five-finger manipulator - Google Patents
12-degree-of-freedom five-finger manipulator Download PDFInfo
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- CN111098320B CN111098320B CN201811438637.3A CN201811438637A CN111098320B CN 111098320 B CN111098320 B CN 111098320B CN 201811438637 A CN201811438637 A CN 201811438637A CN 111098320 B CN111098320 B CN 111098320B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
The invention relates to a five-finger manipulator with 12 degrees of freedom, which belongs to the technical field of robots and comprises a palm, five fingers, 12 driving modules, an angle sensor and a touch sensor; the manipulator adopts a tendon transmission mode, and the motor in the driving module provides power to drive the tendon ropes of all fingers to move, so that the whole hand is driven. The manipulator has 12 degrees of freedom, and each degree of freedom is controlled by a corresponding driving module through a pair of tendon ropes; wherein, the index finger, the middle finger and the ring finger have 2 degrees of freedom respectively, and the thumb and the little finger have 3 degrees of freedom respectively. The five fingers can realize flexion/extension movement, and specifically are as follows: flexion/extension of proximal knuckles, flexion/extension of middle knuckles, and flexion/extension of distal knuckles of each finger. The manipulator is provided with a touch sensor at the skin of a fingertip and a palm, an angle sensor is arranged at a joint, information such as pressure, angle and the like is fed back in real time, the precision and flexibility of grabbing are guaranteed, and the manipulator can be precisely controlled and grabbed.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a novel 12-degree-of-freedom five-finger manipulator.
Background
In recent years, robots have been developed rapidly to perform work in various environments such as factories, battlefields, outer spaces, etc., and end actuators are a key part of the robots. The end effector is generally a single-degree-of-freedom clamp type or parallel-moving type, and there is a vacuum chuck type for carrying. Most of the end actuating mechanisms have simple structures and convenient control, are suitable for heavy-load operation, but due to the defects of weak universality, low intelligence, poor precision and the like, the simple end actuating mechanisms cannot meet the requirements of human beings on complex tasks, and the development of robots in various fields is limited. Therefore, the five-finger manipulator attracts attention due to the advantages of multiple actions, dexterity, strong adaptability and the like.
The existing manipulator is mainly driven by a rope and driven by a motor gear, and the motor gear drives the manipulator to have a complex structure, a large size and high cost. The rope drives the manipulator ubiquitous tendon rope and becomes flexible problem easily, influences use and life-span.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a 12-degree-of-freedom five-finger manipulator. The five-finger manipulator is similar to a human hand in size, can realize the flexion/extension of five fingers and the palmar movement of a little finger and a big finger, and thus, finishes the fine grabbing task.
In order to achieve the purpose, the invention adopts the following technical scheme:
a five-finger manipulator with 12 degrees of freedom is characterized by comprising a palm, five fingers and a base fixedly connected with the palm, wherein 12 driving modules are arranged in the base; the index finger, the middle finger and the ring finger are all provided with 2 bending degrees of freedom, the thumb and the little finger are respectively provided with 2 bending degrees of freedom and 1 swinging degree of freedom, and the degrees of freedom are controlled by one corresponding driving module;
the thumb comprises a rotary joint, a proximal knuckle, a middle knuckle, a tail knuckle and a tail knuckle which are sequentially connected, and 3 degrees of freedom are respectively flexion/extension of the proximal knuckle, flexion/extension of the middle knuckle and pronation movement with the rotary joint as an axis; the thumb rotating joint rotates within 0-90 degrees towards the front of the palm so as to realize the palmar movement of the thumb;
the front half part of the little finger, the index finger, the middle finger and the ring finger have the same structure and respectively comprise a base end knuckle, a near end joint, a near end knuckle, a middle end joint, a middle end knuckle, a tail end joint and a tail end knuckle which are sequentially connected; the base end knuckle is fixed in the palm; the front half part of the little finger, the index finger, the middle finger and the ring finger respectively have 2 degrees of freedom, wherein the tail end knuckle and the middle end knuckle are under-actuated and share one degree of freedom for realizing flexion/extension movement, and the near end knuckle has one degree of freedom for realizing flexion/extension movement; the back half part of the little finger comprises a little finger rotating knuckle and a little finger rotating shaft which are fixedly connected, the axis of the little finger rotating knuckle and the little finger rotating shaft are arranged at a certain angle, and when the little finger rotating knuckle and the little finger rotating shaft are completely unfolded, the included angle between the little finger and the middle finger is close; the left side of the little finger rotating shaft is provided with an angle sensor, the right side of the little finger rotating shaft is provided with a bearing, and the angle sensor and the bearing are connected in the palm together to enable the little finger to rotate towards the palm center; the base end knuckle of the little finger is positioned in the little finger rotating knuckle and is fixedly connected with the little finger rotating knuckle;
