CN207206443U - Humanoid dextrous hand based on marmem beformable body intelligent digital composite construction - Google Patents
Humanoid dextrous hand based on marmem beformable body intelligent digital composite construction Download PDFInfo
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- CN207206443U CN207206443U CN201720511971.1U CN201720511971U CN207206443U CN 207206443 U CN207206443 U CN 207206443U CN 201720511971 U CN201720511971 U CN 201720511971U CN 207206443 U CN207206443 U CN 207206443U
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Abstract
The utility model discloses a kind of humanoid dextrous hand for being based on marmem (SMA) beformable body intelligent digital composite construction, it is made up of five different size SMA flexible intelligent digital complex structures, flexible lappings, the size of each SMA flexible intelligents digital complex structure corresponds to the finger and its metacarpal bone of human hand.The SMA beformable bodys Intelligent Composite structure is formed by two sections, and one section is rigid structure, copies the metacarpal bone structure of human hand；Another section is plastic deformation structure, copies the finger part of human hand.The SMA beformable bodys intelligent digital composite construction drives skeleton, elastic sheet and flexible lapping to form by 3D metacarpal bones, intelligent digital.The SMA beformable bodys intelligent digital composite construction structure drives skeleton, thin plate and flexible lapping to form by intelligent digital, can realize self feed back control and digitized bending motion.The Dextrous Hand has the advantages that profile and action emulation degree are high, cost is low, security and compatible good and controllability are strong.
Description
Technical field
It the utility model is related to the technical field of intellectual material and robot, and in particular to one kind is based on SMA beformable bodys intelligence
The humanoid dextrous hand of digital complex structure.
Background technology
With the continuous development of robot technology, robot plays more next in the industrial production of the mankind and daily life
More important role.Robot has been not limited solely to the industrial robot applied under manufacturing environment, in the industrial production from
Thing long-time, repeat dull operation, spray robot, welding robot and the people that puts together machines etc..As current machine
People another big branch --- the service robot applied under non-fabrication environment also plays more and more important effect, these machines
Device people act as key player in individual/family expenses and service-specific field, including homework, amusement and recreation, disability auxiliary,
Medical, national defense safety, logistics purposes etc..It is issued by the State Council with the rising of robot application demand《Made in China
2025》Point out that following 10 years, China's machine man-based development will welcome a height using robot as one of ten big major fields
Tide.
The Dextrous Hand of early stage primarily as artificial limb or simple end clamp operator, 1962 by Tomovic and
The Belgrade hands of Boni designs are considered as earliest Dextrous Hand.Since the 1970s, multi-finger dexterous hand of robot
System research start to carry out in the world.There is many outstanding achievements in research, such as Okada in Dextrous Hand research early stage
Dextrous Hand, Stanford/JPL Dextrous Hands, Utah/MIT Dextrous Hands and Hitachi hands etc., these achievements in research are all to spirit later
The research and development of dab hand serves very important directive function.Above-mentioned Dextrous Hand general performance is rigid, finger actuation one
As using tendon be driven, indirect transfer motion and power to finger corresponding joint.Type of drive imitates the drive in human finger joint
Motivation is managed, and can mitigate the weight of execution system, but be not easy to establish the kinematics and dynamics modeling of end effector, shadow
Control to actuator is rung, in addition, conventional rigid actuator shows as complicated, forms of motion is single, and expensive grade lacks
Point.
Therefore, this concept of humanoid dextrous hand is proposed by researcher.Because humanoid dextrous hand is with submissive well
Property and security, have good application prospect in service robot field.The type of drive of humanoid dextrous hand mainly have air pressure,
The modes such as hydraulic pressure, rope (tendon), air pressure power output is larger, and overload protection is good, but poor sensitivity, and position control is more complicated；Liquid
Pressing element has very strong stability and reliability, but easily reveals, and is not suitable for remote-controlled operation；Rope, which drives, causes Dextrous Hand knot
Structure is simple, light weight, but kinematic dexterity and precision are poor.
