Rigid double-finger capturing manipulator based on improved waterbomb crease

Abstract

A rigid double-finger capturing manipulator based on an improved Waterbomb crease belongs to the technical field of aerospace space capturing, and is characterized by comprising a driving assembly and a finger section assembly, the driving assembly is an improved Waterbomb crease driving assembly; the finger section assembly comprises two finger section units; the two finger section units are symmetrically arranged on the two sides of the driving assembly correspondingly. By means of the improved Waterbomb creases, the good folding and unfolding performance of theoretical paper folding is obtained, the foldable contraction mode of the capturing mechanical arm is achieved, bending capturing of the finger sections is achieved in the folding process, the folding size of the capturing mechanism is remarkably reduced, and the rocket launching cost is remarkably reduced; and meanwhile, the synchronous characteristic is achieved, all truss units in the finger section assembly can move only by driving the driving assembly, the movement condition is the same as that of the truss units of the driving assembly, the driving assembly can complete driving only through four push rods, and by means of the structure, the total mass of the mechanism is reduced, and the mechanism can work easily and reliably.

Description

Technical Field

[0001] The invention belongs to the field of aerospace capture technology, and in particular relates to a rigid double-finger capture manipulator based on improved Waterbomb creases. Background Art

[0002] With the rapid advancement of science and technology and the evolution of the global economic landscape, countries around the world have attached unprecedented importance to the development and utilization of space resources. In order to carry out a variety of space missions, many spacecraft have been launched into the vast universe orbit. However, those spacecraft that have run out of fuel or failed, if not properly disposed of, will become space junk, which not only occupies precious orbital resources, but also poses a threat to spacecraft in orbit. Therefore, the effective capture and recovery technology of failed spacecraft has become a technical problem. At present, although some attempts have been made to use space manipulators to capture non-cooperative satellites and clean up space junk, they generally face problems such as complex system structure, high launch costs, and difficulty in coordinated control of multiple manipulators. Especially when facing non-cooperative targets, the difficulty of operation is significantly increased. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a rigid two-finger capture manipulator based on an improved Waterbomb fold, which combines origami theory with the matching of the mechanism kinematic pair, and according to the foldable and bendable characteristics of the improved Waterbomb fold, the manipulator has the ability of lateral folding and bending capture, and by driving the expansion push rod and the bending push rod to extend and retract, the improved Waterbomb fold drive assembly can be controlled, thereby controlling the grasping diameter and envelope angle of the entire manipulator. The manipulator occupies a smaller space when launched, reducing the demand for the transport envelope space, and can achieve large-caliber capture on orbit after reaching space, and is used for capturing non-cooperative targets in space.

[0004] The rigid two-finger grasping manipulator based on the improved Waterbomb fold described in the present invention includes a driving assembly and a finger segment assembly; the driving assembly is an improved Waterbomb fold driving assembly; the finger segment assembly includes two finger segment units; the two finger segment units are symmetrically arranged on both sides of the aforementioned driving assembly; the finger segment unit is composed of four truss units connected in sequence.

[0005] Further, in the rigid two-finger grasping manipulator based on the improved Waterbomb crease of the present invention, the truss unit includes a driving rod and a truss subunit; The truss sub-units include two, which are symmetrically arranged on both sides of the driving rod; The truss subunit includes a fixed rod, an end rod, a first inclined link, a second inclined link, a transverse link and a longitudinal link; The driving rod, the first inclined connecting rod, the second inclined connecting rod, the transverse connecting rod and the longitudinal connecting rod are each provided with two; One end of the end rod is connected to one end of two transverse connecting rods and one end of the fixed rod through a hinge; The other end of the fixed rod is connected to one end of the two driving rods through a hinge; the other ends of the two driving rods are respectively connected to one end of the two inclined first connecting rods through hinges; the other ends of the two inclined first connecting rods are respectively connected to one end of the two inclined second connecting rods and the other end of the two transverse connecting rods through hinges; the other ends of the two inclined second connecting rods are respectively connected to one end of the two longitudinal connecting rods through hinges; the other ends of the two longitudinal connecting rods and the other end of the end rod are connected through hinges.

