CN102092049B - Humanoid dexterous hand with variable-shape palm - Google Patents
Humanoid dexterous hand with variable-shape palm Download PDFInfo
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- CN102092049B CN102092049B CN 201110026001 CN201110026001A CN102092049B CN 102092049 B CN102092049 B CN 102092049B CN 201110026001 CN201110026001 CN 201110026001 CN 201110026001 A CN201110026001 A CN 201110026001A CN 102092049 B CN102092049 B CN 102092049B
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- finger
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- connecting rod
- rotating shaft
- traction steel
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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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Abstract
The invention discloses a humanoid dexterous hand with a variable-shape palm, which comprises the palm and three-five fingers connected with the palm, wherein the palm is constituted by a closed spherical five-connecting rod mechanism formed by sequentially connecting a palm arm connecting rod, a palm connecting rod I, a palm connecting rod II, a palm connecting rod III and a palm connecting rod IV; and each finger comprises a finger base, a finger base connecting rod, a finger intermediate connecting rod and a finger tail end, in each finger, the adjacent ends of the finger intermediate connecting rod and the finger tail end are sequentially connected by rotation through a rotating shaft, the finger base is fixedly connected on the connecting rod for constituting the palm, three rotating shafts on each finger are connected with a rotary driving device, and the finger base connecting rod, the finger intermediate connecting rod and the finger tail end can rotate around the respective rotating shaft lines of the three rotating shafts under the drive of the rotary driving device. The humanoid dexterous hand comprises the palm in variable degrees of freedom and shapes; furthermore, the structure is simple and the volume is small.
Description
Technical field
The present invention relates to humanoid dextrous hand, be specifically related to have the humanoid dextrous hand of shape-variable palm.
Background technology
Since occurring, Past 30 Years, mechanical hand greatly remedied the deficiency of traditional end effector.Typical mechanical hand design comprises the Stanford/JPL manipulator of 3 fingers, the Utah/MIT manipulator of 4 fingers, the Belgrade/USC manipulator of 5 fingers.In addition, the appearance of Apery manipulator such as i-Limb, SmartHand, DARPA apery hand, DLR/HIT apery hand and Shadow apery hand etc. has not only increased the operability in the different operating environment, and has strengthened for being grabbed the ability that object is finished trickle adjustment.Studies show that for a mechanical hand with rigidity finger, the theoretic free degree is 9 just can have dexterity at least.Typical Dextrous Hand adopts the structure of each finger tool 2 or 3 revolute pairs usually.Yet in mechanical hand design in the past, palm is a rigid body normally.Angle is fixed between the different fingers, and this has just limited some hand dexterity.Especially, usually the mechanism of finger adopts 3 revolute pairs that are parallel to each other to finish grasping movement, each finger operates in a plane usually, and the rigidity palm is fixed the angle between the finger plane in addition, thereby has limited the ability of finger mutual cooperation.Therefore, the Apery manipulator of design is difficult to be made corresponding adjustment to realize different crawl strategies according to grabbing the different geometry that object has in the past.So the main of typical manipulator in the past and staff has the palm of rigidity at the former, and the latter's palm is variable.Therefore, develop a kind of manipulator novel, that have the varistructure palm, can overcome the weakness that the mutual alignment can not change between traditional Apery manipulator finger; And, by introducing movable palm, can also provide than the larger space of present existing manipulator and the flexibility of Geng Gao.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of humanoid dextrous hand with shape-variable palm be provided, but this humanoid dextrous hand have variable freedom and shape palm and simple in structure, volume is small and exquisite.