Utility model content
The utility model purpose is：One kind is provided and is based on marmem (SMA) beformable body intelligent digital composite construction
Humanoid dextrous hand.The Dextrous Hand has that profile and action emulation degree are high, cost is low, security and compatibility is good and controllability
The advantages that strong.Humanoid dextrous hand can be completely the same with specific apish hand sizes and shape, in addition, its motion mode
And freedom of motion is equally consistent with mankind's hand feature, thus, the humanoid dextrous hand can highly emulate human hand motion and
Its flexibility and adaptability in crawl article.The Dextrous Hand can be used as the intelligent operation hand of service robot, anthropomorphic robot
And the intelligent artificial limb of physical disabilities, it can be applied to operation, film stage property and hazardous environment (biochemical, the core spoke of breakables
Penetrate) under man-machine combined operation.Humanoid dextrous hand outer layer is wrapped up by flexible material completely, and sense of touch is similar to application on human skin, safety
Property high and action it is submissive, class people's behavior gesture, crawl article can be achieved and quick the action such as tap.The Dextrous Hand can be used as servicing
Robot, the intelligent operation hand of anthropomorphic robot and the intelligent artificial limb of physical disabilities, have broad application prospects.
The technical solution adopted in the utility model is：One kind is compound based on marmem (SMA) beformable body intelligent digital
The humanoid dextrous hand of structure, the humanoid dextrous hand is by five different size SMA flexible intelligent digital complex structures, flexible parcel
Material forms, and the size of each SMA- flexible intelligents digital complex structure corresponds to the finger and its metacarpal bone of human hand, described
SMA beformable body Intelligent Composite structures are formed by two sections, and one section is rigid structure, copy the metacarpal bone structure of human hand；Another section is flexible
Distressed structure, copies the finger part of human hand, and the SMA beformable bodys intelligent digital composite construction is driven by 3D metacarpal bones, intelligent digital
Skeleton, elastic sheet and flexible lapping composition, the SMA beformable bodys intelligent digital composite construction drive bone by intelligent digital
Frame, thin plate and flexible lapping composition, self feed back control and digitized bending motion, the digitlization bending can be realized
Motion is in SMA flexible intelligent digital complex structures, and SMA silks have multigroup and every group can work independently；By heating not
With the SMA silks of quantity, the output of the different amplitudes and different dynamics of SMA flexible intelligent digital complex structures can be realized, it is described
There are some SMA silks positioning holes among location-plate, on the other hand, location-plate also be used to connect SMA beformable body intelligent digital composite junctions
Structure and 3D metacarpal bones.
Wherein, the humanoid dextrous hand is not only high with human hand fidelity in shape, and its internal structure design also comes from pair
Hand bone, muscle and the bionics fiber in joint of human hand；The appearance and size of humanoid dextrous hand is completely consistent with human hand dimensions, profile.
Wherein, the flexible humanoid dextrous hand is that one kind has merged marmem intellectual material, 3D is scanned and 3D is beaten
The structure of print, model casting and digital-type intelligent feedback control, the profile and human hand of flexible humanoid dextrous hand are completely the same, surface
It is soft safe, the control that grasping amplitude, power can be achieved is controlled by digitlization and self feed back, in addition, using multilayer SMA silks
Driving and distributed arrangement SMA silks, flexible humanoid dextrous hand can realize that controllable action exports.
Wherein, the profile of flexible humanoid dextrous hand, internal motion joint position are consistent with human hand.Humanoid dextrous hand makes and adopted
With the model casting method based on high emulation fingerprint, SMA flexible intelligent digital complex structures are embedded into the humanoid dextrous hand of shaping
In.
Wherein, five various sizes of SMA flexible intelligents digital complex structures are shared in the humanoid dextrous hand, they
Size imitates five fingers and their metacarpal bone structure of human hand respectively, and their method for arranging is again based on to human hand
Bionics Study.
Wherein, the Intelligence Feedback control method of humanoid dextrous hand is that more SMA silks digitlization based on SMA silk self feed backs is bionical
Control methods, the SMA silks self feed back are to change the Intelligence Feedback system established, the digitlization biomimetic control based on SMA resistance
Method is derived from obtaining the bionics fiber of human hand action, the Intelligence Feedback control method based on humanoid dextrous hand, humanoid dextrous hand
It can realize that the apery of high fidelity is made manually, such as gesture, the action such as grasping and percussion.
Wherein, the SMA flexible intelligents numeric structure is a kind of hierarchy of combination of rigidity and flexibility, and SMA silks are through whole knot
In structure, elastic plate exists in flexible segment and metacarpal bone Duan Jun, and SMA silks layered position is realized by the positioning hole in pcb board.
