CN111496830A - 一种具有机械柔性的多自由度仿人灵巧机械手 - Google Patents
一种具有机械柔性的多自由度仿人灵巧机械手 Download PDFInfo
- Publication number
- CN111496830A CN111496830A CN202010486722.8A CN202010486722A CN111496830A CN 111496830 A CN111496830 A CN 111496830A CN 202010486722 A CN202010486722 A CN 202010486722A CN 111496830 A CN111496830 A CN 111496830A
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- Prior art keywords
- knuckle
- thumb
- palm
- motor
- finger
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- Granted
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- 210000003813 thumb Anatomy 0.000 claims abstract description 198
- 210000003811 finger Anatomy 0.000 claims abstract description 165
- 210000004932 little finger Anatomy 0.000 claims abstract description 21
- 230000006835 compression Effects 0.000 claims abstract description 13
- 238000007906 compression Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 70
- 238000005452 bending Methods 0.000 claims description 69
- 230000002457 bidirectional effect Effects 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000009826 distribution Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 10
- 210000002435 tendon Anatomy 0.000 description 8
- 210000004247 hand Anatomy 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 208000011092 Hand injury Diseases 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 235000019788 craving Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- 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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
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Priority Applications (1)
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CN202010486722.8A CN111496830B (zh) | 2020-06-02 | 2020-06-02 | 一种具有机械柔性的多自由度仿人灵巧机械手 |
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CN202010486722.8A CN111496830B (zh) | 2020-06-02 | 2020-06-02 | 一种具有机械柔性的多自由度仿人灵巧机械手 |
Publications (2)
Publication Number | Publication Date |
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CN111496830A true CN111496830A (zh) | 2020-08-07 |
CN111496830B CN111496830B (zh) | 2023-01-20 |
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CN202010486722.8A Active CN111496830B (zh) | 2020-06-02 | 2020-06-02 | 一种具有机械柔性的多自由度仿人灵巧机械手 |
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CN (1) | CN111496830B (zh) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111993453A (zh) * | 2020-09-02 | 2020-11-27 | 达奇仿生科技(杭州)有限公司 | 一种基于可分离式模块化设计的多自由度仿生灵巧手 |
CN112720444A (zh) * | 2020-12-25 | 2021-04-30 | 杭州电子科技大学 | 一种可翻转抗冲击的机械臂及其驱动方法 |
CN112716751A (zh) * | 2020-12-28 | 2021-04-30 | 燕山大学 | 一种外骨骼手指康复机器人 |
CN112773661A (zh) * | 2020-12-28 | 2021-05-11 | 燕山大学 | 一种外骨骼食指功能康复机器人 |
CN113021389A (zh) * | 2021-03-16 | 2021-06-25 | 吉林大学 | 可拆卸式的模块化六驱动器仿人机械手 |
CN114536380A (zh) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | 五自由度全驱动仿人大拇指和仿人灵巧手 |
CN114536381A (zh) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | 仿人五指灵巧手 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
DE10346271A1 (de) * | 2002-10-07 | 2004-04-22 | Harmonic Drive Systems Inc. | Handflächenmechanismus für eine Roboterhand |
US7031502B1 (en) * | 2001-01-29 | 2006-04-18 | University Of Massachusetts Lowell | Adjustable guide for viewing biometric surface patterns |
CN103128744A (zh) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | 一种仿人机械灵巧手装置 |
CN106695853A (zh) * | 2017-02-21 | 2017-05-24 | 深圳诺欧博智能科技有限公司 | 一种单驱动拟人机械手 |
CN107225588A (zh) * | 2017-08-09 | 2017-10-03 | 北京进化者机器人科技有限公司 | 机器人灵巧手及机器人 |
CN107693175A (zh) * | 2017-10-27 | 2018-02-16 | 伏彦龙 | 一种假肢机械手及其手臂 |
-
2020
- 2020-06-02 CN CN202010486722.8A patent/CN111496830B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
US7031502B1 (en) * | 2001-01-29 | 2006-04-18 | University Of Massachusetts Lowell | Adjustable guide for viewing biometric surface patterns |
DE10346271A1 (de) * | 2002-10-07 | 2004-04-22 | Harmonic Drive Systems Inc. | Handflächenmechanismus für eine Roboterhand |
CN103128744A (zh) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | 一种仿人机械灵巧手装置 |
CN106695853A (zh) * | 2017-02-21 | 2017-05-24 | 深圳诺欧博智能科技有限公司 | 一种单驱动拟人机械手 |
CN107225588A (zh) * | 2017-08-09 | 2017-10-03 | 北京进化者机器人科技有限公司 | 机器人灵巧手及机器人 |
CN107693175A (zh) * | 2017-10-27 | 2018-02-16 | 伏彦龙 | 一种假肢机械手及其手臂 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111993453A (zh) * | 2020-09-02 | 2020-11-27 | 达奇仿生科技(杭州)有限公司 | 一种基于可分离式模块化设计的多自由度仿生灵巧手 |
CN112720444A (zh) * | 2020-12-25 | 2021-04-30 | 杭州电子科技大学 | 一种可翻转抗冲击的机械臂及其驱动方法 |
CN112716751A (zh) * | 2020-12-28 | 2021-04-30 | 燕山大学 | 一种外骨骼手指康复机器人 |
CN112773661A (zh) * | 2020-12-28 | 2021-05-11 | 燕山大学 | 一种外骨骼食指功能康复机器人 |
CN113021389A (zh) * | 2021-03-16 | 2021-06-25 | 吉林大学 | 可拆卸式的模块化六驱动器仿人机械手 |
CN113021389B (zh) * | 2021-03-16 | 2022-03-15 | 吉林大学 | 可拆卸式的模块化六驱动器仿人机械手 |
CN114536380A (zh) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | 五自由度全驱动仿人大拇指和仿人灵巧手 |
CN114536381A (zh) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | 仿人五指灵巧手 |
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CN111496830B (zh) | 2023-01-20 |
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Inventor after: Ren Lei Inventor after: Yang Haosen Inventor after: Wei Guowu Inventor after: Qian Zhihui Inventor before: Ren Lei Inventor before: Yang Haosen Inventor before: Wei Guowu Inventor before: Qian Zhihui |
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Effective date of registration: 20231025 Address after: Room 678, 6th Floor, Unit 1, Building 1, Yard 1, Longyu Middle Street, Huilongguan Town, Changping District, Beijing 102200 Patentee after: Beijing Daqi Yuequan Biomimetic Technology Co.,Ltd. Address before: No.27, Hyundai Road, Nanhai New District, Weihai, Shandong Province, 264200 Patentee before: Dachi bionics technology (Shandong) Co.,Ltd. |