Humanoid dextrous hand with shape-variable palm of the present invention, it comprises palm and 5 fingers that link to each other with described palm, described palm is by palm link arm bar, palm connecting rod I, palm connecting rod II, palm connecting rod III, the sealing sphere five-bar mechanism composition that palm connecting rod IV links to each other successively and consists of, described palm link arm bar links to each other with forearm, palm connecting rod I wherein, palm connecting rod II, be rotatedly connected by revolute between the abutting end of palm connecting rod III and palm connecting rod IV, be connected with respectively a motor at the two ends of described palm link arm bar, the end of the output shaft of a motor wherein and palm connecting rod I is fixedly linked and the output shaft of another motor and the end of palm connecting rod IV are fixedly linked, all the rotation of revolute and the output axis of two motors are given a bit, each finger comprises finger block, finger seated bar, finger intermediate connecting rod and finger tips, finger block, finger seated bar, be rotatedly connected successively by rotating shaft between the abutting end of finger intermediate connecting rod and finger tips, each rotating shaft be arranged in parallel each other, described finger block is fixedly connected on the connecting rod that forms palm, three rotating shafts on each finger link to each other with rotating driving device, finger seated bar under the driving of rotating driving device, finger intermediate connecting rod and finger tips can be rotated around the separately rotation of three rotating shafts and each finger links to each other with the connecting rod pitch rotation of coupled composition palm; At described palm connecting rod I be fixedly connected sequentially middle finger seat, nameless seat and little finger seat, be fixedly connected with the forefinger seat at described palm connecting rod II; III is installed with the thumb rotating shaft at the palm connecting rod, and thumbrest is installed on the described thumb rotating shaft rotatably.
Compare with Apery manipulator with existing manipulator, the humanoid dextrous hand with shape-variable palm that the present invention proposes has following beneficial effect:
1. but the present invention is by introducing the movable palm of variable freedom and shape, and compared with prior art, it can improve the operating space of manipulator to a great extent.
2. but the present invention can provide the flexibility of Robot actions by introducing the movable palm of variable freedom and shape, can realize stranding, sth. made by twisting that prior art does not have, and close between the adjacent finger and away from action.
2. the palm of patent of the present invention adopts hollow design, has greatly reduced the weight of Dextrous Hand, compares more with existing Apery manipulator and can embody light and handy characteristics.
3. finger of the present invention can adopt and owe drive scheme, but because the introducing of variable freedom and shape activity palm, the present invention can realize the action of nearly all staff equally.Compared with prior art, the cost of manufacture of this invention is much lower.
4. owing to the introducing of movable palm, finger of the present invention needs the free degree still less, just can realize and the similar operational capacity of prior art.
5. the palm of patent of the present invention has foldable properties, when palm and finger are in folded state, the present invention can pass the existing intransitable crack of operator or other restricted areas, and this is so that the present invention has very large application potential in earthquake, the occasion such as speedily carry out rescue work.
Description of drawings
Fig. 1 is a kind of general structure schematic diagram with humanoid dextrous hand of shape-variable palm of the present invention;
Fig. 2 is a kind of schematic diagram of each part of the humanoid dextrous hand with shape-variable palm;
Fig. 3 is the structural representation of deformable palm portion of the present invention;
Fig. 4 is the structure chart of deformable palm of the present invention when being changed to single-degree-of-freedom;
Fig. 5-1,5-2 and 5-3 are several different forms of motion that deformable palm portion of the present invention has when being two frees degree;
Fig. 6 is the forms of motion of deformable palm portion of the present invention when being single-degree-of-freedom;
Fig. 7 is that finger part of the present invention adopts the kind of drive when owing to drive;
Fig. 8 is a kind of torsionspring form of the present invention;
Fig. 9,10 and Figure 11 be the peculiar several typical action forms of the present invention.
Wherein:
1 - contains the forearm palm part，， 2 - thumb part，， 3 - index finger part，， 4 - middle part，， 5 - ring finger part，， 6 - little finger part，， 7 - sphere，， 8 - cylinder，， 9 - small sphere，， 10 - cigarettes，， 11 - forearm，， 12 - palm even arm，， 13 - I14-palm palm rod linkage II，， 15 - palm rod III，， 16 - palm rod IV ，， 131 - middle seat，， 132 - ring seat，， 133 - pinky Block，， 141 - forefinger seat，， 151 - thumb rotation axis，， 152 - thumb rest，， 1001 - torsion spring，， 1002 - traction wire 1002e - traction wire drive end，， 1003 - traction wire guide tube，， 1004 - finger tip，， 1005 - middle finger rod 1006 - finger even seatpost，， 1007 - each finger seat，， 1008 - finger joints wire wheels，， 1009 - finger rod guide wheels
The specific embodiment
Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described further:
The present invention is based on change born of the same parents mechanism principle, improved flexibility ratio and the working space of existing machinery hand.
