CN116922424A - Flexible rope full-drive humanoid dexterous finger mechanism - Google Patents
Flexible rope full-drive humanoid dexterous finger mechanism Download PDFInfo
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- CN116922424A CN116922424A CN202310944917.6A CN202310944917A CN116922424A CN 116922424 A CN116922424 A CN 116922424A CN 202310944917 A CN202310944917 A CN 202310944917A CN 116922424 A CN116922424 A CN 116922424A
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- knuckle
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- flexible
- rotating shaft
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- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 230000008878 coupling Effects 0.000 claims description 39
- 238000010168 coupling process Methods 0.000 claims description 39
- 238000005859 coupling reaction Methods 0.000 claims description 39
- 230000005540 biological transmission Effects 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 210000000988 bone and bone Anatomy 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 17
- 210000001145 finger joint Anatomy 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 229920001971 elastomer Polymers 0.000 description 4
- 239000000806 elastomer Substances 0.000 description 4
- 210000002435 tendon Anatomy 0.000 description 4
- 239000012636 effector Substances 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
Abstract
The invention discloses a flexible rope full-drive humanoid dexterous hand finger mechanism which comprises a base, a first knuckle, a first joint, a second knuckle, a second joint, a third knuckle, a third joint, a fourth knuckle and a fourth joint, wherein the base is provided with a first finger joint, a second finger joint and a third finger joint; the first knuckle is connected with the base through a first joint, the second knuckle is connected with the first knuckle through a second joint, the third knuckle is connected with the second knuckle through a third joint, a flexible rope pulley mechanism is arranged at the second joint and the third joint, the third knuckle is driven to rotate around the third joint through the flexible rope pulley mechanism, the second knuckle rotates around the second joint, and the first knuckle swings around the first joint; the fourth knuckle is connected with the third knuckle through a fourth joint, and the third knuckle drives the fourth knuckle to rotate around the fourth joint through a four-bar linkage. The invention realizes personification and modularization of the humanoid smart finger and meets the requirement of smart operation on the terminal movement capability.
Description
Technical Field
The invention relates to a flexible rope full-drive humanoid dexterous finger mechanism, and belongs to the field of robots.
Background
Conventional robotic end effectors tend to be designed for specific operational tasks only, with only a single joint and degree of freedom, and even lack of drive systems. In recent years, multi-degree-of-freedom, multi-joint multi-finger smart hands have become a new development direction for robot end effectors. The multi-finger dexterous hand is equivalent to a group of robots which are arranged at the tail ends of the robots and can independently realize fine operation movement, and is an advanced tail end executing mechanism which is personified and can realize intelligent control. The multi-finger smart mobile phone mechanical structure has the characteristics that the multi-finger smart mobile phone mechanical structure can always keep multi-point contact with a target in the grabbing operation process, and can apply any motion and force to any object with any shape by adopting a proper grabbing mode and a proper planning algorithm, so that the objects with various complex shapes can be grabbed with high precision and stability under the condition that an end actuating mechanism is not replaced, and further the grabbed objects are subjected to fine operation to a certain extent. The intelligent hand is used for replacing a special clamp holder and is arranged at the tail end of the robot, coarse positioning is realized through movement of the robot, fine positioning is realized through movement of the wrist and the intelligent control, the operation range of the robot can be enlarged to a great extent, and the operation level of the robot is improved.
With the continuous improvement of the intelligent and humanoid level of robots, the intelligent control puts higher demands on the terminal operation capability of the robots. The tail end dexterous hand of the humanoid robot is generally formed by connecting a plurality of finger mechanisms in parallel. With the development of five-finger humanoid dexterous hands toward miniaturization and modularization, the servo motor, the speed reducer and the position sensor are difficult to integrate in the finger joint space due to double constraints of size and load capacity.
Disclosure of Invention
The invention aims to solve the technical problems that: the invention provides a flexible rope full-drive humanoid dexterous hand finger mechanism, which realizes personification and modularization of humanoid dexterous fingers, meets the requirement of dexterous operation on terminal movement capability, and can be popularized and applied to space robots and terminal fine dexterous operators of humanoid robots in the future.