[0006] Furthermore, in the rigid two-finger grasping manipulator based on the improved Waterbomb crease described in the present invention, the transverse link includes a first transverse link and a second transverse link connected in sequence by hinges; the longitudinal link includes a first longitudinal link and a second longitudinal link connected in sequence by hinges.

[0007] Further, the rigid two-finger grasping manipulator based on the improved Waterbomb crease of the present invention, the hinges include a 2R four-bar middle hinge, a URU four-bar driving hinge, a URU four-bar side hinge, a 1R two-bar transverse hinge, a URU four-bar end hinge, a URU three-bar bottom hinge, a 1R two-bar longitudinal hinge and a 2R three-bar side hinge; The 2R four-bar middle hinge includes two fixed rod joints and two driving rod joints; The URU four-bar drive hinge includes two drive rod joints and two inclined first connecting rod joints; The URU four-bar side hinge includes two inclined first link joints and two transverse second link joints; the 1R two-bar transverse hinge includes a transverse first link joint and a transverse second link joint; The URU four-bar end hinge includes two transverse first link joints, a fixed rod joint and an end rod joint; The URU three-bar bottom hinge includes two longitudinal first link joints and one end rod joint; The 1R two-rod longitudinal hinge includes a longitudinal first link joint and a longitudinal second link joint; The 2R three-bar side hinge includes two longitudinal second link joints and one bevel second link joint.

[0008] With the fixed rod as the reference of the truss unit, the two fixed rods are respectively connected to the two fixed rod joints of the 2R four-bar middle hinge, and the other ends of the two fixed rods are respectively connected to the fixed rod joints of the URU four-bar end hinge; the two driving rod joints of the 2R four-bar middle hinge are respectively connected to the driving rod, so that the driving rod can rotate around the fixed rod; the other end of the driving rod is connected to the driving rod joint of the URU four-bar driving hinge, and the two inclined first connecting rod joints perpendicular to the moving axis of the driving rod are both connected to the inclined first connecting rod, and the remaining driving rod joint is connected to the driving rod of the adjacent truss unit; the inclined first connecting rod joint of the URU four-bar side hinge The other end of the first inclined link is connected, and the second inclined link joint coaxial with the movement axis of the first inclined link is used to connect the second inclined link, and the remaining two transverse second link joints are symmetrically distributed, one of which is connected to the transverse second link of this truss unit, and the other is used to connect the transverse second link of the adjacent truss unit; the transverse first link joint and the transverse second link joint of the 1R two-rod transverse hinge are respectively connected to the transverse first link and the transverse second link to realize the axial rotation of the two rods; the other end of the first transverse link is connected to the transverse first link joint of the URU four-rod end hinge; thereby completing the connection of the first loop.

[0009] The fixed rod is connected to the fixed rod joint of the URU four-rod end hinge, and the end rod joint coaxial with the fixed rod movement axis is used to connect the end rod; the other end of the end rod is connected to the end rod joint of the URU three-rod bottom hinge, and the longitudinal first connecting rod joint of the URU three-rod bottom hinge is perpendicular to the end rod movement axis and connected to the longitudinal first connecting rod; the longitudinal first connecting rod joint and the longitudinal second connecting rod joint of the 1R two-rod longitudinal hinge are respectively connected to the longitudinal first connecting rod and the longitudinal second connecting rod; the longitudinal second connecting rod is connected to the longitudinal second connecting rod joint of the 2R three-rod side hinge, and the other longitudinal second connecting rod is connected to the longitudinal second connecting rod joint of the 2R three-rod side hinge. The rod joint is connected to the longitudinal second link of the adjacent truss unit, the inclined second link joint of the 2R three-bar side hinge is connected to the inclined second link; the other end of the connected inclined second link is connected to the inclined second link joint of the URU four-bar side hinge; the transverse first link joint and the transverse second link joint of the IR two-bar transverse hinge are respectively connected to the transverse first link and the transverse second link; the other end of the transverse second link is connected to the transverse second link joint of the URU four-bar side hinge, and the transverse first link is connected to the transverse first link joint of the URU four-bar end hinge; thereby completing the connection of the second loop.