the tail end joint and the middle end joint of each finger respectively comprise joint rotating shafts provided with pulleys, the pulleys of the tail end joints are embedded with torsion springs, and two ends of each torsion spring are respectively fixed on the corresponding tail end knuckle and the middle end knuckle; the proximal joints of the index finger, the middle finger, the ring finger and the little finger are formed by sphere-like structures, the middle part of each proximal joint is provided with a pore passage for the corresponding tendon rope to pass through, and the left end and the right end of each proximal joint are respectively fixed on the proximal knuckle of the corresponding finger;
the tail end knuckle of each finger is provided with a first touch sensor, and each joint is provided with an angle sensor; a microprocessor is fixed in each proximal knuckle of each finger and is used for processing data of the first touch sensor and the angle sensor in the corresponding finger and carrying out data communication with an external control end;
each degree of freedom of each finger is controlled by a corresponding driving module through a pair of tendon ropes, one end of a first pair of tendon ropes of each finger is commonly fixed on a terminal knuckle of the corresponding finger, a first tendon rope of the first pair of tendon ropes is wound for a circle through a pulley of the terminal joint, is connected to a pulley of the middle joint, and is connected with the corresponding driving module through the proximal joint and the proximal knuckle, and a second tendon rope of the first pair of tendon ropes is connected with the corresponding driving module through the pulley of the terminal joint, the pulley of the middle joint, the proximal joint and the proximal knuckle in sequence; the second pair of tendon ropes of each finger are positioned in tandem and fixed on the proximal end knuckle of the corresponding finger, and the second pair of tendon ropes are connected with the corresponding driving module after sequentially passing through the corresponding proximal end joint and the proximal end knuckle; one ends of the third pair of tendon ropes of the thumb are respectively fixed on the left side and the right side of the proximal knuckle of the thumb, and the other ends of the tendon ropes are directly connected to the corresponding driving modules through the rotary joint of the thumb; one ends of a third pair of tendon ropes of the little finger are respectively fixed on the front side and the rear side of the little finger rotating shaft, and the other ends of the tendon ropes are connected to corresponding driving modules through the palm.
Further, each driving module comprises a screw motor, a steering fixed pulley, a sliding block and 2 tensioners; the fixed turning pulley is positioned at the bottom of the base, the sliding block simultaneously makes reciprocating linear motion on 2 lead screws, and the 2 tensioners are respectively connected with the two sides of the sliding block through a perforated screw and are oppositely arranged.
Furthermore, each tensioner comprises a spring cover in threaded connection with the corresponding perforated screw, two pressure spring clamping sleeves arranged oppositely, a pressure spring positioned between the two pressure spring clamping sleeves and a pressure sensor positioned below the pressure spring clamping sleeve arranged closer to the corresponding perforated screw, and one end of the pressure spring clamping sleeve, which is far away from the corresponding perforated screw, in each tensioner is respectively provided with a rope head; a first tendon rope in the pair of tendon ropes passes through the palm, is diverted through the diverting fixed pulley, then passes through a first perforated screw and a first tensioner in sequence, and is fixed at a first rope head; and the second tendon rope passes through the palm, sequentially passes through the second perforated screw and the second tensioner and then is fixed at the second rope head.
The invention has the characteristics and beneficial effects that:
the invention aims to solve the problems of insufficient freedom degree and multi-freedom degree coupling of the existing dexterous hand, and provides a dexterous hand completely imitating five fingers, which has strong sensing capability, can realize the flexion/extension movement of the fingers and the palmar movement of the thumb, can sense the external environment in real time through a touch sensor arranged on the finger tips and an angle sensor arranged on the joints, and realizes the fine finger tip kneading action. In order to ensure that the fingers move flexibly, the invention adjusts the tightness of the tendon rope through the tensioner, and can keep the elasticity of the tendon rope, thereby prolonging the service life of the tendon rope. The dexterous five-finger hand can be used in the fields of industrial production, teleoperation, rehabilitation and the like.
