Novel under-driven synchronous linkage rope-driven robot finger and robot arm

Abstract

The invention provides a novel under-driven synchronous linkage rope-driven robot finger and a robot arm, the robot finger comprises a base, a plurality of connecting rods and a steel wire rope, and by designing a synchronous transmission mechanism composed of a driving steel wire rope and a coupling steel wire rope, segmented synchronous linkage movement of all joints of the robot finger is achieved; the number of joints of the robot fingers can be adjusted according to requirements, and a multi-joint continuum mechanism is formed; the number of fingers of the manipulator can be configured to be two fingers, three fingers, four fingers, five fingers or multiple fingers according to requirements, the rigidity of the fingers is improved, certain flexibility is reserved, the manipulator can adapt to complex grabbing tasks, a control system is simplified, the operation precision and the grabbing capacity are improved, the manipulator has good load capacity and low deformation, and the manipulator is suitable for large-scale popularization and application. And the reliability and controllability in practical application are ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a novel under-driven synchronous linkage rope-driven robot finger and a robot hand. Background Art

[0002] Traditional humanoid robot hands are generally composed of more than 15 joints. Independently controlling these joints is not only complex but also inefficient. Therefore, underactuated mechanical structures have become a common solution, that is, controlling multiple joints through a single actuator. This underactuated design can achieve synchronous movement of joints through a series of rigid links. However, although this design can provide strong grasping force, the rigidity of the links limits the flexibility and compliance of the fingers.

[0003] Flexible materials are also used in the design of robot hands to drive the movement of fingers through hydraulic, pneumatic or tendon transmission. Although flexible materials can bring higher flexibility, their lack of rigidity limits their application in some tasks that require high-intensity operations.

[0004] Therefore, in the design of robot fingers, how to improve structural stiffness while maintaining high compliance has become a key challenge facing researchers. Summary of the invention

[0005] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a new type of under-driven synchronous linkage rope-driven robot finger and robot hand. The robot finger can be composed of multiple joints and is not limited to the number of joints of human fingers. By introducing a series synchronous transmission mechanism, the finger can ensure high rigidity while also having sufficient flexibility to cope with complex operating scenarios, thereby solving the problem of difficulty in balancing rigidity and flexibility of robot fingers in the prior art.

[0006] To achieve the above-mentioned and other related purposes, the present invention proposes a novel under-driven synchronous linkage rope-driven robot finger, comprising:

[0007] Pedestal;

[0008] A connecting rod assembly, wherein the connecting rod assembly is rotatably connected to the base, the connecting rod assembly comprises N connecting rods, which are respectively from the first connecting rod to the Nth connecting rod in a direction away from the base, wherein the first connecting rod is rotatably connected to the base, and the two connected connecting rods are rotatably connected, and N is an integer greater than or equal to 2;

[0009] Two groups of steel wire ropes, each group of steel wire ropes includes a driving steel wire rope and N-1 coupling steel wire ropes, the first end of the driving steel wire rope is connected to the driving mechanism, and the second end is connected to the first connecting rod, and the second ends of the driving steel wire ropes in the two groups of steel wire ropes are located on opposite sides of the base;

[0010] In the same set of steel wire ropes, when N=2, the first end of the first coupling steel wire rope is connected to the base, and the second end is connected to the second connecting rod;

[0011] When N>2, the first end of the N-1 coupling wire rope is connected to the N-2 connecting rod, and the second end is connected to the N connecting rod.

[0012] The first end and the second end of the coupling steel wire rope are located on opposite sides of the base, and the second end of the coupling steel wire rope and the second end of the driving steel wire rope are located on the same side of the base.

[0013] In a preferred embodiment of the present invention, the second end of the drive wire rope and the first end and the second end of the coupling wire rope are provided with a tensioning assembly.