[0010] Furthermore, in the rigid two-finger grasping manipulator based on the improved Waterbomb crease described in the present invention, the truss units are connected laterally by URU four-bar driving hinges, URU four-bar side hinges and URU three-bar bottom hinges to realize the transverse connection of the driving rods, transverse second links and longitudinal second links of adjacent truss units.

[0011] Further, the rigid two-finger grasping manipulator based on the improved Waterbomb crease of the present invention, the driving assembly includes a truss unit as mentioned above, a driving base plate, a first unfolding push rod, a second unfolding push rod, a first bending push rod, a second bending push rod and a bottom connecting rod; The driving base plate is fixedly connected to the fixed rod of the truss unit through a hole axis; the first unfolding push rod and the second unfolding push rod are respectively arranged on both sides of the fixed rod to make the mechanism evenly stressed; the two ends of the first unfolding push rod and the second unfolding push rod are respectively connected to the driving base plate and the middle part of the driving rod; the first bent push rod and the second bent push rod are arranged on both sides of the fixed rod to make the mechanism evenly stressed; the two ends of the first bent push rod and the second bent push rod are respectively connected to the middle part of the driving rod and the bottom connecting rod; the bottom connecting rod is fixedly connected to the URU four-bar driving hinge through a hole axis.

[0012] Furthermore, in the rigid two-finger grasping manipulator based on the improved Waterbomb crease described in the present invention, the two ends of the first unfolding push rod and the second unfolding push rod are respectively connected to the driving base plate and the middle part of the driving rod through a rotating pair; the two ends of the first bent push rod and the second bent push rod are respectively connected to the middle part of the driving rod and the bottom connecting rod through a rotating pair.

[0013] Furthermore, in the rigid two-finger grasping manipulator based on the improved Waterbomb crease of the present invention, the driving assembly realizes the movement of the manipulator by controlling the movement of the first unfolding push rod, the second unfolding push rod, the first bending push rod and the second bending push rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention is designed based on the improved Waterbomb crease, which is different from the existing Miura, Waterbomb, Kresling, Yoshimura, Flasher and other creases. A new type of spatial capture structure is established through the origami theory, and the origami theory is reasonably used to enable the present invention to achieve the expandability and bending capture of the mechanism, so that the present invention integrates folding and capture; 2. The present invention designs the improved Waterbomb crease structure into a truss-type origami mechanism to reduce the mass of the mechanism, wherein the crease is designed as a rod, and the vertex is designed as a composite hinge joint, wherein the composite hinge design at the vertex realizes that each motion axis intersects at one point, making the origami mechanism completely equivalent to zero-thickness origami; 3. The present invention removes some creases, so that the design of six crease vertices is simplified to a design of four crease vertices, and the mechanism maintains the motion characteristics of the original six creases; 4. The present invention utilizes the improved Waterbomb crease to obtain the good folding and unfolding properties of theoretical origami, realizes the foldable contraction mode of the capture manipulator, and realizes the bending capture of the finger segment during the folding process, which significantly reduces the folded volume of the capture mechanism and significantly reduces the cost of rocket launch; 5. The present invention has a synchronous characteristic. Each truss unit in the finger segment assembly can be moved by only driving the driving assembly, and the movement is the same as the truss unit of the driving assembly. The driving assembly only needs four push rods to complete the driving. This structure not only reduces the total mass of the mechanism, but also makes the mechanism work simply and reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the folded state of the capture manipulator according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the capture manipulator in an expanded state according to an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of the capture state of the capture manipulator according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the driving component of the capture robot according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the capture robot finger segment assembly according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a truss unit of a capture manipulator according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a 2R four-bar middle hinge structure according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the URU four-bar drive hinge structure according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of the URU four-bar side hinge structure according to an embodiment of the present invention; Fig.10 Schematic diagram of the 1R two-bar transverse hinge structure according to an embodiment of the present invention Fig.11 This is a schematic diagram of the URU four-bar end hinge structure according to an embodiment of the present invention; Fig.12 Schematic diagram of the URU three-bar bottom hinge structure according to an embodiment of the present invention Fig.13 This is a schematic diagram of a 1R two-rod longitudinal hinge structure according to an embodiment of the present invention; Fig.14 This is a schematic diagram of a 2R three-bar side hinge structure according to an embodiment of the present invention; Fig.15 This is a schematic diagram of origami with improved Waterbomb creases according to an embodiment of the present invention; Fig.16 A crease diagram of the improved Waterbomb crease according to an embodiment of the present invention; Among them, 1-driving assembly; 2-finger segment assembly; 3-captured object; 101-truss unit; 102-driving base plate; 103-first unfolding push rod; 104-second unfolding push rod; 105-first bending push rod; 106-second bending push rod; 107-bottom connecting rod; 201-fixing rod; 202-driving rod; 203-end rod; 204-inclined first connecting rod; 205-inclined second connecting rod; 206-transverse first connecting rod; 207-transverse second connecting rod; 208-longitudinal first connecting rod; 209-longitudinal second connecting rod; 210-2R four-bar middle hinge; 210a-fixing rod joint, 210b-driving rod joint; 211- URU four-bar drive hinge; 211a-drive rod joint; 211b-inclined first link joint; 212-URU four-bar side hinge; 212a-inclined first link joint; 212b-inclined second link joint; 212c-transverse second link joint; 213-1R two-bar transverse hinge; 213a-transverse first link joint; 213b-transverse second link joint; 214-URU four-bar end hinge; 214a- Fixed rod joint; 214b-end rod joint; 214c-transverse first link joint; 215-URU three-rod bottom hinge; 215a-end rod joint; 215b-longitudinal first link joint; 216-1R two-rod longitudinal hinge; 216a-longitudinal first link joint; 216b-longitudinal second link joint; 217-2R three-rod side hinge; 217a-inclined second link joint; 217b-longitudinal second link joint. DETAILED DESCRIPTION

