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FULLY-DRIVEN FIVE-FINGER DEXTEROUS HAND STRUCTURE AND CONTROL SYSTEM
FULLY-DRIVEN FIVE-FINGER DEXTEROUS HAND STRUCTURE AND CONTROL SYSTEM
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机译：全驱动五指敏捷结构与控制系统
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#$%^&*AU2020100495A420200521.pdf#####ABSTRACT The present invention discloses a fully-driven five-finger dexterous hand structure and a control system. The fully-driven five-finger dexterous hand structure includes a fixed base, a palm is arranged at the top of the fixed base; a metacarpal bone is arranged on one side of the palm; and there are five metacarpal bones. The present invention has a reasonably scientific structure and safe use and convenience. One side-sway servo and three rotating servos are used, so that a single finger has four degrees of freedom: three degrees of freedom in bending/stretching and one degree of freedom in side swing, so that the whole device has 20 degrees of freedom, and each degree of freedom can be independently controlled, so as to stably grasp objects of different sizes and improve device flexibility. A pressure sensor is used to detect contact force between a finger and a target object and feed back the contact force to a main control chip, and the main control chip controls a rotation angle of each servo by using the data fed back from the pressure sensor to conduct dynamic adjustment to better grasp the object.DRAWINGS 1 0O FIG. 1 2 FIG.21
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