[0014] In a preferred embodiment of the present invention, the tensioning assembly includes a through-hole bolt and a nut, the through-hole bolt is installed on the base or the connecting rod, the second end of the driving wire rope and the first end and the second end of the coupling wire rope are inserted into the through-hole bolt, and the nut is connected to the through-hole bolt.

[0015] In a preferred embodiment of the present invention, the connecting rods each include a main body portion and a rotating portion and a connecting portion located on both sides of the main body portion, the rotating portion and the main body portion are connected via the connecting portion, and the two connected connecting rods are rotationally connected via the rotating portion.

[0016] In a preferred embodiment of the present invention, a groove is provided on the outer circumference of the rotating part, and the groove matches the driving steel wire rope and the coupling steel wire rope.

[0017] In a preferred embodiment of the present invention, the driving steel wire rope and the coupling steel wire rope are made of high-strength and low-elongation materials.

[0018] The present invention also proposes a novel under-driven synchronous linkage rope-driven manipulator, comprising:

[0019] substrate;

[0020] At least two novel under-actuated synchronously linked rope-driven robotic fingers as described in any one of the above embodiments, wherein the bases of the novel under-actuated synchronously linked rope-driven robotic fingers are fixedly mounted on the substrate;

[0021] A linear drive mechanism is mounted on the base plate and connected to the first end of the drive steel wire rope in the novel under-driven synchronous linkage rope-driven robot finger.

[0022] In a preferred embodiment of the present invention, it further includes a pulley, which is arranged on the base plate and located between the base and the linear drive mechanism, and the first end of the drive wire rope is connected to the linear drive mechanism by winding around the pulley.

[0023] In a preferred embodiment of the present invention, each of the robotic fingers is provided with two linear drive mechanisms, and the two linear drive mechanisms are respectively connected to two driving steel wire ropes in two groups of steel wire ropes in the robotic finger to respectively drive the robotic finger to rotate forward or reverse.

[0024] In a preferred embodiment of the present invention, the numbers of finger joints between different robot fingers are the same or different.

[0025] The present invention proposes a novel under-driven synchronous linkage rope-driven robot finger and robot arm. The robot finger includes a base, a plurality of connecting rods and a steel wire rope. By designing a synchronous transmission mechanism composed of a driving steel wire rope and a coupling steel wire rope, the segmented synchronous linkage movement of each joint of the robot finger is realized. The number of joints of the robot finger can be adjusted according to demand to form a multi-joint continuum mechanism; the number of fingers of the robot arm can also be configured as two fingers, three fingers, four fingers, five fingers or more fingers according to demand. This design not only improves the rigidity of the fingers, but also retains a certain flexibility, and can adapt to complex grasping tasks. The robot arm simplifies the control system, improves the operating accuracy and grasping ability, has good load capacity and low deformation, and ensures reliability and controllability in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0027] Figure 1 Schematic diagram of the structure of a novel under-driven synchronous linkage rope-driven robot finger in one embodiment of the present invention.

[0028] Figure 2 The figure is a side view schematic diagram of a novel under-driven synchronous linkage rope-driven robot finger in one embodiment of the present invention.

[0029] Figure 3 The figure is a front view schematic diagram of a novel under-driven synchronous linkage rope-driven robot finger in one embodiment of the present invention.

[0030] Figure 4 It is a front schematic diagram of a novel under-driven synchronous linkage rope-driven manipulator in one embodiment of the present invention.

[0031] Figure 5 Schematic diagram of the back side of a novel under-driven synchronous linkage rope-driven manipulator in one embodiment of the present invention.