[0016] The rigid two-finger grasping manipulator based on the improved Waterbomb fold of the present invention is described in detail below through the accompanying drawings and embodiments.

[0017] This embodiment discloses a rigid two-finger grasping manipulator based on improved Waterbomb creases, such as Figure 1 , Figure 2As shown, it includes a driving component 1 and a finger segment component 2; the finger segment component 2 includes two finger segment units; the two finger segment units are symmetrically arranged on both sides of the aforementioned driving component 1; Figure 4 As shown, the finger segment unit is composed of four truss units 101 connected in sequence.

[0018] In the disclosed embodiment, the crease of the improved Waterbomb crease is as follows: Fig.16 As shown, the origami structure based on the improved Waterbomb crease is as follows Fig.15 As shown, the truss unit 101 structure is designed based on the improved Waterbomb origami structure. The truss unit 101 includes a driving rod 202 and a truss sub-unit; the truss sub-unit includes two, which are symmetrically arranged on both sides of the driving rod 202; the truss sub-unit includes a fixed rod 201, an end rod 203, a first inclined connecting rod 204, a second inclined connecting rod 205, a transverse connecting rod and a longitudinal connecting rod; the driving rod 202, the first inclined connecting rod 204, the second inclined connecting rod 205, the transverse connecting rod and the longitudinal connecting rod are each provided with two; one end of the end rod 203 is connected to one end of the two transverse connecting rods and one end of the fixed rod 201 through a hinge. connection; the other end of the fixed rod 201 is connected to one end of the two driving rods 202 through a hinge; the other ends of the two driving rods 202 are respectively connected to one end of the two inclined first connecting rods 204 through hinges; the other ends of the two inclined first connecting rods 204 are respectively connected to one end of the two inclined second connecting rods 205 and the other ends of the two transverse connecting rods through hinges; the other ends of the two inclined second connecting rods 205 are respectively connected to one end of the two longitudinal connecting rods through hinges; the other ends of the two longitudinal connecting rods and the other end of the end rod 203 are connected through hinges.

