Underactuated robotic hand
AssigneeBionIT Labs S.r.l.
InventorGiovanni Antonio Zappatore
Life of this patent
Estimating the term…
Abstract
Anthropomorphic robotic hand comprising a palm and a metacarpus configured to rotate with respect to said palm around an axis of rotation; four fingers substantially aligned and constrained to said palm and a finger opposable to them, each one of said aligned fingers comprising at least a proximal phalanx, a middle phalanx and a distal phalanx, and said opposable finger comprising a proximal phalanx and a distal phalanx, the proximal phalanges of each one of said aligned fingers being hinged to said palm in respective axes of rotation and the proximal phalanx of said opposable finger being hinged to said metacarpus in a respective axis of rotation; a motor; a plurality of bevel gear differential stages which transmit motion from said motor to said aligned fingers and to said opposable finger.
Claims13
An anthropomorphic robotic hand, comprising:
- a palm (00) and a metacarpus (10) configured to rotate with respect to said palm around an axis of rotation (180);
- four fingers substantially aligned and constrained to said palm and a finger opposable to them, each one of said aligned fingers comprising at least a proximal phalanx (21, 31, 41, 51), a middle phalanx (22, 32, 42, 52) and a distal phalanx (23, 33, 43, 53), and said opposable finger comprising a proximal phalanx (11) and a distal phalanx (13), the proximal phalanges (21, 31, 41, 51) of each one of said aligned fingers being hinged to said palm (00) in respective axes of rotation (240, 340, 440, 540) and the proximal phalanx (11) of said opposable finger being hinged to said metacarpus (10) in a respective axis of rotation (140);
- a motor (100);
- a plurality of bevel gear differential stages which transmit motion from said motor (100) to said aligned fingers and to said opposable finger, characterized in that said motor (100) is configured to directly drive only the planet carrier of a first differential stage;
- said plurality of differential stages comprises a first differential stage whose planet carrier (04) is moved by said motor (100) and whose sun gears (05, 06) move the planet carriers of a second (14) and a fifth differential stage (44),
- the sun gears (15, 16) of said second differential stage being integral to the planet carriers (24, 34) of a third and a fourth differential stage,
- the sun gears (26, 25, 36, 35) of said third and fourth differential stage being configured so that they respectively engage with four gears (210, 310, 410, 510) having axes coincident with said respective axes of rotation (240, 340, 440, 540) between the proximal phalanges (21, 31, 41, 51) of said aligned fingers and said palm (00), and the sun gears (45, 46) of said fifth differential stage being configured to respectively rotate said metacarpus (10) and a gear (110), having axis coincident with said respective axis of rotation (140) between the proximal phalanx (11) of said opposable finger and said metacarpus (10).
Dependencies are inferred from the claim text.