[0032] Description of labels:

[0033] 100, robot finger; 10, base; 20, connecting rod assembly; 310, first wire rope group; 320, second wire rope group; 21, first connecting rod; 22, second connecting rod; 23, third connecting rod; 31, driving wire rope; 32, first coupling wire rope; 33, second coupling interference rope; 11, first main body; 12, first connecting part; 13, first rotating part; 201, second main body; 202, second connecting part; 203, second rotating part; 200, robot hand; 210, base plate; 220, linear drive mechanism; 230, pulley; 211, palm plate; 212, driving mounting plate. DETAILED DESCRIPTION

[0034] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0035] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0036] See also Figures 1 to 5 As shown, the present invention proposes a new type of under-driven synchronous linkage rope-driven robot finger and robot hand. The robot finger can be composed of multiple joints, not limited to the number of joints of human fingers. By introducing a series synchronous transmission mechanism, the finger can ensure high rigidity while also having sufficient flexibility to cope with complex operation scenarios, solving the problem that it is difficult to balance the rigidity and flexibility of robot fingers in the prior art. Specifically, the new type of under-driven synchronous linkage rope-driven robot finger 100 includes a base 10, a connecting rod assembly 20 and two groups of steel wire ropes. The connecting rod assembly 20 is composed of a plurality of connecting rods. The two connected connecting rods are rotatably connected. A connecting rod at one end is rotatably connected to the base 10. The plurality of connecting rods form a corresponding number of joints. The two ends of each steel wire rope in the two groups of steel wire ropes are respectively connected to the base 10 or the corresponding connecting rod 21. The two groups of steel wire ropes are respectively used to drive the finger to rotate forward or reverse.

[0037] See also Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the connecting rod assembly 20 includes N connecting rods, which are the first connecting rod 21, the second connecting rod 22 to the N-th connecting rod in the direction away from the base 10, wherein N is an integer greater than or equal to 2, and the connecting rod rotatably connected to the base 10 is the first connecting rod 21. Each group of steel wire ropes includes a driving steel wire rope 31 and N-1 coupling steel wire ropes, and the N-1 coupling steel wire ropes are the first coupling steel wire rope 32, the second coupling steel wire rope 33 to the N-1 coupling steel wire rope in the direction away from the base 10, and the first end of the driving steel wire rope 31 is connected to the driving mechanism, and the second end is connected to the first connecting rod 21. In the same group of steel wire ropes, when N=2, only one coupling steel wire rope is included, which is the first coupling steel wire rope 32. The first end of the first coupling steel wire rope 32 is connected to the base 10, and the second end is connected to the second connecting rod 22; when N>2, at this time, more than two connecting rods and two or more coupling steel wire ropes are included, which are the first coupling steel wire rope 31, the second coupling steel wire rope 32 to the N-1th coupling steel wire rope, and the first end of the N-1th coupling steel wire rope is connected to the N-2th connecting rod, and the second end is connected to the Nth connecting rod.

[0038] See also Figure 1 , Figure 2 and Figure 3 As shown, in the present embodiment, in the same group of steel wire ropes, the first end and the second end of the coupling steel wire rope are respectively located on opposite sides of the base 10, and the second end of the coupling steel wire rope and the second end of the driving steel wire rope 31 are located on the same side of the base 10; in different groups, the second end of the driving steel wire rope 31 is located on opposite sides of the base, for example, the two groups of steel wire ropes are respectively the first steel wire rope group 310 and the second steel wire rope group 320, the first steel wire rope group 310 and the second steel wire rope group 320 respectively drive the robot finger as a whole to perform a grasping action in the positive direction or drive the robot finger as a whole to perform a grasping action in the reverse direction, and under the interaction of the first steel wire rope group 310 and the second steel wire rope group 320, the robot finger can be flexibly moved in both positive and negative directions, and the finger can also be reset. The robot finger 100 includes a base, multiple connecting rods and steel wire ropes. By designing a synchronous transmission mechanism consisting of a driving steel wire rope and a coupling steel wire rope, the segmented synchronous linkage movement of each joint of the robot finger is realized. The number of joints of the robot finger, that is, the number of connecting rods, can be adjusted according to needs to form a multi-joint continuum mechanism.