Drawings
Fig. 1 is a schematic structural diagram of main parts of a 12-degree-of-freedom five-finger robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of the thumb of fig. 1.
Fig. 3 is a schematic view of the structure of the index finger in fig. 1.
FIG. 4 is an enlarged view of the distal and middle knuckles of the index finger shown in FIG. 3.
FIG. 5 is a schematic view of the winding of a tendon rope in an embodiment of the present invention.
Fig. 6 is a schematic view of the structure of the little finger in fig. 1.
Fig. 7 is a schematic structural diagram of the driving module in fig. 1.
Fig. 8 is an enlarged schematic view of the tensioner of the drive module of fig. 7.
Detailed Description
The technical scheme of the invention is described in detail below by combining the accompanying drawings and embodiments:
for convenience of description, the palm side is referred to as the front side, the back side is referred to as the back side, the side near the little finger is referred to as the left side, and the side near the thumb is referred to as the right side.
The 12-degree-of-freedom five-finger manipulator disclosed by the embodiment of the invention has an overall structure shown in fig. 1, and comprises a palm 7, a palm skin 6 (which can increase friction and is convenient for grabbing objects), five fingers (the reference numerals 1, 2, 3, 4 and 5 in fig. 1 correspond to a thumb, an index finger, a middle finger, a ring finger and a little finger respectively), a base 9 (the base 9 is provided with a shell, the shell of the base is not shown in fig. 1) fixedly connected with the palm 7, a plurality of touch sensors and a plurality of angle sensors, wherein 12 driving modules 8 are arranged in the base 9; the index finger 2, the middle finger 3 and the ring finger 4 have 2 bending degrees of freedom, the thumb 1 and the little finger 5 respectively have 2 bending degrees of freedom and 1 swinging degree of freedom, and the total degrees of freedom are 12, and the respective degrees of freedom are controlled by a corresponding driving module.
Fig. 2 is a schematic structural view of a thumb. The thumb 1 comprises a rotary joint 14, a proximal knuckle 13, a middle knuckle 15, a middle knuckle 12, a distal knuckle 16 and a distal knuckle 10 which are connected in sequence, and 3 degrees of freedom are respectively 0-90 degrees of flexion/extension of the distal knuckle 10 around a first axis 19a, 0-90 degrees of flexion/extension of the middle knuckle 12 around a second axis 19b parallel to the first axis 19a, and 0-90 degrees of pronation of the rotary joint 14 around a third axis 19c perpendicular to the first axis 19 a. The proximal knuckle 13, the middle knuckle 12 and the distal knuckle 10 of the thumb of this embodiment are 42mm, 33mm and 42mm, respectively, and the total finger is 121mm. The thumb rotary joint 14 is fixed in the palm 7 through a thumb base 18 and can rotate within 0-90 degrees towards the center of the palm so as to realize the volar movement of the thumb. The tail end knuckle 10 is provided with a touch sensor 17 which can be a conventional array type touch sensor and is attached to the surface of the finger abdomen, and a layer of silica gel sleeve is attached outside the touch sensor, so that the touch sensor can be protected, friction can be increased, and better grabbing performance can be obtained. The joints are provided with angle sensors (11 a, 11b, the angle sensors are SV01 series of MURATA), and the motion positions of the fingers can be accurately sensed. In this example, the degrees of freedom of the thumb are controlled by the respective drive modules via a pair of tendon ropes wound in a similar manner to the index finger, which will be described later. Specifically, one end of the 3 rd pair of tendon ropes of the thumb is respectively fixed on the front and back sides of the tail end knuckle 10, the front and back sides of the middle end knuckle 12, and the left and right sides of the near end knuckle 13, and the other end of the 3 rd pair of tendon ropes of the thumb is directly connected to the corresponding driving module 8 through the rotary joint 14 of the thumb. A microprocessor is fixed in the proximal knuckle 13 for processing data of the tactile sensor 17 and the angle sensors (11 a, 11 b) at each joint and communicating the data with an external control terminal.