The humanoid dextrous hand with shape-variable palm of the present invention as shown in the figure, it comprises palm and 3-5 the finger that links to each other with described palm, described palm is by palm link arm bar 12, palm connecting rod I13, palm connecting rod II14, palm connecting rod III15, the sealing sphere five-bar mechanism composition that palm connecting rod IV16 links to each other successively and consists of, described palm link arm bar links to each other with forearm, palm connecting rod I wherein, palm connecting rod II, be rotatedly connected by revolute between the abutting end of palm connecting rod III and palm connecting rod IV, be connected with respectively a motor at the two ends of described palm link arm bar, the end of the output shaft of a motor wherein and palm connecting rod I is fixedly linked and the output shaft of another motor and the end of palm connecting rod IV are fixedly linked, all the rotation of revolute and the output axis of two motors are given a bit, each finger comprises finger block, finger seated bar, finger intermediate connecting rod and finger tips, finger block, finger seated bar, be rotatedly connected successively by rotating shaft between the abutting end of finger intermediate connecting rod and finger tips, each rotating shaft be arranged in parallel each other, described finger block is fixedly connected on the connecting rod that forms palm, three rotating shafts on each finger link to each other with rotating driving device, finger seated bar under the driving of rotating driving device, finger intermediate connecting rod and finger tips can be rotated around the separately rotation of three rotating shafts and each finger links to each other with the connecting rod pitch rotation of coupled composition palm.The structure of described revolute can adopt existing structure: as be connected to axle on adjacent rod end one end, the bearing that is enclosed within on the described axle is installed at another rod end.Described rotating shaft can be connected on the end of adjacent finger rod end, and another finger rod end is rotatedly connected by hole and the rotating shaft that has on it.
Preferred described finger is 5, at described palm connecting rod I be fixedly connected sequentially middle finger seat 131, nameless seat 132 and little finger seat 133, is fixedly connected with forefinger seat 141 at described palm connecting rod II; III is installed with thumb rotating shaft 151 at the palm connecting rod, and thumbrest 152 is installed on the described thumb rotating shaft rotatably.
Described rotating driving device can comprise that being installed in the middle finger-joint silk of each rotating shaft takes turns, at described each rotating shaft torsionspring 1001 is installed, the mid portion of described torsionspring 1001 is enclosed within on each rotating shaft and its two ends are separately fixed on the adjacent connecting rod of the finger that is connected by described each rotating shaft, at each finger block, finger seated bar, be provided with finger connecting rod directive wheel 1009 on the finger intermediate connecting rod, one end of the traction steel wire that corresponding each finger arranges is fixed on the outer wall of described finger tips, and successively by each finger-joint silk wheel, each points the connecting rod directive wheel, pass again an end and be connected on the described finger block and its other end is connected to traction steel wire guide pipe on the forearm, link to each other with the motor of traction steel wire via the perforate on the forearm; Perhaps described rotating driving device can comprise two finger-joint silk wheels 1008 that are installed on each rotating shaft, at each finger block, finger seated bar, point the connecting rod directive wheel with corresponding being provided with of each finger-joint silk wheel respectively on the finger intermediate connecting rod, one end of two traction steel wires that corresponding each finger arranges is fixed on the outer wall of opposite side of described finger tips separately, and each traction steel wire is successively by corresponding each finger-joint silk wheel that arranges with it, each points the connecting rod directive wheel, pass again an end and be connected on the described finger block and its other end is connected to traction steel wire guide pipe on the forearm, link to each other with the motor of traction steel wire via the perforate on the forearm.
The below is described in detail preferred forms of the present invention in conjunction with each accompanying drawing again:
Fig. 1, Fig. 2 are respectively the general structure schematic diagram of a kind of humanoid dextrous hand with shape-variable palm of the present invention and the schematic diagram of each part.The present invention is comprised of the palm portion 1 that comprises forearm, thumb part 2, forefinger part 3, middle finger part 4, nameless part 5 and little finger part 6 etc.Thumb part 2, forefinger part 3, middle finger part 4, nameless part 5 are identical with the structure of little finger part 6, and be consistent with staff, variant on the size.