[0039] See also Figure 1 , Figure 2 and Figure 3As shown, a robot arm including three finger joints is used as an example for explanation: at this time, the connecting rod assembly includes a first connecting rod 21, a second connecting rod 22 and a third connecting rod 23, each group of steel wire ropes includes a driving steel wire rope 31, a first coupling steel wire rope 32 and a second coupling steel wire rope 33, one side of the first connecting rod 21 is rotatably connected to the base 10, one side of the second connecting rod 22 is rotatably connected to the other side of the first connecting rod 21, and the other side of the second connecting rod 22 is rotatably connected to the third connecting rod 23. The first steel wire rope group 310 and the second steel wire rope group 320 are arranged on opposite sides of the base 10. Taking the first steel wire rope group 310 as an example: the first end 311 of the driving steel wire rope 31 is connected to the driving mechanism, and the second end 312 is connected to the first connecting rod 21, and its connection point is located on the first side of the robot finger; the first end 321 of the first coupling steel wire rope 32 is connected to the base 10, and its connection point is located on the second side of the robot finger, and the second end 322 of the first coupling steel wire rope 32 is connected to the second connecting rod 22, and its connection point is located on the first side of the robot finger; the first end 331 of the second coupling steel wire rope 33 is connected to the first connecting rod 21, and its connection point is located on the second side of the robot finger, and the second end 332 of the second coupling steel wire rope 33 is connected to the third connecting rod 23, and its connection point is located on the first side of the robot finger, wherein the first side and the second side are opposite sides in the rotation direction of the robot finger. It can be understood that the second steel wire rope group 320 has the same connection relationship with the base 10 and each connecting rod. The difference is that the connection points of the corresponding steel wire ropes in the first steel wire rope group 310 are opposite to each other, so that the robot finger can move flexibly in both positive and negative directions under the interaction of the first steel wire rope group 310 and the second steel wire rope group 320, and the finger can also be reset.

[0040] See also Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, a tensioning assembly is respectively provided at the second end of the driving steel wire rope 31, the first end and the second end of each coupling steel wire rope, and the tensioning degree of each steel wire rope is adjusted by the tensioning assembly to ensure the synchronous movement of the connecting rod. In this embodiment, the tensioning assembly includes a through-hole bolt and a nut, and the through-hole bolt is installed on the base 10 or the corresponding connecting rod. The second end of the driving steel wire rope 31, the first end and the second end of the coupling steel wire rope are respectively inserted into the corresponding through-hole bolt, and the nut is connected to the end of the through-hole bolt away from the steel wire rope. The tensioning degree of the steel wire rope is adjusted by rotating the nut. As the nut is tightened, the bolt will be pulled toward the nut, thereby compressing or stretching the rope to generate tension. For example, the tensioning assembly of the first end of the first coupling steel wire rope 32 is installed on the base 10, and the tensioning assembly of the second end is installed on the second connecting rod 22.

[0041] See also Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the base 10 includes a first body portion 11, a first connecting portion 12 and a first rotating portion 13, the first rotating portion 13 is connected to the first body portion 11 through the first connecting portion 12, and each connecting rod includes a second body portion 201, a second connecting portion 202 and a second rotating portion 203. It should be noted that all connecting rods located between the last connecting rod and the base 10 are provided with the second connecting portion 202 and the second rotating portion 203 on both sides of the second body portion 201, the second rotating portion 203 and the second body portion 201 are connected through the second connecting portion 202, the two connected connecting rods are rotationally connected through the second rotating portion 203, and the second connecting rod 22 is rotationally connected to the base 10 through the corresponding second rotating portion 203 and the first rotating portion 13. It can be understood that the tensioning assembly of the corresponding wire rope is installed at the first connecting portion 12 or the second connecting portion 202 at the corresponding position.

