Three-finger mechanical gripper capable of being freely configured and having multiple gripping states and working method of three-finger mechanical gripper

Abstract

The invention discloses a three-finger mechanical gripper capable of achieving a free configuration and multiple grabbing states and a working method. The three-finger mechanical gripper is a three-finger type gripper design capable of achieving a multi-angle grabbing configuration in different grabbing modes. The three-finger mechanical gripper comprises a two-section type multi-knuckle rigid-flexible coupling mechanical finger, a mechanical finger rotating supporting frame with the distribution angle capable of being adjusted independently and a three-finger palm center base plate which is split up and down. The three two-section type multi-knuckle rigid-flexible coupling mechanical fingers are fixed to three fixing hole positions distributed in a non-equilateral triangle mode in the up-down split type three-finger palm center base plate through the mechanical finger rotating supporting frame and can independently rotate to adjust the distribution angle under driving of a rotating driving motor coaxially installed in the mechanical finger rotating supporting frame. And the effects of stably grabbing different types of target objects in a daily home service scene, grabbing displacement and posture control in grabbing can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical fields of robot gripper design, grasping configuration analysis, and three-finger reconfigurable palm structure design, and particularly relates to a three-finger mechanical gripper with free configuration and multiple grasping states and a working method thereof. Background Art

[0002] With the development of robot mechanisms with multiple degrees of freedom joints and related kinematics, robot material science, and related drive control algorithms, the robot gripper, as the most common robot end effector, has played an increasingly important role in both industrial production and daily home service scenarios.

[0003] In daily home service scenarios, the target objects to be grasped by the robot gripper show diverse distributions in terms of size, contour features, surface stiffness, and placement poses. However, most existing robot gripper designs are oriented towards industrial assembly line scenarios, with relatively single grasping methods and force application points, and still face challenges in multi-mode and multi-pose grasping. In particular, it is difficult to achieve stable grasping in multiple modes through configuration switching when grasping different objects. Summary of the Invention

[0004] In order to solve the above technical problems and limitations existing in the existing designs, the present invention proposes a three-finger mechanical gripper with free configuration and multiple grasping states and a working method thereof. The mechanical gripper is a three-finger multi-mode mechanical gripper design that integrates three mechanical fingers in a non-equilateral triangle configuration of the palm chassis structure and can achieve corresponding grasping configurations in different grasping modes by independently adjusting the distribution angles of each mechanical finger. The specific technical solutions are as follows: A three-finger mechanical gripper with free configuration and multiple grasping states, including three two-section multi-finger joint rigid-flexible coupled mechanical fingers that can conformally deform and fit for grasping, a mechanical finger rotation support frame that can independently adjust the distribution angle, and an upper and lower split three-finger palm chassis. Among them, the three mechanical fingers are fixed at three fixed hole positions with non-equilateral triangle distribution in the upper and lower split three-finger palm chassis through the mechanical finger rotation support frame, and can independently rotate under the drive of a rotation drive motor coaxially installed in the mechanical finger rotation support frame to adjust the distribution angle, so as to achieve multi-angle grasping in different grasping configurations.

[0005] Specifically, the overall distribution of the three-finger mechanical gripper is non-equilateral triangle, and the three mechanical fingers are respectively distributed at the three vertices of the triangle. The distances between them are the three non-equal sides of the triangle. The different distribution spans of the three sides enable the gripper to widely adjust the grasping size when grasping objects of different sizes, and multi-angle grasping in different grasping configurations can be achieved through the independent rotation of the three multi-finger joint rigid-flexible coupled mechanical fingers.

[0006] Specifically, the mechanical fingers are fixed on the cantilever structure of the mechanical finger rotating support frame, and are installed at the hole positions of the three-finger palm base plate through the mechanical finger rotating support frame. The three mechanical fingers form a non-equilateral triangle distribution with each other; driven by a coaxial-mounted rotary drive motor, the three support frames can rotate independently to change the distribution angle and achieve the corresponding grasping configurations in different grasping modes.

[0007] Furthermore, the mechanical fingers adopt a two-stage multi-joint rigid-flexible coupling structure design, which is composed of a finger root base, a parallel four-link mechanism, and a multi-finger joint elastic finger structure with rigid-flexible coupling. It can conformally change the grasping size and the bending angle of the elastic joints according to the size, contour, and surface characteristics of the target object, so as to achieve a conforming envelope grasp of the target object.

[0008] Specifically, the mechanical finger rotating support frame adopts a structure design of upper and lower split manufacturing and coaxial assembly, including the upper half structure of the rotating support frame and the lower half structure of the rotating support frame. They are respectively manufactured by 3D printing using the fused deposition modeling process, and these two parts are coaxially assembled with the rotary drive motor and the rotary drive gear through bolt connection; among them, the upper half structure of the rotating support frame is integrally designed with an outstretched cantilever for fixing the mechanical finger, and the length of the cantilever is the fixed outstretched distance of the mechanical finger; the lower half structure of the rotating support frame is designed with a fixed position at the end of the drive motor; when adjusting the grasping configuration, the three mechanical fingers can be independently adjusted in the distribution angle under the coaxial drive of the rotary drive motors in their respective mechanical finger rotating support frames.