[0019] The transverse connecting rod comprises a first transverse connecting rod 206 and a second transverse connecting rod 207 which are sequentially connected via a hinge; the longitudinal connecting rod comprises a first longitudinal connecting rod 208 and a second longitudinal connecting rod 209 which are sequentially connected via a hinge.

[0020] In the embodiment of the present disclosure, the hinges include a 2R four-bar middle hinge 210, a URU four-bar driving hinge 211, a URU four-bar side hinge 212, a 1R two-bar transverse hinge 213, a URU four-bar end hinge 214, a URU three-bar bottom hinge 215, a 1R two-bar longitudinal hinge 216 and a 2R three-bar side hinge 217.

[0021] like Figure 7 As shown, the 2R four-bar middle hinge 210 is provided with four joints, including two fixed bar joints 210a and two driving bar joints 210b; Figure 8As shown, the URU four-bar driving hinge 211 includes two driving rod joints 211a and two inclined first connecting rod joints 211b; Fig. 9 As shown, the URU four-bar side hinge 212 includes an inclined first link joint 212a, an inclined second link joint 212b and two transverse second link joints 212c; Fig.10 As shown, the 1R two-rod transverse hinge 213 includes a transverse first link joint 213a and a transverse second link joint 213b; Fig.11 As shown, the URU four-bar end hinge 214 includes two transverse first link joints 214c, a fixed rod joint 214a and an end rod joint 214b; Fig.12 As shown, the URU three-rod bottom hinge 215 includes two longitudinal first link joints 215b and an end rod joint 215a; Fig.13 As shown, the 1R two-rod longitudinal hinge 216 includes a longitudinal first link joint 216a and a longitudinal second link joint 216b; Fig.14 As shown, the 2R three-bar side hinge 217 includes two longitudinal second link joints 217b and an inclined second link joint 217a.

[0022] like Figure 6As shown, the fixed rod 201 is the reference of the truss unit 101, the two fixed rods 201 are respectively connected to the two fixed rod joints 210a of the 2R four-bar middle hinge 210, and the other ends of the two fixed rods 201 are respectively connected to the fixed rod joints 214a of the URU four-bar end hinge 214; the two driving rod joints 210b of the 2R four-bar middle hinge 210 are respectively connected to the driving rod 202, so that the driving rod 202 can rotate around the fixed rod 201; the other end of the driving rod 202 is connected to the driving rod joint 211a of the URU four-bar driving hinge 211, and the two inclined first connecting rod joints 211b perpendicular to the movement axis of the driving rod 202 are both connected to the inclined first connecting rod 204, and the remaining one driving rod joint 211a is used to connect the driving rod 202 of the adjacent truss unit 101; the URU four-bar side hinge 2 The inclined first link joint 212a of 12 is connected to the other end of the inclined first link 204, the inclined second link joint 212b coaxial with the movement axis of the inclined first link 204 is connected to the inclined second link 205, and the remaining two transverse second link joints 212c are symmetrically distributed, one of which is connected to the transverse second link 207 of this truss unit 101, and the other is used to connect the transverse second link 207 of the adjacent truss unit 101; the transverse first link joint 213a and the transverse second link joint 213b of the 1R two-rod transverse hinge 213 are respectively connected to the transverse first link 206 and the transverse second link 207 to realize the axial rotation of the two rods; the other end of the transverse first link 206 is connected to the transverse first link joint 214c of the URU four-rod end hinge 214 to complete the connection of the first loop.

