TENDON TRANSMISSION SYSTEM WITH COMPOSITE TENDON SHEATH AND TENDON SHEATH RESTRAINING ELEMENT

摘要

A tendon transmission system with a composite tendon sheath and a tendon sheath restraining element, comprising a tendon (8), a composite tendon sheath (10) composed of an inner layer tendon sheath and an outer layer tendon sheath, a tendon fixing element (11), an I-type tendon sheath restraining element (12), an II-type tendon sheath restraining element (14), an III-type tendon sheath restraining element (13), and an IV-type tendon sheath restraining element (34), capable of smoothly restraining the position and range of motion of the tendon sheath and preventing same from falling out, mutually decoupling the motion of the joints spanned by the tendon sheath, and providing the tendon sheath with a buffer space of a certain curvature and a certain degree of compression and impact protection; the transmission system has a simple and reliable structure, flexibility, a long service life, and easy maintenance, and is suitable for use in bionic dexterous hands, bionic mechanical feet, or other robot mechanisms requiring tendon transmission.