The technical scheme adopted by the invention is as follows: a flexible rope full-drive humanoid dexterous hand finger mechanism comprises a base, a first knuckle, a first joint, a second knuckle, a second joint, a third knuckle, a third joint, a fourth knuckle and a fourth joint; the first knuckle is connected with the base through a first joint, the second knuckle is connected with the first knuckle through a second joint, the third knuckle is connected with the second knuckle through a third joint, a flexible rope pulley mechanism is arranged at the second joint and the third joint, the third knuckle is driven to rotate around the third joint through the flexible rope pulley mechanism, the second knuckle rotates around the second joint, and the first knuckle swings around the first joint; the fourth knuckle is connected with the third knuckle through a fourth joint, and the third knuckle drives the fourth knuckle to rotate around the fourth joint through a four-bar linkage.
Further, the fourth knuckle comprises a fingertip skeleton and a fourth knuckle elastomer, the fourth knuckle elastomer is a U-shaped frame, and the fingertip skeleton is arranged at the center of a cross beam of the fourth knuckle elastomer.
Further, the fourth joint comprises a fourth joint rotating shaft and a coupling crank; the two coupling cranks are respectively arranged on the fourth joint rotating shaft, and one sides of the two coupling cranks are provided with eccentric shafts a and pins respectively.
Further, the third knuckle comprises a third knuckle left skeleton, a third knuckle right skeleton, a coupling connecting rod and a four-connecting-rod base; the third knuckle left skeleton and the third knuckle right skeleton are arranged in parallel, and one end of the third knuckle left skeleton and one end of the third knuckle right skeleton are connected with lugs on two sides of a fourth knuckle elastic body through a fourth joint rotating shaft; one end of the third knuckle left skeleton and one end of the third knuckle right skeleton are respectively provided with a pin sliding groove, two coupling cranks are respectively fixedly connected with lugs on two sides of the fourth knuckle elastic body through pins, and the pins can slide in the pin sliding grooves; one end of the coupling connecting rod is rotationally connected with the two coupling cranks through an eccentric shaft a;
the four-bar base is fixedly arranged on the third joint rotating shaft, an eccentric shaft b is arranged on the four-bar base, and the other end of the coupling connecting bar is rotationally connected with the four-bar base through the eccentric shaft b; the third knuckle and the fourth knuckle realize the coupling transmission of the third knuckle and the fourth knuckle through a four-bar mechanism formed by a coupling crank, a coupling connecting bar, a fourth joint rotating shaft and a four-bar base.
Further, the third joint comprises a first guide pulley, a third joint rotating shaft and a first flexible rope;
the second knuckle comprises a second knuckle left skeleton and a second knuckle right skeleton;
the second knuckle left skeleton and the second knuckle right skeleton are arranged in parallel, one end of the second knuckle left skeleton is connected with the third knuckle left skeleton and the third knuckle right skeleton through a third joint rotating shaft respectively, and the end part of the second knuckle left skeleton is fixedly connected with the four-bar base; the first guide pulley is arranged on the third joint rotating shaft, the first flexible rope is connected with the third knuckle right skeleton, the first flexible rope is wound on the first guide pulley, and tension is transmitted through the first guide pulley, so that the relative rotation of the third knuckle and the second knuckle is realized.
Further, the second joint comprises a second joint rotating shaft, a third guide pulley and a second flexible rope; the third guide pulley is arranged at one end of the second joint rotating shaft; the second flexible rope is connected with the left framework of the second knuckle, the second flexible rope is wound on the third guide pulley, and tension is transmitted through the third guide pulley, so that the relative rotation of the second knuckle and the first knuckle is realized.
Further, the second joint further comprises a second guide pulley, and the second guide pulley is arranged at the other end of the second joint rotating shaft; the second guide pulley guides the first flexible rope and is positioned on the same side as the first guide pulley.
Further, the first knuckle comprises a first knuckle framework, and the first knuckle framework is respectively connected with the other ends of the second knuckle left framework and the second knuckle right framework through second joint rotating shafts to realize relative rotation movement; the first knuckle skeleton is connected with the base through the rotating shaft of the first joint, and left-right swinging is achieved.
Further, the third knuckle further comprises a six-dimensional force sensor which is arranged on the left knuckle skeleton and the right knuckle skeleton and used for measuring grabbing force.
Further, the first flexible rope and the second flexible rope adopt steel wire ropes, and the first flexible rope and the second flexible rope are wound on corresponding guide pulleys after being crossed, so that the joint rotates within the angle range of 0-90 degrees.
