Tendon-driven robotic hand

Patent metadata

Field	Value
Publication number	US-11325264-B1
Application number	US-202017095758-A
Country	US
Kind code	B1
Filing date	Nov 12, 2020
Priority date	Nov 12, 2020
Publication date	May 10, 2022
Grant date	May 10, 2022

Abstract

A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.

First claim

What is claimed is:

1. A robotic hand, comprising:
a baseplate;
a finger comprising:
a first phalanx having an elongated body defining a first end and an opposite second end, the first end rotatably coupled to the baseplate and rotatable about a first axis of rotation,
a second phalanx having a first end and an opposite second end, the first end of the second phalanx rotatably coupled to the second end of the first phalanx and rotatable about a second axis of rotation parallel to the first axis of rotation; and
a third phalanx rotatably coupled to the second end of the second phalanx, the third phalanx rotatable about a third axis of rotation parallel to the first axis of rotation;

an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the first phalanx, the second phalanx, and the third phalanx; and
a first tendon having opposite ends that are respectively attached to the third phalanx and the second end of the first phalanx;
wherein the third phalanx comprises a first engagement portion arranged around the third axis of rotation, and the first tendon is wrapped around at least a portion of the first engagement portion so as to generate a force acting on the second end of the second phalanx, causing the second phalanx to rotate from a flexed state to an extended state.

2. The robotic hand of claim 1 , wherein the first tendon is a timing belt, and the first engagement portion comprises a plurality of teeth that are engaged with the timing belt.

3. The robotic hand of claim 1 , wherein the actuating mechanism comprises a linear actuator and a flexor having opposite ends attached to the third phalanx and the linear actuator;
the linear actuator configured to provide a linear motion to pull the flexor, and the flexor is configured to pull the first phalanx, the second phalanx, and the third phalanx to rotate so as to flex the finger.

4. The robotic hand of claim 3 , wherein the linear actuator comprises a motor, a transmission mechanism fixed to the baseplate, and a sliding member; the motor and the sliding member are coupled to the transmission mechanism, the transmission mechanism is configured to convert rotary motion of the motor to linear motion of the sliding member, one of the opposite ends of the flexor is fixed to the sliding member.

5. The robotic hand of claim 1 , further comprising an extension spring having opposite ends coupled to the third phalanx and the second end of the first phalanx, wherein the extension spring is configured to apply a restoring force to each of the second phalanx and the third phalanx so as to return the second phalanx and the third phalanx to the extended state.

6. The robotic hand of claim 5 , wherein the extension spring is located at a back side of the finger that faces away from the first engagement portion.

7. The robotic hand of claim 4 , wherein the transmission mechanism comprises a frame fixed to the baseplate, a back-drivable ball screw that is rotatably coupled to the frame and configured to receive the rotary motion, and a collar rotatably coupled to the ball screw and slidable relate to the frame, and the sliding member is fixed to the collar.

8. The robotic hand of claim 1 , further comprising a second tendon having opposite ends that are respectively attached to the first end of the second phalanx and the baseplate, wherein the second phalanx comprises a second engagement portion arranged around the second axis of rotation, and the second tendon is wrapped around at least a portion of the second engagement portion so as to generate a force acting, on the second end of the first phalanx, causing the first phalanx to rotate back to the extended state.

9. A robotic hand, comprising:
a baseplate;
a cable-driven finger comprising:
a first phalanx haying an elongated body defining a first end and an opposite second end, the first. end rotatably coupled to the baseplate and rotatable about a first axis of rotation;
a second phalanx having a first end and an opposite second end, the first end of the second phalanx rotatably coupled to the second end of the first phalanx and rotatable about a second axis of rotation parallel to the first axis of rotation; and
a third phalanx rotatably coupled to the second end of the second phalanx, the third phalanx rotatable about a third axis of rotation parallel to the first axis of rotation;

a first tendon having opposite ends that are respectively attached to the third phalanx and the second end of the first phalanx, the first tendon configured to generate a force that acts on the second end of the second phalanx and causes the second phalanx to rotate from a flexed state to an extended state.

10. The robotic hand of claim 9 , wherein the first tendon is a timing belt, and the third phalanx comprises a plurality of teeth that are engaged with the timing belt.

11. The robotic hand of claim 9 , further comprising an actuating mechanism mounted on the baseplate, wherein the actuating mechanism comprises a linear actuator and a flexor having opposite ends attached to the third phalanx and the linear actuator; the linear actuator configured to provide a linear motion to pull the flexor, and the flexor is configured to pull the first phalanx, the second phalanx, and the third phalanx to rotate so as to flex the finger.

12. The robotic hand of claim 11 , wherein the linear actuator comprises a motor, a transmission mechanism fixed to the baseplate, and a sliding member; the motor and the sliding member are coupled to the transmission mechanism, the transmission mechanism is configured to convert rotary motion of the motor to linear motion of the sliding member, one of the opposite ends of the flexor is fixed to the sliding member.

13. The robotic hand of claim 12 , wherein the transmission mechanism comprises a frame fixed to the baseplate, a back-drivable ball screw that is rotatably coupled to the frame and configured to receive the rotary motion, and a collar rotatably coupled to the ball screw and slidable relate to the frame, the sliding member is fixed to the collar.

14. The. robotic hand of claim 9 , further comprising an extension spring having opposite ends coupled to the third phalanx and the second end of the first phalanx, wherein the extension spring is configured to apply a restoring force to each of the second phalanx and the third phalanx so as to return the second phalanx and the third phalanx to the extended state.

15. The robotic hand of claim 9 , further comprising a second tendon having opposite ends that are respectively attached to the first end of the second phalanx and the baseplate, wherein the second phalanx comprises an engagement portion arranged around the second axis of rotation, and the second tendon is wrapped around at least a portion of the engagement portion so as to generate a force acting on the second end of the first phalanx, causing the first phalanx to rotate back to the extended state.

16. A robotic hand, comprising:
a baseplate;
a finger comprising a plurality of phalanges that are rotatably coupled to one another, a first of the plurality of phalanges having a first end rotatably coupled to the baseplate and a second end, a second of the plurality of phalanges rotatably coupled to the second end about an axis of rotation;
an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges; and
a tendon having opposite open ends that are respectively fixed to the second of the plurality of phalanges and the baseplate,
wherein the second of the plurali

Assignees

• Ubtech North America Res And Development Center Corp
• Ubtech Robotics Corp Ltd

Inventors

• You Won Suk
• Zhang Chengkun
• Tan Huan
• Xiong Youjun

Classifications

• B25J17/0258

  Two-dimensional joints · CPC title

• B25J15/10 Primary

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title

• B25J15/0009 Primary

  comprising multi-articulated fingers, e.g. resembling a human hand · CPC title

• B25J9/1045

  comprising tensioning means · CPC title

• B25J9/123

  Linear actuators · CPC title