JP2003117873A5 - - Google Patents

Description

[0004]
Therefore, the present inventors compactly store the motion mechanism and motor for the abduction function in the palm part, and at the same time, do not interfere with the mechanism, the motion mechanism and movement mechanism for bending and stretching functions of each finger. As a result of examining a method to incorporate the data into each compact extremely for each finger, we succeeded in developing a novel humanoid robot hand.
The humanoid robot hand has three degrees of freedom for thumb movement, one degree of freedom for each of the other four fingers, and one degree of freedom for abduction between the last four fingers. Exercise is possible. In addition, the entire mechanism, motor and wiring were incorporated within the dimensions of 185 mm in total length and 19 mm in thickness of the finger, which are smaller than human beings, and a total weight of 500 g or less was realized. That is, the performance has been significantly improved as compared with the conventional one.

[0016]
The interlocking wire mechanism composed of the wire and the pulley configured in this way is a very small and light weight, has a large rotational movable range, and does not have the backlash that is seen in the gear train, so it becomes a highly accurate and highly efficient transmission mechanism. The bending and stretching motion by such a bending and stretching mechanism is shown in FIG. Specifically bend joint J _{2, 2} Driving the micro motor, further state shown in joints J _2,1, J _2,3 bends 6 via the interlocking wire mechanism in conjunction with this movement It becomes. FIGS. 7 and 8 show the state of the humanoid robot hand with the second finger bent.

[0020]
One end of the link L3 is connected to the link L2 by the joint P4, and the other end is connected to the metacarpal segment of the fourth finger by the joint P5.
The link L4 has one end connected with the fourth finger (metacarp) at the joint P6, and the other end connected with the fifth finger metacarpal at the joint P7.
When the arc gear 31 is driven by the abduction motor 34, the movement causes the movement of the middle finger node of the fourth finger by the movement, and the movement is reversed in the rotational direction via the links L1 to L3. It is transmitted to the metacarpal segment of the two fingers, and transmitted to the metatarsal segment of the fifth finger so as to expand the rotation angle through the link L4. Thus, the abduction function can be achieved.

[0025]
As described above, in the embodiment according to the present invention, the motion mechanism and motor for the abduction function are compactly stored in the palm portion, and for the bending and stretching function of each finger so as not to interfere with the mechanism. Since the motion mechanism and motor of the above were incorporated extremely compactly for each finger, a small and novel humanoid robot hand could be constructed.
In particular, the personal robot hand has a total of eight degrees of freedom: thumb motion in three degrees of freedom, flexion and extension of the other four fingers in one degree of freedom, and abduction between the four fingers in one degree of freedom. By driving the motor disposed inside, it is possible to realize most finger movements that can be realized by humans.