Figure 3 shows that the structural representation of deformable palm portion of the present invention.The palm portion 1 that comprises forearm comprises forearm 11, the palm link arm bar 12 that is fixedly connected with described forearm 11.The end of palm connecting rod I13 is fixedly linked by the output shaft of motor and an end of described palm link arm bar 12, and the end of palm connecting rod II14 links to each other by revolute with the other end of described palm connecting rod I13.The end of palm connecting rod III15 links to each other by revolute by the other end of revolute with described palm connecting rod II14.The end of palm connecting rod IV16 links to each other by the other end of revolute with described palm connecting rod III15.The other end of the other end of described palm connecting rod IV16 and described palm link arm bar 12 is fixedly linked by the output shaft of motor.Palm link arm bar 12, palm connecting rod I13, palm connecting rod II14, palm connecting rod III15, palm connecting rod IV16 consist of the sphere five-bar mechanism of sealing.The described described five-bar mechanism that comprises the palm portion I of forearm of formation under the state shown in Figure 3 has 2 freedom of movement, and this is to adopt maximum different without the manipulator of the fixedly palm of freedom of movement from prior art.
Move under the driving of motor that palm connecting rod I13 and palm connecting rod IV16 can be in being installed on respectively two rotary joints of described palm link arm bar 12.For the motion conditions of clear expression palm, in Fig. 5-1, Fig. 5-2, Fig. 5-3, do not comprise each finger part of the present invention, only show the motion conditions of the palm portion 1 that comprises forearm.Can find out, can increase to a great extent space and the kinematic dexterity of manipulator by introducing movable palm, this is that the present invention is with respect to an advantage of prior art.
A kind of palm portion that comprises forearm 1 with humanoid dextrous hand of shape-variable palm of the present invention also has the function of variable freedom, and this is so that the present invention can satisfy the demand of more application scenarios.Different from the layout of each part of the palm portion that comprises forearm 1 shown in Figure 3, shown in Figure 4 is the situation that palm connecting rod III15 and palm connecting rod IV16 overlap.At this moment, palm link arm bar 12, palm connecting rod I13, palm connecting rod II14, palm connecting rod III15, palm connecting rod IV16 formation closing means are changed to the sphere quadric chain with one degree of freedom.The free degree that Fig. 4 and Fig. 6 show the palm portion 1 that comprises forearm becomes 1 o'clock motion conditions.The variation function of this free degree is another important feature of the present invention.
Such as Fig. 2, shown in Figure 3, at described palm connecting rod I13 be fixedly connected sequentially middle finger seat 131, nameless seat 132 and little finger seat 133; Be fixedly connected with forefinger seat 141 at described palm connecting rod II14; III15 is installed with thumb rotating shaft 151 at the palm connecting rod, and thumbrest 152 is installed on the described thumb rotating shaft 151 rotatably.Like this, do not consider under the motion conditions of each finger interior: forefinger part 3 only has elevating movement with respect to described palm connecting rod II14; Middle finger part 4, nameless part 5, little finger part 6 only have elevating movement with respect to described palm connecting rod I13; Thumb part 2 also has rotatablely moving around described thumb rotating shaft 151 with respect to palm connecting rod III15 except elevating movement.
A kind of by owing finger form of the present invention that type of drive realizes as shown in Figure 7.Because the structure of each finger of the present invention is identical, therefore shown in Figure 7 is a general finger actuation form, all applicable to 5 fingers of the present invention.One end of finger block 1007 is installed on the described palm portion 1 that comprises forearm.One end of finger seated bar 1006 is rotatedly connected by the other end of rotating shaft and described finger block 1007.One end of finger intermediate connecting rod 1005 is rotatedly connected by the other end of rotating shaft and described finger seated bar 1006.One end of finger tips 1004 is rotatedly connected by the other end of rotating shaft and described finger intermediate connecting rod 1005.Finger-joint silk wheel 1008 is installed on the centre of above-mentioned each rotating shaft, is provided with finger connecting rod directive wheel 1009 in described finger block 1007, finger seated bar 1006, finger intermediate connecting rod 1005.One end of traction steel wire 1002 is fixed in the back side of described finger tips 1004, and successively by each finger-joint silk wheel 1008 and each finger connecting rod directive wheel 1009, and enter the traction steel wire guide pipe 1003 with certain rigidity at described finger block 1007, arrive at last the drive end of traction steel wire by the aperture on the described forearm 11, by motor traction steel wire drive end 1002e.On described each rotating shaft torsionspring 1001 is installed also, its structure as described in Figure 8.The mid portion of described torsionspring 1001 is enclosed within on the described rotating shaft, and its two ends are separately fixed on the adjacent connecting rod of the finger that is connected by described each rotating shaft.Like this, when straining under the effect of described traction steel wire 1002 at motor, finger can be made flexure operation; And when motor discharged described traction steel wire 1002, finger section branch stretched under the spring-force driven dual of described torsionspring 1001.The drive part of steel wire does not belong to category of the present invention, does not repeat them here.