Wherein, the SMA beformable bodys intelligent digital composite construction by 3D metacarpal bones, intelligent digital drive skeleton, elastic sheet and
Flexible lapping composition, can realize digitized bending motion.
Wherein, the 3D metacarpal bones are a kind of rigid structures of apery palm bone, can be processed by 3D printing technique and human hand
The consistent shape of metacarpal bone.
Wherein, the intelligent digital driving skeleton is made up of SMA silks and location-plate, and SMA silks are arranged in parallel in two pieces of positioning
Between plate, the location-plate is a kind of pcb board for including turning circuit；
The digitlization bending motion is by controlling the intelligent digital in SMA- beformable body intelligent digital composite constructions to drive
The SMA silks different heating combination of skeleton is realized；
The sheet plate that is embedded in is a kind of deformable high-molecular compound, and the flexible lapping is that one kind has
From liquid curing into a kind of chemical substance of solid-state.
The utility model advantage and good effect are：
1) beformable body is compound during the compound handgrip lower surface Non-smooth surface curved surface of beformable body improves flexible operation hand grabbing workpiece
The contact area of handgrip and workpiece, ensure the stability and security of flexible operation hand in operation.
2) humanoid dextrous hand tightens this bionical concept that linked closely in structure design and action planning, its outer layer bag
Wrap up in material and use full flexible material.Dextrous Hand is substantially increased in structure, sense of touch and working method and the high emulation of human hand
Its functional reliability, security and adaptability.
3), can be between insert plate and driver skeleton using the model insertion formula laminated pouring technology shaping compound handgrip of beformable body
Parameter controllable precise, and be closely connected with flexible material.
4) flexible operation hand can capture breakables flexible, harmlessly, with higher motion frequency and well
Load capacity, its aerial motion frequency can reach more than 2Hz, can capture the load more than deadweight.
5) SMA electrology characteristics are based on, self feed back-force-location mix control method is applied to flexible intelligent digital complex structure
Control in, the control of more accurate power-position can be realized, without adding additional sensors.
6) SMA flexible intelligents digital complex structure is a kind of hard and soft mixture, the combination with metacarpal bone and finger in human hand
Body is closely similar.The rigid body structure of SMA flexible intelligent digital complex structures helps to strengthen the rigidity of humanoid dextrous hand.SMA
The flexible body section of flexible intelligent digital complex structure can be that finger softness has been imitated in structure, and and can enough realizes class hand
The bending motion of finger.
7) humanoid dextrous hand can realize the digitlization bending motion of finger, be implemented for bending, the percussion power of finger
Degree and speed are controllable, substantially increase the locomitivity and accommodation of humanoid dextrous hand.
8) humanoid dextrous hand under controlling based on myoelectricity, pattern-recognition can be carried out send to instruct to Dextrous Hand accordingly,
And then realize the man-machine interactive operation to Dextrous Hand.Humanoid dextrous hand can realize that the apery of high fidelity is made manually, such as gesture,
The action such as grasping and percussion.
9) humanoid dexterous wrist portion leaves mechanical interface, convenient and external connection；System control panel is using the letter standardized
Interface is ceased, is subjected to a variety of external signals.
10) humanoid dextrous hand can be used for the artificial limb of anthropomorphic robot hand, service robot manipulator and disabled.With
In anthropomorphic robot hand, human hand movement is imitated, the practicality and sight of anthropomorphic robot can be greatly improved；For server
Device people manipulator, can assist people work as crawl article, guide direction, sign language exchange；, can for the artificial limb of disabled
Play the effects such as attractive in appearance, basic daily life of assistance self-care.
Brief description of the drawings
Fig. 1 is bionical Dextrous Hand pictorial diagram schematic diagram, wherein, Fig. 1 (a) is the front view of humanoid dextrous hand, and Fig. 1 (b) is
The bending side view of humanoid dextrous hand.
Fig. 2 is each finger S MA flexible intelligents digital complex structure arrangement schematic diagram in bionical Dextrous Hand.
Fig. 3 is that the intelligent digital in simple joint SMA flexible intelligent digital complex structures drives skeleton schematic diagram, wherein, 1 is
The location-plate of simple joint first, 2 be SMA silks, and 3 be the location-plate of simple joint second, and 4 be the location-plate of simple joint the 3rd.
Fig. 4 is simple joint SMA flexible intelligent digital complex structural representations, wherein, 5 be 3D metacarpal bones, and 6 be flexible parcel material
Material, 7 be elastic sheet.
