The invention relates to a robot frogman and a palm assembly, and belongs to the technical field of robots. The palm assembly comprises a palm base and a plurality of fingers, wherein the each fingercomprises joints, knuckles and joint corner driving mechanisms which are sequentially arranged through connection, the each joint corner driving mechanism comprises a corresponding shape memory alloywire used for driving corresponding two adjacent knuckles to rotate forwards and reversely, the each shape memory alloy wire comprises two or more shape memory alloy wire sections, the adjacent ends of the two corresponding shape memory alloy wire sections of the each shape memory alloy wire are fixedly connected through a corresponding sliding block, and the sliding blocks on the shape memory alloy wires are installed in the palm base and/or the knuckles in a sliding mode. On the basis of the palm assembly with an improved structure, the effective length of the alloy wires can be effectivelyshortened while the knuckle action response speed is increased, and the palm assembly can be widely applied to the technical fields of robots, deep sea exploration and the like.
本发明涉及一种机器蛙人及手掌组件,属于机器人技术领域。手掌组件包括掌部座及多根手指;手指包括依序连接布置的关节、指节及关节转角驱动机构;关节转角驱动机构包括用于驱使相邻两指节正向与反向转动的形状记忆合金丝;形状记忆合金丝包括两段以上的形状记忆合金丝段,两段形状记忆合金丝段的相邻接端部由滑块固连;形状记忆合金丝上的滑块可滑动地安装在掌部座和/或指节内。基于该结构改进的手掌组件,能在提高指节动作响应速度的同时,有效地缩短其合金丝的有效长度,可广泛应用于机器人、深海探测等技术领域。
Robot frogman and palm assembly
一种机器蛙人及手掌组件
2020-05-15
Patent
Electronic Resource
Chinese
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