A kind of humanoid dextrous hand with shape-variable palm of the present invention forms by having deformable palm portion and finger part, because the distortion function of palm is so that manipulator of the present invention can be made the existing action that the fixing manipulator of palm can not be finished that has, as rubbing with the hands, twist with the fingers, and between the adjacent finger near and away from action etc.Fig. 9 is for utilizing spheroid 7 of snatch of the present invention, by palm motion with forefinger part 3 and middle finger part 4 away from, and utilize described forefinger part 3 and middle finger part 4 to cooperate with thumb part 2, and can be formed on around the spheroid 7 equally distributed three and lift a little, what be conducive to guarantee to lift is stable.Figure 10 shows that forefinger part 3 can cooperate with thumb part 2 when the present invention held a cylinder 8 under the motion of palm, finish grasping operation to spherular.Figure 11 shows that utilize forefinger part 3 that the present invention has and middle finger part 4 finish holding action to cigarette near action.Certainly, the present invention can finish the action this and more that prior art does not have.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiments of the present invention, and actual structure is not limited to this.So; if those skilled in the art is enlightened by it; in the situation that does not break away from the invention aim; adopt transmission, drive unit and the connected mode of other form without creationary design frame mode and the embodiment similar to this technical scheme, all should belong to protection scope of the present invention.
Claims (3)
1. the humanoid dextrous hand that has the shape-variable palm, it is characterized in that: it comprises palm and 5 fingers that link to each other with described palm, described palm is by palm link arm bar, palm connecting rod I, palm connecting rod II, palm connecting rod III, the sealing sphere five-bar mechanism composition that palm connecting rod IV links to each other successively and consists of, described palm link arm bar links to each other with forearm, palm connecting rod I wherein, palm connecting rod II, be rotatedly connected by revolute between the abutting end of palm connecting rod III and palm connecting rod IV, be connected with respectively a motor at the two ends of described palm link arm bar, the end of the output shaft of a motor wherein and palm connecting rod I is fixedly linked and the output shaft of another motor and the end of palm connecting rod IV are fixedly linked, all the rotation of revolute and the output axis of two motors are given a bit, each finger comprises finger block, finger seated bar, finger intermediate connecting rod and finger tips, finger block, finger seated bar, be rotatedly connected successively by rotating shaft between the abutting end of finger intermediate connecting rod and finger tips, each rotating shaft be arranged in parallel each other, described finger block is fixedly connected on the connecting rod that forms palm, three rotating shafts on each finger link to each other with rotating driving device, finger seated bar under the driving of rotating driving device, finger intermediate connecting rod and finger tips can be rotated around the separately rotation of three rotating shafts and each finger links to each other with the connecting rod pitch rotation of coupled composition palm; At described palm connecting rod I be fixedly connected sequentially middle finger seat, nameless seat and little finger seat, be fixedly connected with the forefinger seat at described palm connecting rod II; III is installed with the thumb rotating shaft at the palm connecting rod, and thumbrest is installed on the described thumb rotating shaft rotatably.
2. the humanoid dextrous hand with shape-variable palm according to claim 1, it is characterized in that: described rotating driving device comprises that being installed in the middle finger-joint silk of each rotating shaft takes turns, at described each rotating shaft torsionspring is installed, the mid portion of described torsionspring is enclosed within on each rotating shaft and its two ends are separately fixed on the adjacent connecting rod of the finger that is connected by described each rotating shaft, at each finger block, finger seated bar, be provided with finger connecting rod directive wheel on the finger intermediate connecting rod, one end of the traction steel wire that corresponding each finger arranges is fixed on the outer wall of described finger tips, and successively by each finger-joint silk wheel, each points the connecting rod directive wheel, pass again an end and be connected on the described finger block and its other end is connected to traction steel wire guide pipe on the forearm, link to each other with the motor of traction steel wire via the perforate on the forearm.