[0042] See also Figure 1 , Figure 2 and Figure 3 As shown, in the present embodiment, grooves may be provided on the outer circumferences of the first rotating part 13 and the second rotating part 203, and the grooves are adapted to the shapes of the driving steel wire rope 31 and / or the corresponding coupling steel wire ropes. The grooves can prevent the steel wire layer from falling off or shifting during the rotation process, causing problems such as inability to rotate or unsatisfactory rotation synchronization.

[0043] See also Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the driving steel wire rope 31 and each of the coupling steel wire ropes are made of high-strength and low-elongation materials, such as high-strength steel, titanium alloy, aluminum alloy or carbon fiber reinforced composite materials and other materials to ensure the accuracy and reliability of transmission.

[0044] See also Figures 1 to 5 As shown, the present invention further proposes a novel under-driven synchronous linkage rope-driven robot arm 200, comprising a substrate 210, a novel under-driven synchronous linkage rope-driven robot finger 100 and a linear drive mechanism 220, wherein the base 10 of the novel under-driven synchronous linkage rope-driven robot finger 100 is fixedly mounted on the substrate 210, the linear drive mechanism 220 is mounted on the substrate 210, and is connected to the first end of the driving wire rope 31 in the novel under-driven synchronous linkage rope-driven robot finger 100, the novel under-driven synchronous linkage rope-driven robot finger 100 is the same or similar to several of the robot fingers described in the above embodiments, and will not be described again here to avoid repetition.

[0045] It is understandable that at least two robot fingers 100 are installed on the substrate 210, that is, the number of fingers of the robot hand can also be configured as two fingers, three fingers, four fingers, five fingers or more fingers according to the needs. Each robot finger 100 is correspondingly provided with two linear drive mechanisms 220, and the two linear drive mechanisms 220 are respectively connected to the driving wire ropes of the first wire rope group 310 and the second wire rope group 320 in the robot finger 100 to drive the robot finger forward or reverse respectively, and the number of finger joints of each robot finger 100 in the robot hand 200, that is, the number of connecting rods can be the same or different. This design not only improves the rigidity of the fingers, but also retains a certain degree of flexibility, and can adapt to complex grasping tasks. The manipulator simplifies the control system, improves the operating accuracy and grasping ability, has good load capacity and low deformation, and ensures reliability and controllability in practical applications.

[0046] See also Figures 1 to 5 As shown, in this embodiment, the robot hand 200 also includes a pulley 230, which is arranged on the base plate 210 and located between the base 10 and the linear drive mechanism 220. The first end of the driving wire rope 31 is connected to the linear drive mechanism 220 by winding around the pulley 230, and the corresponding driving wire rope 31 is pulled or released by the linear drive mechanism 220, and the forward or reverse rotation of the robot finger is realized under the action of the corresponding coupling wire rope. The pulley 230 can guide the direction of the wire rope, optimize the spatial arrangement of the wire rope, and reduce friction and wear. In this embodiment, the base plate 210 includes a palm plate 211 and a drive mounting plate 212. The robot finger 100 and the pulley 230 can be installed on the palm plate 211 to provide an overall support structure for the robot hand and ensure the stability of the finger movement. The linear drive mechanism 220 is installed on the drive mounting plate 212 to provide sufficient installation space for the drive device.

[0047] The present invention proposes a novel under-driven synchronous linkage rope-driven robot finger and robot arm. The robot finger includes a base, a plurality of connecting rods and a steel wire rope. By designing a synchronous transmission mechanism composed of a driving steel wire rope and a coupling steel wire rope, the segmented synchronous linkage movement of each joint of the robot finger is realized. The number of joints of the robot finger can be adjusted according to demand to form a multi-joint continuum mechanism; the number of fingers of the robot arm can also be configured as two fingers, three fingers, four fingers, five fingers or more fingers according to demand. This design not only improves the rigidity of the fingers, but also retains a certain flexibility, and can adapt to complex grasping tasks. The robot arm simplifies the control system, improves the operating accuracy and grasping ability, has good load capacity and low deformation, and ensures reliability and controllability in practical applications.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0049] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0050] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0051] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0052] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0053] As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on," unless otherwise indicated.

