Design on Single-drive Multi-finger Flexible Exoskeleton Manipulator
To achieve a smoother,more flexible,lightweight,and cost-effective exoskeleton hand,a design based on flexible cable transmission was implemented.The entire hand is equipped with ten drive cables,powered by a single servo motor(single drive).Through the action of the transmission structure and the on/off control of electromagnetic coils,the motion output from a single power source is effectively distrib-uted to the five fingers'drive cables.Real-time control is applied to the two drive cables on each finger,generating the required range of motion.This design reduces the volume and weight of the exoskeleton hand's power unit and lowers production costs.
国家科技期刊平台
NSTL
万方数据
维普