Fig. 5 is that the intelligent digital in multi-joint SMA flexible intelligent digital complex structures drives skeleton schematic diagram, wherein, 8 are
The location-plate of multi-joint first, 9 be the location-plate of multi-joint second, and 10 be the location-plate of multi-joint the 3rd, and 11 be that multi-joint the 4th positions
Plate, 12 be the location-plate of multi-joint the 5th.
Fig. 6 is multi-joint SMA flexible intelligent digital complex structural representations, wherein, 13 be multi-joint first layer SMA silks,
14 be multi-joint second layer SMA silks, and 15 be multi-joint third layer SMA silks.
Fig. 7 is 3D metacarpal bone schematic diagrames, wherein, 16 be location-plate fixing groove.
Fig. 8 is that the SMA silks in digital driving skeleton arrange schematic diagram, wherein, 17 be the first location-plate of digitlization, and 18 are
The second location-plate is digitized, 19 be the 3rd location-plate of digitlization, and 20 be first group of SMA silk of digitlization, and 21 be second group of digitlization
SMA silks, 22 be the 3rd group of SMA silk of digitlization.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment further illustrates the utility model.
Fig. 1 is the humanoid dextrous hand provided by the utility model based on SMA beformable body intelligent digital composite constructions.Fig. 1 (a)
For the front view of humanoid dextrous hand, Fig. 1 (b) is the bending side view of humanoid dextrous hand, profile and the human hand one of humanoid dextrous hand
Cause；Humanoid dextrous hand is made using die casting technique, and the SMA- flexible intelligent digital complex structures for imitating five fingers are poured
Casting forms.The material outside of humanoid dextrous hand is a kind of flexible lapping.The mould of humanoid dextrous hand be based on human hand make and
Into, can use 3D scanning and two kinds of technologies of modelling；The 3D scannings are shape, the chi that human hand is scanned based on 3D scanning techniques
It is very little, mould is printed by 3D printing technique；The modelling is 1 based on human hand:1 bio-prosthetic hand, is fabricated to humanoid dexterous
The mould of hand.Based on above-mentioned mould forming method, the humanoid dextrous hand and profile, the size of human hand are identical.
Preferably, PDMS, Ecoflex, human body and industrial silicone can be used in flexible lapping.
Fig. 2 is arrangement of the SMA beformable body intelligent digital composite constructions in humanoid dextrous hand.As shown in FIG., each SMA is soft
Body intelligent digital composite construction is made up of two sections of parts, first, metacarpal bone section, another part is finger section；In humanoid dextrous hand altogether
There are five SMA flexible intelligent digital complex structures, their size imitates five fingers and their metacarpal bone knot of human hand respectively
Structure.The SMA flexible intelligent digital complex structures of the imitative finger are again based on to human hand in the method for arranging of humanoid dextrous hand
Bionics Study.
Fig. 3 is the intelligent digital driving skeleton structure schematic diagram in simple joint SMA flexible intelligent digital complex structures.It is described
Intelligent digital driving skeleton is made up of 3 location-plates and some SMA silks 2.The first location-plate of simple joint 1 positions with simple joint second
It is metacarpal bone section between plate 3, is finger section between the second location-plate of simple joint 3 and the location-plate 4 of simple joint the 3rd.Simple joint first is fixed
Position plate 1 is to be located at the end of finger section, the second location-plate of simple joint 3 positioned at the end of metacarpal bone section, the location-plate 4 of simple joint the 3rd
Between metacarpal bone section and finger section.The second location-plate of simple joint 3 is fixed in metacarpal bone section, and the location-plate 4 of simple joint the 3rd is soft in SMA
Property intelligent digital composite construction by the flexible lapping positioning after solidification.The both ends of the SMA silks 2 are separately fixed at single pass
Save on the first location-plate 1 and the location-plate 4 of simple joint the 3rd, the second location-plate of simple joint 3 is used for positioning the position of SMA silks 2.
Preferably, pcb board, ABS plates, latten can be used in each location-plate.