In the manipulator, the front half part of the little finger 5, the index finger 2, the middle finger 3 and the ring finger 4 are all in modular design, the structure is the same, and the index finger 2 is taken as an example for explanation:
referring to fig. 3, the index finger 2 comprises a proximal knuckle 23, a proximal joint 24, a proximal knuckle 22, a middle knuckle 25, a middle knuckle 21, a distal joint 26 and a distal knuckle 20 which are connected in sequence, the lengths of the proximal knuckle 22, the middle knuckle 21 and the distal knuckle 20 are in a ratio of 1. The structure of the distal knuckle 20 to the middle knuckle 25 is shown in FIG. 4, which will be described in detail below. The proximal joint 24 is formed of a ball-like structure, and has a tunnel in the middle for the tendon rope to pass through, and the left and right ends of the proximal joint 24 are respectively fixed to the proximal knuckles 22. The whole finger is fixed in the palm 7 through the base end knuckle 23, the touch sensor 17 is arranged at the tail end knuckle 20, and the touch sensor 17 is externally pasted with a layer of silica gel to increase friction as with the thumb 1; the angle sensors are arranged at all joints, so that the motion positions of the fingers can be accurately sensed. The index finger has 2 active degrees of freedom, the tail end knuckle 20 and the middle end knuckle 21 are under-actuated and share one degree of freedom, and the two degrees of freedom respectively wind a fourth shaft 27a and a fifth shaft 27b which are parallel to each other, so that the flexion/extension movement can be realized; the proximal knuckle 22 has one degree of freedom to achieve flexion/extension motion in a sixth axis 27c parallel to the fourth axis 27 a; each degree of freedom is controlled by a respective drive module via a pair of tendon ropes.
Fig. 4 is an enlarged view of the distal knuckle 20 and the middle knuckle 21 of the index finger. For visual display, only parts of the middle-end knuckle part are reserved. Because the end knuckle 20 and the middle end knuckle 21 adopt under-actuation, the normal motion sequence is as follows: after the end knuckle 20 moves 90 degrees, the middle knuckle 21 starts to move, which is not fit for the grabbing characteristic of human hands. To solve this problem, in this embodiment, a torsion spring 30 is embedded in a pulley 31a in the end joint 26 of the index finger 2, a torsion spring is not added to a pulley 31b at the middle joint 25, 28 and 29 are joint rotation shafts, and two ends of the torsion spring 30 are fixed to the end knuckle 20 and the middle knuckle 21, respectively. Due to the resistance action of the torsion spring, the middle-end knuckle 21 can be guaranteed to move in preference to the tail-end knuckle 20, so that a good grabbing effect is obtained, and the grabbing characteristic of a human hand is met.
FIG. 5 is a schematic view of the winding of the tendon rope for the index finger. The index finger 2 is provided with 2 pairs of tendon ropes, one end of the first pair of tendon ropes 32 and 35 is fixed on the tail end knuckle 20, the tendon rope 35 is used for controlling the flexion of the tail end knuckle 20 and the middle end knuckle 21 of the index finger, and the tendon rope 32 is used for controlling the extension of the tail end knuckle 20 and the middle end knuckle 21 of the index finger. The tendon string 35 is wound once around the pulley 31a of the distal joint 26, then connected to the pulley 31b of the middle joint 25, and wound once again and then connected to the driving module 8 via the proximal joint 24 and the proximal knuckle 23 (see fig. 7 for the structure of the driving module). The tendon rope 32 is connected to the driving module after passing through a tail end joint pulley, a middle end joint pulley (the tendon rope 32 is not wound when passing through the two pulleys), a near end joint 24 and a base end knuckle 23 in sequence. A second pair of tendon ropes 33, 34 is located at the proximal knuckle 22 and is attached to the proximal knuckle 22 one after the other, the tendon ropes 33 being used to control the unbending of the proximal knuckle 22, the tendon ropes 34 being used to control the bending of the proximal knuckle 22, the tendon ropes 33, 34 each passing through the proximal joint 24, the proximal knuckle 23 and being directly connected to the respective drive module.