Compared with the prior art, the invention has the advantages that:
(1) The flexible rope full-driving humanoid dexterous finger mechanism adopts a flexible rope differential and connecting rod coupling transmission mode, realizes the modularized design of fingers and the spherical operation space of the tail end, and meets the requirement of dexterous operation on the movement capability of the tail end.
(2) The flexible rope full-driving humanoid dexterous hand finger mechanism is oriented to intelligent operation task requirements of space robots, battlefield maintenance and guarantee, unmanned battlefield platforms, aerospace intelligent manufacturing, humanoid robots and the like, and is designed for a multi-degree-of-freedom dexterous end effector to achieve miniaturization and modularization.
Drawings
FIG. 1 is a perspective schematic diagram of three-joint motion of fingers of a simulated dexterous hand;
FIG. 2 is a schematic diagram of a perspective view of a finger of a humanoid dexterous hand;
FIG. 3 is a schematic view of a second joint and second cable displacement relationship mechanism;
FIG. 4 is a schematic view of a third joint and first cable displacement relationship mechanism;
FIG. 5 is a schematic diagram of a finger tip coupling joint mechanism;
FIG. 6 (a) is a side view of the knuckle flex transmission mechanism;
FIG. 6 (b) is a top view of the knuckle flex transmission mechanism;
FIG. 7 is a diagram showing the kinematic relationship between the fourth joint and the third joint of the finger
FIG. 8 (a) is a cross-sectional view of a flex drive mechanism of a second joint of a finger;
fig. 8 (b) is a cross-sectional view of the flex drive mechanism of the third joint of the finger.
Detailed Description
The invention is described with reference to the accompanying drawings.
A humanoid robot refers in particular to a robot having an approximately human structure or appearance, whether whole body, torso or accessory parts, the structural complexity of which depends to a large extent on the nature of the work task performed. In the case of automation devices or man-machine interaction, which are used exclusively for humans, use of humanoid robots may generally be preferred. Because of the wide range of tasks of the humanoid robot, different control modes may be required at the same time. Precise motion control must be applied to the different levels described above while controlling the applied torque or force. In order to approximate the motion state of the human body, each joint in the humanoid robot needs to be provided with an independent driving system, and moreover, all driving and executing mechanisms need to be integrated in a specific internal space to form a humanoid structure and appearance.
As shown in fig. 1, the finger comprises a series of rigid linkage structures with 4 knuckles and 4 revolute joints. The first knuckle 2 is connected with the base 1 and can rotate around the first joint 3; the second knuckle 4 is connected with the first knuckle 2 and can rotate around the second joint 5; the third knuckle 6 is connected with the second knuckle 4 and can rotate around the third joint 7; the fourth knuckle 8 is connected to the third knuckle 6 and is rotatable about a fourth joint 9. The rotation axes of the second joint 5, the third joint 7 and the fourth joint 9 are parallel to each other.
As shown in fig. 2, the finger mechanism of the present invention includes 4 knuckles, 4 joints.
The fourth knuckle 8 comprises a fingertip skeleton 81 and a fourth knuckle elastic body 82, the fourth knuckle elastic body 82 is a U-shaped frame, and the fingertip skeleton 81 is arranged at the center of a cross beam of the fourth knuckle elastic body 82;
the fourth joint 9 includes a fourth joint rotation shaft 91 and a coupling crank 92; the two coupling cranks 92 are respectively arranged on the fourth joint rotating shaft 91, one side of each coupling crank 92 is provided with an eccentric shaft a, and one end of the coupling connecting rod 63 is rotationally connected with the two coupling cranks 92 through the eccentric shaft a;
the third knuckle 6 comprises a third knuckle left skeleton 61, a third knuckle right skeleton 62, a coupling connecting rod 63, a six-dimensional force sensor 64 (used for measuring grabbing force) and a four-connecting-rod base 65, wherein the third knuckle left skeleton 61 and the third knuckle right skeleton 62 are arranged in parallel, and one end of the third knuckle left skeleton 61 is connected with lugs on two sides of a fourth knuckle elastomer 82 through a fourth joint rotating shaft 91; one end of the third knuckle left skeleton 61 and one end of the third knuckle right skeleton 62 are respectively provided with a pin sliding groove, two coupling cranks 92 are respectively fixedly connected with lugs on two sides of the fourth knuckle elastic body 82 through pins, and the pins can slide in the pin sliding grooves;
the third joint 7 includes a first guide pulley 71, a third joint rotation shaft 72, and a first flexible cable 73; the four-bar base 65 is fixedly arranged on the third joint rotating shaft 72, an eccentric shaft b is arranged on the four-bar base 65, and the other end of the coupling connecting rod 63 is rotationally connected with the four-bar base 65 through the eccentric shaft b; the third knuckle 6 and the fourth knuckle 8 form a plane four-bar transmission mechanism through the coupling crank 92, the coupling connecting rod 63, the fourth joint rotating shaft 91 and the four-bar base 65, so that the coupling transmission of the third knuckle 6 and the fourth knuckle 8 is realized.
