The invention relates to the field of robots, in particular to a linkage wearable sixteen-degree-of-freedom driving end mechanical arm which comprises a support, a
waist assembly, a
trunk base, shoulder assemblies and arm assemblies. The
waist assembly can achieve
two degrees of freedom of rotation and pitching, and the shoulder assemblies can achieve
three degrees of freedom of abduction and adduction, outward rotation and inward rotation and
forward bending and backward stretching. The
left shoulder assembly and the
right shoulder assembly achieve
six degrees of freedom in total, the arm assemblies can achieve four
degrees of freedom of
forward bending and backward stretching of elbows, inward rotation and outward rotation of forearms, flexor bending and contortion of wrists, and palm bending and opisthenar bending of wrists and eight
degrees of freedom of the left arm and the right arm, and action information sensing assemblies are arranged in all rotating joints. According to the linkage wearable sixteen-degree-of-freedom driving end mechanical arm, the degree of freedom of operation is greatly increased, different positions of the
waist, shoulders, wrists, forearms and wristsof an operator can be sensed according to the rotating angle of each joint, and then position information is sent to the bionic
robot auxiliary arm, so that the bionic
robot auxiliary arm makes corresponding actions, and control is more accurate.