CN106264806B - 一种仿真机械手和控制方法 - Google Patents
一种仿真机械手和控制方法 Download PDFInfo
- Publication number
- CN106264806B CN106264806B CN201610672648.2A CN201610672648A CN106264806B CN 106264806 B CN106264806 B CN 106264806B CN 201610672648 A CN201610672648 A CN 201610672648A CN 106264806 B CN106264806 B CN 106264806B
- Authority
- CN
- China
- Prior art keywords
- finger
- motor
- amount
- simulation manipulator
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000005452 bending Methods 0.000 claims abstract description 7
- 210000003811 finger Anatomy 0.000 claims description 69
- 210000003414 extremity Anatomy 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 210000004247 hand Anatomy 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 14
- 238000002266 amputation Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005057 finger movement Effects 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 210000003010 carpal bone Anatomy 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/585—Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6872—Operating or control means attached and mechanically operated by remaining muscle
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610672648.2A CN106264806B (zh) | 2016-08-16 | 2016-08-16 | 一种仿真机械手和控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610672648.2A CN106264806B (zh) | 2016-08-16 | 2016-08-16 | 一种仿真机械手和控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106264806A CN106264806A (zh) | 2017-01-04 |
CN106264806B true CN106264806B (zh) | 2018-08-07 |
Family
ID=57671390
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610672648.2A Active CN106264806B (zh) | 2016-08-16 | 2016-08-16 | 一种仿真机械手和控制方法 |
Country Status (1)
Country | Link |
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CN (1) | CN106264806B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107877506A (zh) * | 2017-12-25 | 2018-04-06 | 贵州大学 | 一种单线牵拉式机械抓手及其使用方法 |
CN108186171B (zh) * | 2017-12-28 | 2020-08-28 | 中国科学院深圳先进技术研究院 | 一种仿生手装置及机器人 |
CN110780731B (zh) * | 2018-07-30 | 2023-06-09 | 宏达国际电子股份有限公司 | 手指姿态检测装置与控制总成 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4980626A (en) * | 1989-08-10 | 1990-12-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method and apparatus for positioning a robotic end effector |
CN104306086A (zh) * | 2014-09-30 | 2015-01-28 | 东北大学 | 一种新型无外部动力假肢手 |
CN104546235A (zh) * | 2013-10-23 | 2015-04-29 | 库尔特W·斯科特 | 混合型假手 |
CN204909745U (zh) * | 2015-07-30 | 2015-12-30 | 沈阳工业大学 | 带有高精度小型化拉线控制***的智能肌电假肢手 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8483880B2 (en) * | 2009-07-22 | 2013-07-09 | The Shadow Robot Company Limited | Robotic hand |
-
2016
- 2016-08-16 CN CN201610672648.2A patent/CN106264806B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4980626A (en) * | 1989-08-10 | 1990-12-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method and apparatus for positioning a robotic end effector |
CN104546235A (zh) * | 2013-10-23 | 2015-04-29 | 库尔特W·斯科特 | 混合型假手 |
CN104306086A (zh) * | 2014-09-30 | 2015-01-28 | 东北大学 | 一种新型无外部动力假肢手 |
CN204909745U (zh) * | 2015-07-30 | 2015-12-30 | 沈阳工业大学 | 带有高精度小型化拉线控制***的智能肌电假肢手 |
Non-Patent Citations (1)
Title |
---|
基于ARM的肌电假肢手控制器;卜峰等;《上海大学学报》;20141231;第20卷(第4期);第442-449页 * |
Also Published As
Publication number | Publication date |
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CN106264806A (zh) | 2017-01-04 |
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Effective date of registration: 20201124 Address after: No.2218 Jinan Road, Heze Development Zone, Shandong Province Patentee after: Shandong Zhongjie special equipment Co.,Ltd. Address before: 528400 Guangdong Province, east of the city of Zhongshan, a sunny holiday a building of 5 3A01 Patentee before: Wen Hao |
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Effective date of registration: 20220701 Address after: No.9, Haitai development road 4, Huayuan new technology industrial park, Binhai New Area, Tianjin Patentee after: Tianjin Saixiang Technology Co.,Ltd. Address before: 274002 no.2218 Jinan Road, Heze Development Zone, Shandong Province Patentee before: Shandong Zhongjie special equipment Co.,Ltd. |
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Effective date of registration: 20230620 Address after: 300384 block D, No. 9, Haitai development Fourth Road, Huayuan Industrial Zone (outside the ring), Binhai New Area, Tianjin Patentee after: TIANJIN SAIXIANG ELECTROMECHANICAL ENGINEERING Co.,Ltd. Address before: No.9, Haitai development road 4, Huayuan new technology industrial park, Binhai New Area, Tianjin Patentee before: Tianjin Saixiang Technology Co.,Ltd. |
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Effective date of registration: 20240703 Address after: 300384 block D, No. 9, Haitai development Fourth Road, Huayuan Industrial Zone (outside the ring), Binhai New Area, Tianjin Patentee after: Tianjin Saixiang Technology Co.,Ltd. Country or region after: China Address before: 300384 block D, No. 9, Haitai development Fourth Road, Huayuan Industrial Zone (outside the ring), Binhai New Area, Tianjin Patentee before: TIANJIN SAIXIANG ELECTROMECHANICAL ENGINEERING Co.,Ltd. Country or region before: China |