The second knuckle 4 comprises a second knuckle left framework 41 and a second knuckle right framework 42, the second knuckle left framework 41 and the second knuckle right framework 42 are installed in parallel, one end of the second knuckle left framework 41 is connected with a third knuckle left framework 61 and a third knuckle right framework 62 respectively through a third joint rotating shaft 72, and the end part of the second knuckle left framework 41 is fixedly connected with a four-bar base 65; the first guide pulley 71 is mounted on the third joint rotating shaft 72, the first flexible cable 73 is connected with the third knuckle right skeleton 62, and the relative rotation of the third knuckle 6 and the second knuckle 4 is realized by transmitting motion and tension through the first guide pulley 71. The second knuckle 4 and the third knuckle 6 are connected to the third joint shaft 72 through the first guide pulley 71 and the four-bar base 65 to realize relative rotational movement.
The second joint 5 includes a second joint rotation shaft 51, a second guide pulley 52, a third guide pulley 53, and a second flexible cable 54; the second guide pulley 52 and the third guide pulley 53 are respectively arranged at two ends of the second joint rotating shaft 51; the second flexible cable 54 is connected to the second knuckle left skeleton 41, and transmits movement and tension through the third guide pulley 53, so as to realize relative rotation of the second knuckle 4 and the first knuckle 2. The second guide pulley 52 guides the first flexible wire 73.
The first knuckle 2 comprises a first knuckle skeleton 21, and the first knuckle skeleton 21 is respectively connected with the other ends of the second knuckle left skeleton 41 and the second knuckle right skeleton 42 through a second joint rotating shaft 51 to realize relative rotation movement.
The first knuckle skeleton 21 is connected with the base 1 through the rotating shaft of the first knuckle 3, and can realize relative rotation and left-right swing.
Fig. 3 is a schematic diagram of a displacement relationship mechanism between the second knuckle 4 and the second flex cable 54. Wherein the kinematic relationship between the second knuckle rotation angle and the second flex cable 54 is as follows:
rotation angle theta of second knuckle 4 2 The corresponding displacement deltah generated at the two ends of the second flexible cable 54 12 Δh 12 、Δh 22 The method comprises the following steps of:
Δh 12 ＝-R 2 θ 2 (1)
Δh 22 ＝R 2 θ 2 (2)
r in the formulas (1) and (2) 2 Is the radius of the third guide pulley.
Fig. 4 is a schematic view of the displacement relationship mechanism between the third knuckle 6 and the first flex cable 73. Wherein, the kinematic relationship between the second knuckle rotation angle and the first flex cable 73 is as follows:
the displacement functions of the two ends of the first flexible cable 73 and the second flexible cable 54 are respectively:
distance h of one end of the first flexible cable from the base 1 1 ＝l 1 -R 2 θ 2 +R 1 tanθ 1 (3)
Distance h from the other end of the first flexible cable to the base 1 2 ＝l 2 +R 2 θ 2 +R 1 tanθ 1 (4)
Distance h of one end of the second flexible cable from the base 1 3 ＝l 3 -R 3 θ 3 +h 32 -c-d-R 1 tanθ 1 (5)
Distance h from the other end of the second flexible cable to the base 1 4 ＝l 4 +R 2 θ 2 +R 3 θ 3 -R 1 tanθ 1 (6)
In the formulae (3) to (6), l i Is theta i The basic displacement of the flexible cable when=0, i=1, 2,3,4.R is R 1 For the first joint radius of rotation, θ 1 Is the firstA rotation angle theta of a joint 3 3 The third knuckle rotation angle, c is the length of the first knuckle; the second knuckle right skeleton 42 is provided with two protruding structures symmetrically at the middle position, the protruding structures are provided with flexible cable passing holes along the longitudinal direction, and d is the distance from the center of the second joint rotating shaft 51 to the end face of the end, close to the second joint rotating shaft 51, of the flexible cable passing hole.