Fig. 4 is the internal structure schematic diagram of simple joint SMA flexible intelligent digital complex structures.The SMA flexible intelligents number
Word composite construction is made up of two parts, first, metacarpal bone section, another part is finger section；The metacarpal bone end is then by the He of 3D metacarpal bones 5
Flexible structure it is compound, the finger end does not include rigid structure, completely by flexible lapping 6, SMA silks 2 and elastic sheet 7
Composition, plane inner bending motion can be achieved.The SMA flexible intelligents numeric structure is a kind of hierarchy of combination of rigidity and flexibility, SMA
Silk 2 has run through in total, and elastic sheet 7 exists in flexible segment and metacarpal bone Duan Jun, and the layered position of SMA silks 2 passes through
Positioning hole in location-plate is realized.3D metacarpal bones 5 are made based on 3D printing technique, its effect in flexible finger modular construction
Mainly there are three：First, imitating human hand structure, the design of high fidelity is realized；Second, after increase flexible finger modular construction
End can stationarity, strengthen the load capacity of humanoid dextrous hand；Third, allowance for shrinkage of the increase SMA silks 2 in finger tip so that be
In the case of human hand dimensions' identical, increase the deformability of flexible finger modular construction as much as possible.
Fig. 5 is the intelligent digital driving skeleton schematic diagram of more piece SMA flexible intelligent digital complex structures.The intelligent digital
Driving skeleton is made up of 5 location-plates and some SMA silks.It is between the first location-plate of multi-joint 8 and the second location-plate of multi-joint 9
Metacarpal bone section, is finger section between the second location-plate of multi-joint 9 and the location-plate 12 of multi-joint the 5th, the He of the first location-plate of multi-joint 8
The location-plate 12 of multi-joint the 5th respectively positioned at the end of metacarpal bone section and finger section, the second location-plate of multi-joint 9 be located at metacarpal bone section and
Position between finger section, the location-plate 10 of multi-joint the 3rd and the location-plate 11 of multi-joint the 4th are located in finger section.The intelligence
There are three layers of SMA silks in digital drive skeleton, one section of three layers of SMA silks is each attached on the first location-plate of multi-joint 8, its
In, the other end of described multi-joint first layer SMA silks 13 is fixed on the location-plate 10 of multi-joint the 3rd, the multi-joint second layer
The other end of SMA silks 14 is fixed on the location-plate 11 of multi-joint the 4th, and the other ends of multi-joint third layer SMA silks 15 is fixed on more
On the location-plate 12 of joint the 5th, the second location-plate of multi-joint 2 is for ensuring that the distance between three layers of silk are constant.
Preferably, the distance between three layers of SMA silks are between 0.1mm~1.5mm.
Fig. 6 is the internal structure schematic diagram of multi-joint SMA flexible intelligent digital complex structures.The multi-joint SMA is flexible
The use of intelligent digital composite construction more piece intelligent digital driver skeleton as shown in Figure 5.The multi-joint SMA flexible intelligents
Digital complex structure is functionally closely similar with people's hand finger, can realize the finger self-movement in three joints, its internal junction
The second location-plate of multi-joint 9, the location-plate 10 of multi-joint the 3rd and the location-plate 11 of multi-joint the 4th in structure distinguish equivalent human hand
Metacarpophalangeal joints, nearly articulations digitorum manus and remote articulations digitorum manus.
Fig. 7 is the schematic diagram of 3D metacarpal bones.The 3D metacarpal bones are a kind of rigid structures of apery palm bone, can be by 3D printing skill
Art is processed for the consistent shape of human hand metacarpal bone.A location-plate fixing groove 16 is included on 3D metacarpal bones, for fixed positioned at the palm
Location-plate between bone section and finger section, such as the second location-plate of simple joint 3 in Fig. 2.3D metacarpal bones 5 can be based on 3D printing technique
With traditional process technology, the 3D printing material and metal material that plastic material is respectively adopted are made.
Preferably, 3D metacarpal bones material selection ABS material, 3D printing process technology is used.
Fig. 8 is the SMA silks digitlization arrangement schematic diagram in digital drive skeleton.It is simple joint SMA flexible intelligent numbers in figure
The digital drive skeleton of word composite construction, by digitizing first group of SMA silk 20, digitize second group of SMA silk 21 and digitlization the
Three groups of SMA silks 22 form.Every group has two SMA silks, and two SMA silks are symmetrical on the center line of digital drive skeleton, and
And the positive pole and negative pole of every group of SMA silk be on Digital location plate 17 and on digitlization location-plate 19, SMA silks are through digitlization
Location-plate 18, the positioning hole of Digital location plate 18 play a part of to limit SMA silks position.SMA flexible intelligent digital complex structures
Position and power output it is controllable by driving requirement group SMA silks realize.