[0023] like Figure 6As shown, the fixed rod 201 is connected to the fixed rod joint 214a of the URU four-rod end hinge 214, and the end rod joint 214b coaxial with the movement axis of the fixed rod 201 is used to connect the end rod 203; the other end of the end rod 203 is connected to the end rod joint 215a of the URU three-rod bottom hinge 215, and the longitudinal first connecting rod joint 215b of the URU three-rod bottom hinge 215 is perpendicular to the movement axis of the end rod 203 and is connected to the longitudinal first connecting rod 208; the longitudinal first connecting rod joint 216a and the longitudinal second connecting rod joint 216b of the 1R two-rod longitudinal hinge 216 are respectively used to connect the longitudinal first connecting rod 208 and the longitudinal second connecting rod 209; the longitudinal second connecting rod 209 is connected to the longitudinal second connecting rod joint 217b of the 2R three-rod side hinge 217, and the other The longitudinal second link joint 217b is used to be connected to the longitudinal second link of the adjacent truss unit 101, the inclined second link joint 217a of the 2R three-bar side hinge 217 is used to connect the inclined second link 205; the other end of the inclined second link 205 is connected to the inclined second link joint 212b of the URU four-bar side hinge 212; the transverse first link joint 213a and the transverse second link joint 213b of the 1R two-bar transverse hinge 213 are respectively connected to the transverse first link 206 and the transverse second link 207; the other end of the transverse second link 207 is connected to the transverse second link joint 212c of the URU four-bar side hinge 212, and the transverse first link 206 is connected to the transverse first link joint 214c of the URU four-bar end hinge 214; thereby completing the connection of the second loop.

[0024] like Figure 6 As shown, in the connection of the truss unit 101, the URU four-bar driving hinge 211, the URU four-bar side hinge 212 and the URU three-bar bottom hinge 215 will respectively leave a driving rod joint 211a, a transverse second link joint 212c and a longitudinal second link joint 217b in one truss unit. These three remaining joints are used to realize the driving rod 202, the transverse second link 207 and the longitudinal second link 209 of adjacent truss units 101, thereby realizing the transverse connection of the truss unit 101.

[0025] like Figure 5 As shown, the driving assembly 1 includes a truss unit 101 , a driving base plate 102 , a first unfolding push rod 103 , a second unfolding push rod 104 , a first bending push rod 105 , a second bending push rod 106 and a bottom connecting rod 107 .

[0026] In the embodiment disclosed in the present invention, the driving base plate 102 is fixedly connected to the fixed rod 201 of the truss unit 101 through a hole axis; the first unfolding push rod 103 and the second unfolding push rod 104 are respectively arranged on both sides of the fixed rod 201 to make the mechanism evenly stressed, and the two ends of the unfolding push rod are respectively connected to the driving base plate 102 and the middle part of the driving connecting rod, and the connection is connected by a rotating pair; the first bent push rod 105 and the second bent push rod 106 are also arranged on both sides of the fixed rod 201 to make the mechanism evenly stressed, and the two ends of the bent push rod are respectively connected to the middle part of the driving connecting rod and the bottom connecting rod 107, and the connection is connected by a rotating pair; the bottom connecting rod 107 is fixedly connected to the driving rod joint 211a of the URU four-bar driving hinge 211 through a hole axis.

[0027] When the first deployment push rod 103 and the second deployment push rod 104 are locked at the specified position and do not move, and the first bending push rod 105 and the second bending push rod 106 are extended and retracted together, the bending movement of the driving component 1 can be achieved, such as Figure 3 As shown, the entire manipulator is then driven to achieve bending capture of the captured object 3.

[0028] The horizontal and bending compound motion of the driving assembly 1 can also be achieved by controlling the first unfolding push rod 103, the second unfolding push rod 104, the first bending push rod 105, and the second bending push rod 106 to extend and retract together, such as Figure 3 As shown, the entire manipulator is then driven to expand and bend at the same time, thereby improving the capture efficiency of the captured object 3.

[0029] Matters not described in detail in the present invention are well-known technologies to those skilled in the art.

[0030] The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A rigid two-finger grasping manipulator based on improved Waterbomb crease, characterized by: It comprises a driving assembly and a finger segment assembly; the driving assembly is an improved Waterbomb fold driving assembly; the finger segment assembly comprises two finger segment units; the two finger segment units are symmetrically arranged on both sides of the aforementioned driving assembly; the finger segment unit is composed of four truss units connected in sequence.

2. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 1 is characterized in that: The truss unit includes a driving rod and a truss subunit; The truss sub-units include two, which are symmetrically arranged on both sides of the driving rod; The truss subunit includes a fixed rod, an end rod, a first inclined link, a second inclined link, a transverse link and a longitudinal link; The driving rod, the first inclined connecting rod, the second inclined connecting rod, the transverse connecting rod and the longitudinal connecting rod are each provided with two; One end of the end rod is connected to one end of two transverse connecting rods and one end of the fixed rod through a hinge; The other end of the fixed rod is connected to one end of the two driving rods through a hinge; the other ends of the two driving rods are respectively connected to one end of the two inclined first connecting rods through hinges; the other ends of the two inclined first connecting rods are respectively connected to one end of the two inclined second connecting rods and the other end of the two transverse connecting rods through hinges; the other ends of the two inclined second connecting rods are respectively connected to one end of the two longitudinal connecting rods through hinges; the other ends of the two longitudinal connecting rods and the other end of the end rod are connected through hinges.

3. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 2 is characterized in that: The transverse connecting rod comprises a first transverse connecting rod and a second transverse connecting rod which are sequentially connected via a hinge; the longitudinal connecting rod comprises a first longitudinal connecting rod and a second longitudinal connecting rod which are sequentially connected via a hinge.

4. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 3 is characterized in that: The hinges include a 2R four-bar middle hinge, a URU four-bar drive hinge, a URU four-bar side hinge, a 1R two-bar transverse hinge, a URU four-bar end hinge, a URU three-bar bottom hinge, a 1R two-bar longitudinal hinge and a 2R three-bar side hinge; The 2R four-bar middle hinge includes two fixed rod joints and two driving rod joints; The URU four-bar drive hinge includes two drive rod joints and two inclined first connecting rod joints; The URU four-bar side hinge includes two inclined first link joints and two transverse second link joints; the 1R two-bar transverse hinge includes a transverse first link joint and a transverse second link joint; The URU four-bar end hinge includes two transverse first link joints, a fixed rod joint and an end rod joint; The URU three-bar bottom hinge includes two longitudinal first link joints and one end rod joint; The 1R two-rod longitudinal hinge includes a longitudinal first link joint and a longitudinal second link joint; The 2R three-bar side hinge includes two longitudinal second link joints and one bevel second link joint.

5. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 4 is characterized in that: The truss units are connected transversely through URU four-bar driving hinges, URU four-bar side hinges and URU three-bar bottom hinges to realize the transverse connection of the driving rods, transverse second connecting rods and longitudinal second connecting rods of adjacent truss units.

6. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 2 or 5, characterized in that: The driving assembly includes a truss unit as mentioned above, a driving bottom plate, a first deployment push rod, a second deployment push rod, a first bending push rod, a second bending push rod and a bottom connecting rod; The driving base plate is fixedly connected to the fixing rod of the truss unit through a hole axis; The first deployment push rod and the second deployment push rod are respectively arranged on both sides of the fixing rod; The two ends of the first unfolding push rod and the second unfolding push rod are respectively connected to the driving base plate and the middle part of the driving rod; the first curved push rod and the second curved push rod are arranged on both sides of the fixed rod; the two ends of the first curved push rod and the second curved push rod are respectively connected to the middle part of the driving rod and the bottom connecting rod; the bottom connecting rod is fixedly connected to the URU four-bar driving hinge joint through a hole shaft.

7. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 6, characterized in that: The two ends of the first unfolding push rod and the second unfolding push rod are respectively connected to the driving base plate and the middle part of the driving rod through a rotating pair; the two ends of the first curved push rod and the second curved push rod are respectively connected to the middle part of the driving rod and the bottom connecting rod through a rotating pair.

8. The rigid two-finger grasping manipulator based on the improved Waterbomb crease according to claim 7 is characterized in that: The driving assembly realizes the movement of the manipulator by controlling the movement of the first unfolding push rod, the second unfolding push rod, the first bending push rod and the second bending push rod.

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