Fig. 6 is a structural diagram of the little finger 5, and the front half part of the little finger (i.e. the proximal end knuckle 23, the proximal end joint 24, the proximal end knuckle 22, the middle end joint 25, the middle end knuckle 21, the distal end joint 26 and the distal end knuckle 20 which are connected in sequence, and the corresponding tendon rope) adopts a modular design, and has the same structure as the index finger, and the description is omitted here. The rear half part of the little finger 5 comprises a little finger rotating knuckle 36 and a little finger rotating shaft 37 which are fixedly connected, the axis of the little finger rotating knuckle 36 and the little finger rotating shaft 37 are arranged at a certain angle (37 degrees in the embodiment), and when the little finger 5 is completely unfolded (at the moment, five fingers are in an opening state, and adjacent fingers are not contacted), the included angle between the little finger and the middle finger is close; the left side of the little finger rotating shaft 37 is provided with an angle sensor, the right side is provided with a bearing, and the small finger rotating shaft and the palm 7 are connected together to rotate towards the palm center by taking a dotted line 40 in fig. 6 as an axis; the proximal knuckle 23 of the little finger (the proximal knuckle 23 of the little finger is shown schematically in fig. 6) is located within the rotating knuckle 37 of the little finger and is fixedly connected to the rotating knuckle 30. The little finger 5 has 3 degrees of freedom; wherein, the end knuckle 20 and the middle knuckle 21 are under-actuated and share one degree of freedom, so as to realize flexion/extension movement, and the near knuckle 22 has one degree of freedom, so as to realize flexion/extension movement; the other degree of freedom is that the little finger rotating knuckle 36 drives the little finger to rotate towards the palm, and the rotating angle is 0-40 degrees, so that the envelope of the palm center is realized, and the grabbing is assisted. The winding mode of two pairs of tendon ropes in the front half part of the little finger 5 is the same as that of the index finger, one end of the tendon rope of the No. 3 in the little finger 5 is respectively fixed at the front side and the rear side of the little finger rotating shaft 37, the other end is directly connected to the corresponding driving module through the palm 7, the length ratio of the proximal knuckle, the middle knuckle, the terminal knuckle and the rotating knuckle of the little finger 5 in the embodiment is 1.
In this example there are 12 drive modules each associated with a respective pair of tendon ropes. The drive modules are identical in structure, and a drive module for controlling a pair of tendon ropes 32 and 35 in the index finger will be described as an example, with reference to fig. 7. The driving module comprises a lead screw motor 47, a diverting fixed pulley 43, a slide block 46 and 2 tensioners (41 a, 41 b). The fixed diverting pulley 43 is located at the bottom of the base 9, the slide block 46 makes a reciprocating linear motion on 2 lead screws (39 a, 39 b) at the same time, and the 2 tensioners are respectively connected with the left side and the right side of the slide block 46 through a perforated screw (42 a, 42 b) and are arranged oppositely. The tensioner 41a is structured as shown in fig. 8 (the tensioner 41b is structured the same as the tensioner 41a, and will not be described herein again), and includes a spring cover 50 screwed to the hole screw 42a, two pressure spring ferrules (47 a, 47 b) disposed opposite to each other, the pressure spring ferrule 47b being disposed closer to the hole screw 42a than the pressure spring ferrule 47a, a pressure spring 48 disposed between the two pressure spring ferrules, and a pressure sensor 49 disposed below the pressure spring ferrule 47 b. One end of the compression spring clamping sleeve, which is far away from the corresponding perforated screw, in each tensioner is respectively provided with a rope head (40, 44).
When the perforated screw 42a is screwed upwards, the tendon rope 35 led out from the base end knuckle 23 passes through the palm 7, then passes through the diverting fixed pulley 43 to be diverted, and then passes through the perforated screw 42a and the tensioner 41a in sequence, and finally is fixed at the rope head 40 at the other end of the pressure spring clamping sleeve 47 a; the tendon rope 32 passes through the palm 7, then sequentially passes through the perforated screw 42b and the tensioner 41b, and then is directly fixed at the rope end 44 at the other end of the pressure spring clamping sleeve. The perforated screws (42 a, 42 b) are connected to the slide block 46 through threads, and when the driving motor 45 operates, the screw rods (39 a, 39 b) are driven to rotate, so that the slide block 46 on the screw rods is driven to move linearly. When the slider 46 moves upward, the hole screw 42a follows, thereby pushing the tensioner 41a, the string head 40 to move upward, the tendon string 35 is tightened, and the finger is moved. Similarly, when the slider 46 moves downward, the tendon rope 32 is driven to move downward. The up-and-down movement of the sliding block is adopted, so that the flexion/extension movement of the fingers is realized. During the movement of the slider 46, the tension in the tendon rope can be measured by a pressure sensor 49 at one end of the compression spring ferrule. When the tendon rope 35 is loosened, the perforated screw 42a can be rotated upwards, so that the compression spring 47 and the compression spring clamping sleeve 47a are forced to move upwards, and the pretightening force of the tendon rope is ensured. Similarly, when tendon rope 32 becomes loose, right side perforated screw 42b is adjusted to move downward, thereby securing the tension of tendon rope 32. The pressure spring can keep the tendon rope in a pre-tightening state all the time, and the tendon rope has certain elasticity, so that the finger movement is more flexible and smooth.