Preferably, the SMA silk group numbers used in digital drive skeleton is 3~10 groups.
Preferably, PVC board, ABS plates, latten and high molecular polymer plate can be used in elastic sheet.
Preferably, the shape that can be embedded in sheet plate can be rectangle, circle etc..
Claims (9)
1. one kind is based on the humanoid dextrous hand of marmem (SMA) beformable body intelligent digital composite construction, it is characterised in that：Institute
State humanoid dextrous hand to be made up of five different size SMA flexible intelligent digital complex structures, flexible lappings, each SMA- is soft
The size of property intelligent digital composite construction corresponds to the finger and its metacarpal bone of human hand, the SMA beformable bodys Intelligent Composite structure
Formed by two sections, one section is rigid structure, copies the metacarpal bone structure of human hand；Another section is plastic deformation structure, copies human hand
Finger part, the SMA beformable bodys intelligent digital composite construction drive skeleton, elastic sheet and flexibility by 3D metacarpal bones, intelligent digital
Lapping forms, and can realize self feed back control and digitized bending motion, the digitlization bending motion is soft in SMA
In property intelligent digital composite construction, SMA silks have multigroup and every group can work independently；By heating the SMA silks of varying number,
The output of the different amplitudes and different dynamics of SMA flexible intelligent digital complex structures can be realized, there are some SMA among location-plate
Silk positioning hole, on the other hand, location-plate also be used to connect SMA beformable body intelligent digital composite constructions and 3D metacarpal bones.
A kind of 2. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The humanoid dextrous hand is not only high with human hand fidelity in shape, its internal structure design also source
In hand bone, muscle and the bionics fiber in joint to human hand；The appearance and size of humanoid dextrous hand completely with human hand dimensions, profile one
Cause.
A kind of 3. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The flexible humanoid dextrous hand be one kind merged marmem intellectual material, 3D scanning and
The structure of 3D printing, model casting and digital-type intelligent feedback control, the profile and human hand of flexible humanoid dextrous hand are completely the same,
Soft surface is safe, the control that grasping amplitude, power can be achieved is controlled by digitlization and self feed back, in addition, using multilayer
SMA silks drive and distributed arrangement SMA silks, and flexible humanoid dextrous hand can realize that controllable action exports.
A kind of 4. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The profile of flexible humanoid dextrous hand, internal motion joint position are consistent with human hand, humanoid dextrous hand
Make the apery that SMA flexible intelligent digital complex structures using the model casting method based on high emulation fingerprint, are embedded into shaping
In Dextrous Hand.
A kind of 5. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：Five various sizes of SMA flexible intelligents digital complex structures are shared in the humanoid dextrous hand,
Their size imitates five fingers and their metacarpal bone structure of human hand respectively, and their method for arranging is again based on pair
The bionics Study of human hand.
A kind of 6. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The SMA flexible intelligents numeric structure is a kind of hierarchy of combination of rigidity and flexibility, and SMA silks are through whole
In individual structure, elastic plate exists in flexible segment and metacarpal bone Duan Jun, and SMA silks layered position is realized by the positioning hole in pcb board.
A kind of 7. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The SMA beformable bodys intelligent digital composite construction drives skeleton, Thin Elastic by 3D metacarpal bones, intelligent digital
Plate and flexible lapping composition, can realize digitized bending motion.
A kind of 8. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The 3D metacarpal bones are a kind of rigid structures of apery palm bone, can be processed by 3D printing technique with
The consistent shape of human hand metacarpal bone.
A kind of 9. apery for being based on marmem (SMA) beformable body intelligent digital composite construction according to claim 1
Dextrous Hand, it is characterised in that：The intelligent digital driving skeleton is made up of SMA silks and location-plate, and SMA silks are arranged in parallel in two pieces
Between location-plate, the location-plate is a kind of pcb board for including turning circuit；
The digitlization bending motion is by controlling the intelligent digital in SMA- beformable body intelligent digital composite constructions to drive skeleton
SMA silks different heating combination realize.
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| CN107081777A (en) * | 2017-05-10 | 2017-08-22 | 中国科学技术大学 | Humanoid dextrous hand based on marmem beformable body intelligent digital composite construction |
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