In fig. 5, the third joint and the fourth joint of the finger are in coupling transmission relation, the fourth joint is driven to rotate by the third joint through a rigid four-bar mechanism, and when the angle of the third joint is alpha, the angle of the fourth joint after coupling transmission is beta. The coupling relationship between the rotation angle of the fourth joint and the rotation angle of the third joint is approximately a non-linear relationship, a curve of the coupling angle between the two joints is fitted as shown in fig. 7, the horizontal axis represents the rotation angle of the third joint, and the vertical axis represents the rotation angle of the fourth joint.
As shown in fig. 6 (a), since the cable transmission mechanism can only provide tensile force and cannot provide pushing force, the first cable a end 731 and the first cable b end 732 perform reciprocating movement of the third joint through differential control, and the second cable a end 541 and the second cable b end 542 perform reciprocating rotational movement of the second joint through differential control.
As can be seen in the top view of fig. 6 (b), the first flexible cable a end 731, the first flexible cable b end 732, the second flexible cable a end 541, and the second flexible cable b end 542 are disposed on both sides of the first joint at equal distances, and thus, the first joint is rotated left and right by pulling the first flexible cable and the second flexible cable, respectively.
As shown in fig. 8 (a) and 8 (b), the tendon transmission of the knuckle is guided by a pulley block, and in order to increase the controllable rotation angle range of the knuckle, the first flexible cable and the second flexible cable are crossed, so that the knuckle rotates within the rotation angle range of 0-90 degrees, and the transmission tendon continuously applies a constant driving torque.
For the design of the finger joint transmission tendon, a flexible steel wire rope is adopted, so that the tensile strength and the service life of the transmission tendon (namely the flexible steel wire rope) are improved.
The invention, in part not described in detail, is within the skill of those skilled in the art.
Claims (10)
1. The flexible rope full-drive humanoid dexterous finger mechanism is characterized by comprising a base (1), a first knuckle (2), a first joint (3), a second knuckle (4), a second joint (5), a third knuckle (6), a third joint (7), a fourth knuckle (8) and a fourth joint (9); the first knuckle (2) is connected with the base (1) through a first joint (3), the second knuckle (4) is connected with the first knuckle (2) through a second joint (5), the third knuckle (6) is connected with the second knuckle (4) through a third joint (7), a flexible rope pulley mechanism is arranged at the second joint (5) and the third joint (7), the third knuckle (6) is driven to rotate around the third joint (7) through the flexible rope pulley mechanism, the second knuckle (4) is driven to rotate around the second joint (5), and the first knuckle (2) swings around the first joint (3); the fourth knuckle (8) is connected with the third knuckle (6) through a fourth joint (9), and the third knuckle (6) drives the fourth knuckle (8) to rotate around the fourth joint (9) through a four-bar linkage.
2. The flexible all-drive humanoid dexterous finger mechanism according to claim 1, wherein the fourth knuckle (8) comprises a fingertip bone (81) and a fourth knuckle elastic body (82), the fourth knuckle elastic body (82) is a U-shaped frame, and the fingertip bone (81) is mounted at the center of a cross beam of the fourth knuckle elastic body (82).
3. A flexible fully driven humanoid dexterous finger mechanism as claimed in claim 2, wherein the fourth joint (9) comprises a fourth joint rotation shaft (91) and a coupling crank (92); the two coupling cranks (92) are respectively arranged on the fourth joint rotating shaft (91), and one sides of the two coupling cranks (92) are provided with eccentric shafts a and pins respectively.