In summary, the five fingers of the manipulator provided by the invention can realize flexion/extension movement, and specifically include: the movements of the fingers conform to the motion rule of human hand. The manipulator is provided with a touch sensor at the skin of a fingertip and a palm, and an angle sensor is arranged at a joint and used for feeding back information such as pressure and angle in real time, so that the precision and flexibility of grabbing are ensured, and the precise control and grabbing of the manipulator can be realized.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A five-finger manipulator with 12 degrees of freedom is characterized by comprising a palm, five fingers and a base fixedly connected with the palm, wherein 12 driving modules are arranged in the base; the index finger, the middle finger and the ring finger are all provided with 2 bending degrees of freedom, the thumb and the little finger are respectively provided with 2 bending degrees of freedom and 1 swinging degree of freedom, and the degrees of freedom are controlled by one corresponding driving module;
the thumb comprises a rotary joint, a near-end knuckle, a middle-end joint, a middle-end knuckle, a tail-end joint and a tail-end knuckle which are sequentially connected, and 3 degrees of freedom are respectively the flexion/extension of the near-end knuckle, the flexion/extension of the middle-end knuckle and the pronation motion with the rotary joint as an axis; the rotary joint of the thumb rotates within 0-90 degrees towards the front of the palm so as to realize the palmar movement of the thumb;
the front half part of the little finger, the index finger, the middle finger and the ring finger have the same structure and respectively comprise a base end knuckle, a near end joint, a near end knuckle, a middle end joint, a middle end knuckle, a tail end joint and a tail end knuckle which are sequentially connected; the base end knuckle is fixed in the palm; the front half part of the little finger, the index finger, the middle finger and the ring finger respectively have 2 degrees of freedom, wherein the tail end knuckle and the middle end knuckle are under-actuated and share one degree of freedom for realizing flexion/extension movement, and the proximal end knuckle has one degree of freedom for realizing flexion/extension movement; the back half part of the little finger comprises a little finger rotating knuckle and a little finger rotating shaft which are fixedly connected, the axis of the little finger rotating knuckle and the little finger rotating shaft are arranged at a certain angle, and when the little finger rotating knuckle and the little finger rotating shaft are completely unfolded, the included angle between the little finger and the middle finger is close; the left side of the little finger rotating shaft is provided with an angle sensor, the right side of the little finger rotating shaft is provided with a bearing, and the angle sensor and the bearing are connected in the palm together to enable the little finger to rotate towards the palm center; the base end knuckle of the little finger is positioned in the little finger rotating knuckle and is fixedly connected with the little finger rotating knuckle;
the tail end joint and the middle end joint of each finger respectively comprise joint rotating shafts provided with pulleys, the pulleys of the tail end joints are embedded with torsion springs, and two ends of each torsion spring are respectively fixed on the corresponding tail end knuckle and the middle end knuckle; the proximal joints of the index finger, the middle finger, the ring finger and the little finger are formed by sphere-like structures, the middle part of each proximal joint is provided with a pore passage for the corresponding tendon rope to pass through, and the left end and the right end of each proximal joint are respectively fixed on the proximal knuckle of the corresponding finger;
the tail end knuckle of each finger is provided with a touch sensor, and each joint is provided with an angle sensor; a microprocessor is fixed in each proximal knuckle of each finger and is used for processing the data of the touch sensor and the angle sensor in the corresponding finger and carrying out data communication with an external control end;