[0054] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0055] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0056] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A new type of under-driven synchronous linkage rope-driven robot finger, characterized in that: include: Pedestal; A connecting rod assembly, wherein the connecting rod assembly is rotatably connected to the base, the connecting rod assembly comprises N connecting rods, which are sequentially from the first connecting rod to the Nth connecting rod in a direction away from the base, wherein the first connecting rod is rotatably connected to the base, and the two connected connecting rods are rotatably connected, and N is an integer greater than or equal to 2; Two groups of steel wire ropes, each group of steel wire ropes includes a driving steel wire rope and N-1 coupling steel wire ropes, the first end of the driving steel wire rope is connected to the driving mechanism, and the second end is connected to the first connecting rod, and the second ends of the driving steel wire ropes in the two groups of steel wire ropes are located on opposite sides of the base; In the same set of steel wire ropes, when N=2, the first end of the first coupling steel wire rope is connected to the base, and the second end is connected to the second connecting rod; When N>2, the first end of the N-1th coupling wire rope is connected to the N-2th connecting rod, and the second end is connected to the Nth connecting rod; The first end and the second end of the coupling steel wire rope are located on opposite sides of the base, and the second end of the coupling steel wire rope and the second end of the driving steel wire rope are located on the same side of the base.

2. The novel under-driven synchronous linkage rope-driven robot finger according to claim 1 is characterized in that: The second end of the driving steel wire rope and the first end and the second end of the coupling steel wire rope are provided with a tensioning assembly.

3. The novel under-driven synchronous linkage rope-driven robot finger according to claim 2 is characterized in that: The tensioning assembly includes a through-hole bolt and a nut, wherein the through-hole bolt is installed on the base or the connecting rod, the second end of the driving wire rope and the first end and the second end of the coupling wire rope are inserted into the through-hole bolt, and the nut is connected to the through-hole bolt.

4. The novel under-driven synchronous linkage rope-driven robot finger according to claim 1 is characterized in that: The connecting rods each include a main body, a rotating part and a connecting part. The rotating part and the main body are connected via the connecting part, and the two connected connecting rods are rotationally connected via the rotating part.

5. The novel under-driven synchronous linkage rope-driven robot finger according to claim 4 is characterized in that: A groove is provided on the outer circumference of the rotating part, and the groove matches the driving steel wire rope and the coupling steel wire rope.

6. The novel under-driven synchronous linkage rope-driven robot finger according to claim 1 is characterized in that: The driving steel wire rope and the coupling steel wire rope are made of high-strength and low-elongation materials.

7. A new type of under-driven synchronous linkage rope-driven robot, characterized in that: include: substrate; At least two novel under-actuated synchronous linkage rope-driven robot fingers according to any one of claims 1 to 6, wherein the base of the novel under-actuated synchronous linkage rope-driven robot fingers is fixedly mounted on the substrate; A linear drive mechanism is mounted on the base plate and connected to the first end of the drive steel wire rope in the novel under-driven synchronous linkage rope-driven robot finger.

8. The novel under-driven synchronous linkage rope-driven robot according to claim 7 is characterized in that: It also includes a pulley, which is arranged on the base plate and located between the base and the linear drive mechanism. The first end of the drive wire rope is connected to the linear drive mechanism by winding around the pulley.

9. The novel under-driven synchronous linkage rope-driven robot according to claim 7 is characterized in that: Each of the robot fingers is correspondingly provided with two of the linear drive mechanisms, and the two linear drive mechanisms are respectively connected to two driving steel wire ropes in two groups of steel wire ropes in the robot finger to respectively drive the robot finger to rotate forward or reverse.

10. The novel under-driven synchronous linkage rope-driven robot according to claim 7, characterized in that: The number of finger joints between different robot fingers may be the same or different.

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