4. A flexible fully driven humanoid dexterous finger mechanism as claimed in claim 3, wherein the third knuckle (6) comprises a third knuckle left skeleton (61), a third knuckle right skeleton (62), a coupling link (63) and a four-bar base (65); the third knuckle left skeleton (61) and the third knuckle right skeleton (62) are arranged in parallel, and one end of the third knuckle left skeleton is connected with lugs on two sides of a fourth knuckle elastic body (82) through a fourth knuckle rotating shaft (91); one end of the third knuckle left framework (61) and one end of the third knuckle right framework (62) are respectively provided with a pin sliding groove, two coupling cranks (92) are respectively fixedly connected with lugs on two sides of the fourth knuckle elastic body (82) through pins, and the pins can slide in the pin sliding grooves; one end of the coupling connecting rod (63) is rotationally connected with two coupling cranks (92) through an eccentric shaft a;
the four-bar base (65) is fixedly arranged on the third joint rotating shaft (72), an eccentric shaft b is arranged on the four-bar base (65), and the other end of the coupling connecting bar (63) is rotationally connected with the four-bar base (65) through the eccentric shaft b; the third knuckle (6) and the fourth knuckle (8) realize the coupling transmission of the third knuckle (6) and the fourth knuckle (8) through a four-bar mechanism formed by a coupling crank (92), a coupling connecting bar (63), a fourth joint rotating shaft (91) and a four-bar base (65).
5. The flexible fully-driven humanoid dexterous finger mechanism according to claim 4, wherein the third joint (7) comprises a first guide pulley (71), a third joint rotating shaft (72) and a first flexible cable (73);
the second knuckle (4) comprises a second knuckle left skeleton (41) and a second knuckle right skeleton (42);
the second knuckle left framework (41) and the second knuckle right framework (42) are arranged in parallel, one end of the second knuckle left framework is connected with the third knuckle left framework (61) and the third knuckle right framework (62) through a third joint rotating shaft (72), and the end part of the second knuckle left framework (41) is fixedly connected with the four-bar base (65); the first guide pulley (71) is arranged on the third joint rotating shaft (72), the first flexible rope (73) is connected with the third knuckle right skeleton (62), the first flexible rope (73) is wound on the first guide pulley (71), and the relative rotation of the third knuckle (6) and the second knuckle (4) is realized through the transmission of tension force by the first guide pulley (71).
6. The flexible fully driven humanoid dexterous finger mechanism of claim 5, wherein the second joint (5) comprises a second joint rotation shaft (51), a third guide pulley (53) and a second flexible cable (54); the third guide pulley (53) is arranged at one end of the second joint rotating shaft (51); the second flexible rope (54) is connected with the second knuckle left framework (41), the second flexible rope (54) is wound on the third guide pulley (53), and tension is transmitted through the third guide pulley (53) to realize relative rotation of the second knuckle (4) and the first knuckle (2).
7. The flexible cable full-drive humanoid dexterous finger mechanism according to claim 6, wherein the second joint (5) further comprises a second guide pulley (52), and the second guide pulley (52) is mounted at the other end of the second joint rotating shaft (51); the second guide pulley (52) guides the first flexible cable (73) and is located on the same side as the first guide pulley (71).
8. The flexible rope full-drive humanoid dexterous finger mechanism according to claim 6, wherein the first knuckle (2) comprises a first knuckle skeleton (21), and the first knuckle skeleton (21) is respectively connected with the other ends of a second knuckle left skeleton (41) and a second knuckle right skeleton (42) through a second knuckle rotating shaft (51) to realize relative rotation; the first knuckle framework (21) is connected with the base (1) through a rotating shaft of the first joint (3) to realize left-right swinging.
9. The flexible all-drive humanoid dexterous finger mechanism of claim 4, wherein the third knuckle (6) further comprises a six-dimensional force sensor (64) mounted on the third knuckle left skeleton (61) and the third knuckle right skeleton (62) for measuring gripping force.
10. The fully-driven humanoid dexterous finger mechanism of claim 6, wherein the first flexible cable (73) and the second flexible cable (54) are steel wire ropes, and the first flexible cable (73) and the second flexible cable (54) are wound on corresponding guide pulleys after being crossed, so that the joint rotates within a 0-90-degree rotation angle range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310944917.6A CN116922424A (en) | 2023-07-28 | 2023-07-28 | Flexible rope full-drive humanoid dexterous finger mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310944917.6A CN116922424A (en) | 2023-07-28 | 2023-07-28 | Flexible rope full-drive humanoid dexterous finger mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116922424A true CN116922424A (en) | 2023-10-24 |
Family
ID=88387686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310944917.6A Pending CN116922424A (en) | 2023-07-28 | 2023-07-28 | Flexible rope full-drive humanoid dexterous finger mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116922424A (en) |
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2023
- 2023-07-28 CN CN202310944917.6A patent/CN116922424A/en active Pending
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