each degree of freedom of each finger is controlled by a corresponding driving module through a pair of tendon ropes, one end of a first pair of tendon ropes of each finger is commonly fixed on a terminal knuckle of the corresponding finger, the first tendon rope of the first pair of tendon ropes is wound by a circle through a pulley of the terminal joint and then connected to a pulley of the middle joint and then connected with the corresponding driving module through the proximal joint and the proximal knuckle, and the second tendon rope of the first pair of tendon ropes is connected with the corresponding driving module through the pulley of the terminal joint, the pulley of the middle joint, the proximal joint and the proximal knuckle in sequence; the second pair of tendon ropes of each finger are positioned in tandem and fixed on the proximal end knuckle of the corresponding finger, and the second pair of tendon ropes are connected with the corresponding driving module after sequentially passing through the corresponding proximal end joint and the proximal end knuckle; one end of a third pair of tendon ropes of the thumb is respectively fixed on the left side and the right side of a proximal knuckle of the thumb, and the other end of the third pair of tendon ropes is directly connected to the corresponding driving module through a rotary joint of the thumb; one ends of a third pair of tendon ropes of the little finger are respectively fixed on the front side and the rear side of the little finger rotating shaft, and the other ends of the tendon ropes are connected to corresponding driving modules through the palm;
each driving module comprises a lead screw motor, a steering fixed pulley, a sliding block and 2 tensioners; the steering fixed pulley is positioned at the bottom of the base, the sliding block simultaneously makes reciprocating linear motion on 2 lead screws, and the 2 tensioners are respectively connected to two sides of the sliding block through a perforated screw and are oppositely arranged;
each tensioner comprises a spring cover in threaded connection with the corresponding perforated screw, two pressure spring clamping sleeves arranged oppositely, a pressure spring positioned between the two pressure spring clamping sleeves and a pressure sensor positioned below the pressure spring clamping sleeve arranged closer to the corresponding perforated screw, and one end of the pressure spring clamping sleeve, which is far away from the corresponding perforated screw, in each tensioner is provided with a rope head; a first tendon rope in the pair of tendon ropes passes through the palm, is diverted through the diverting fixed pulley, then passes through a first perforated screw and a first tensioner in sequence, and is fixed at a first rope head; and the second tendon rope passes through the palm, sequentially passes through the second perforated screw and the second tensioner and then is fixed at the second rope head.
2. The 12-degree-of-freedom five-finger manipulator according to claim 1, wherein a layer of silica gel sleeve is attached to the outer side of each touch sensor and the palm.
3. The 12 degree of freedom five finger manipulator according to claim 1 wherein the proximal, middle and distal knuckles of the thumb have a ratio of length of 4.
4. The 12-degree-of-freedom five-finger manipulator according to claim 1, wherein the proximal, middle and distal knuckles of the index, middle and ring fingers have a length ratio of 1.
5. The 12-degree-of-freedom five-finger manipulator according to claim 1, wherein the proximal, middle, distal and rotational knuckles of the small finger have a length ratio of 1.
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| CN111469156B (en) * | 2020-06-03 | 2022-07-26 | 北京工业大学 | Rigid-flexible combined human-simulated five-finger mechanical gripper |
| CN111923068B (en) * | 2020-07-17 | 2021-12-17 | 浙江工业大学 | Finger joint of tendon-driven dexterous hand |
| CN112298623A (en) * | 2020-09-29 | 2021-02-02 | 北京空间飞行器总体设计部 | Self-adaptive capturing despin device |
| CN114536317B (en) * | 2022-04-26 | 2022-09-06 | 中国科学院自动化研究所 | Tendon rope driving unit and driving device for dexterous hand and bionic dexterous hand |
| CN114536382B (en) * | 2022-04-26 | 2022-08-12 | 中国科学院自动化研究所 | Robot with nerve mimic dexterous hand |
| CN114536381B (en) * | 2022-04-26 | 2022-09-06 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
| WO2023207129A1 (en) * | 2022-04-26 | 2023-11-02 | 中国科学院自动化研究所 | Humanoid five-finger dexterous hand |
| CN114536380B (en) * | 2022-04-26 | 2022-09-06 | 中国科学院自动化研究所 | Five-freedom-degree full-drive humanoid thumb and humanoid dexterous hand |
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| CN101045300B (en) * | 2006-03-31 | 2010-11-10 | 北京理工大学 | Human imitating clever hands driven by artificial pneumatic muscle |
| US8483880B2 (en) * | 2009-07-22 | 2013-07-09 | The Shadow Robot Company Limited | Robotic hand |
| CN107471243B (en) * | 2017-07-26 | 2019-08-16 | 清华大学 | A kind of more perception apery five-needle pines blister rusts |
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