3. the humanoid dextrous hand with shape-variable palm according to claim 1 and 2, it is characterized in that: described rotating driving device comprises two finger-joint silk wheels that are installed on each rotating shaft, at each finger block, finger seated bar, point the connecting rod directive wheel with corresponding being provided with of each finger-joint silk wheel respectively on the finger intermediate connecting rod, one end of two traction steel wires that corresponding each finger arranges is fixed on the outer wall of opposite side of described finger tips separately, and each traction steel wire is successively by corresponding each finger-joint silk wheel that arranges with it, each points the connecting rod directive wheel, pass again an end and be connected on the described finger block and its other end is connected to traction steel wire guide pipe on the forearm, link to each other with the motor of traction steel wire via the perforate on the forearm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110026001 CN102092049B (en) | 2011-01-04 | 2011-01-04 | Humanoid dexterous hand with variable-shape palm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110026001 CN102092049B (en) | 2011-01-04 | 2011-01-04 | Humanoid dexterous hand with variable-shape palm |
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| CN102092049A CN102092049A (en) | 2011-06-15 |
| CN102092049B true CN102092049B (en) | 2013-02-13 |
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| CN 201110026001 Expired - Fee Related CN102092049B (en) | 2011-01-04 | 2011-01-04 | Humanoid dexterous hand with variable-shape palm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102125980B1 (en) * | 2017-07-10 | 2020-06-23 | 서울대학교산학협력단 | Robot hand |
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| JP6008077B2 (en) | 2011-12-06 | 2016-10-19 | セイコーエプソン株式会社 | Actuators, robots, electronic component transfer devices, and electronic component inspection devices |
| CN103684036A (en) * | 2012-09-18 | 2014-03-26 | 精工爱普生株式会社 | Piezoelectric motor, robot hand, robot, electronic component transporting apparatus, electronic component inspecting apparatus, liquid feeding pump, printing apparatus |
| CN103009398B (en) * | 2012-12-18 | 2015-02-11 | 北京理工大学 | Humanoid hand of underactuated exquisite transmission structure |
| CN103612264B (en) * | 2013-11-28 | 2016-02-24 | 北京智能佳科技有限公司 | A kind of mechanical finger and manipulator |
| WO2016194067A1 (en) * | 2015-05-29 | 2016-12-08 | オリンパス株式会社 | Gripping mechanism and gripping tool |
| CN106272526B (en) * | 2016-09-19 | 2019-02-26 | 上海未来伙伴机器人有限公司 | A kind of Dextrous Hand |
| CN107160382B (en) * | 2017-06-16 | 2018-06-19 | 深圳市大寰机器人科技有限公司 | A kind of multi-finger clever hand |
| CN107745391A (en) * | 2017-11-07 | 2018-03-02 | 西北农林科技大学 | A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor |
| CN107972022B (en) * | 2017-11-30 | 2024-04-12 | 南京航空航天大学 | Humanoid manipulator framework |
| CN109927061A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
| CN109807915A (en) * | 2019-01-29 | 2019-05-28 | 东北大学 | A kind of under-actuated bionic manipulator based on the stiffness variable for becoming born of the same parents' principle |
| CN112497262B (en) * | 2020-11-02 | 2022-08-02 | 天津大学 | Humanoid metamorphic hand based on reconfigurable Hooke hinge pair |
| CN113855482B (en) * | 2021-09-30 | 2022-07-01 | 中国科学院自动化研究所 | Hand rehabilitation device and hand thumb control device based on spherical connecting rod mechanism |
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| US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
| CN1964822A (en) * | 2004-04-29 | 2007-05-16 | 伦敦国王学院 | Robotic hand with palm section comprising several parts able to move relative to each other |
| CN101214658A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope three-joint under-driven robot finger device |
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| JP5286947B2 (en) * | 2008-06-03 | 2013-09-11 | 株式会社安川電機 | Robot hand and robot equipped with the same |
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| US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
| CN1964822A (en) * | 2004-04-29 | 2007-05-16 | 伦敦国王学院 | Robotic hand with palm section comprising several parts able to move relative to each other |
| CN101214658A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope three-joint under-driven robot finger device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102125980B1 (en) * | 2017-07-10 | 2020-06-23 | 서울대학교산학협력단 | Robot hand |
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| CN102092049A (en) | 2011-06-15 |
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