[0009] Furthermore, the rotary drive motor is suspended and installed inside the mechanical finger rotating support frame in a coaxial mounting manner. A clamping structure to prevent its own reverse rotation is clamped at the bottom of it, and the bottom end of the clamping structure is fixedly installed on the lower half structure of the palm base plate; a Hall-type rotary angle sensor is coaxially installed at the top of the upper half structure of the rotating support frame to realize the real-time measurement of the distribution angle of the three mechanical fingers of the gripper.

[0010] Specifically, the three-finger palm base plate adopts an upper and lower split design, including the upper half structure of the palm base plate and the lower half structure of the palm base plate. Both are manufactured by the 3D printing process of FDM, and are pressed and connected together through the nuts tightened on both sides of the M12 double-headed screw used to fix and combine the upper and lower structures. After installation, the pre-tightening force can be adjusted by adjusting the bolts at both ends.

[0011] Specifically, on the back of the upper half structure of the palm chassis, a fixed disk structure with standard connection holes is designed. The fixed disk structure has three stepped fixed hole positions, which are distributed in a non-equilateral triangle to achieve different grasping sizes in various configurations; on the stepped surface of each fixed hole position, a mechanical finger rotation support frame fixed bearing group is fixed, which includes a thrust ball bearing for axial fixation and weighing and a deep groove ball bearing for radial fixation; the fixed disk structure can also connect the whole gripper to a standard robotic arm platform to achieve grasping and displacement actions of different types of objects in multiple poses.

[0012] Specifically, on the inner side of the lower half structure of the palm chassis, three motor rotation fixing frames are provided to prevent the rotation drive motor from reversing itself; considering the structural compactness and structural fixing stability, the three motors at different positions are respectively designed with their own different motor rotation fixing frame structures, namely the first motor rotation fixing frame, the second motor rotation fixing frame and the third motor rotation fixing frame, and are fixed on the inner side of the lower half structure of the palm chassis through hole positions.

[0013] The present invention also discloses a working method of a three-finger mechanical gripper with free configuration and multiple grasping states, including the following steps: (1) Driven by the coaxial installed rotation drive motor, the driving torque is transmitted to the mechanical finger rotation support frame through the rotation drive gear to drive the mechanical finger to rotate and realize the distribution angle adjustment; (2) The mechanically adaptable and conformable grasping mechanical fingers are tightened inward, and the inner grasping contact surface conforms to the surface contour of the target object, so as to realize stable conformable grasping; (3) After grasping the target object, the rear robotic arm can drive the parallel movement of the whole three-finger gripper through the fixed connection disk structure on the back of the lower half structure of the palm chassis of the three-finger palm chassis to realize the grasping displacement and placement of the target object; and during grasping, the three-finger gripper can independently rotate the three mechanical finger rotation support frames in the three-finger palm chassis to adjust the distribution angles of the three mechanical fingers respectively, and adjust the bending angle of the mechanical finger structure itself to realize the attitude manipulation of the target object during grasping.

[0014] The beneficial effects of the present invention are as follows: The present invention discloses a support frame structure based on non-equilateral triangle distribution and independent rotation adjustment of distribution angle, which is used for the design of a freely configurable three-finger gripper that can achieve multi-mode stable grasping of different types of target objects with different sizes, different contour features and center of gravity distributions in daily home service scenarios. Compared with the traditional fixed distribution gripper design, this gripper can achieve more flexible grasping configurations and multiple grasping modes, and can achieve conformable grasping with wider adaptability and better stability for different types of objects with different sizes, outer contours, surface features and center of gravity distributions in daily home service scenarios. Description of the Drawings

[0015] Figure 1 This is the overall structure diagram of a three-finger gripper with a freely configurable multi-grasping mode according to an embodiment of the present invention; Figure 2 This is the schematic diagram of the up-and-down split installation of the hollow cylindrical support frame structure according to an embodiment of the present invention; Figure 3 This is the configuration diagram of the non-equilateral triangle distribution of the three-finger palm bottom plate according to an embodiment of the present invention; Figure 4 This is the assembly structure diagram of the three-finger palm bottom plate according to an embodiment of the present invention; Figure 5 This is the schematic diagram of the fixed frame of the mechanical finger rotation drive motor on the three-finger palm bottom plate according to an embodiment of the present invention; Figure 6 This is the schematic flow diagram of the three-finger palm bottom plate that can be adjusted to different grasping configurations to achieve stable grasping for different types of target objects according to an embodiment of the present invention; Reference numerals: 100 - mechanical finger, 200 - mechanical finger rotation support frame, 300 - three-finger palm bottom plate; 210 - upper half structure of the rotation support frame, 220 - lower half structure of the rotation support frame, 230 - rotation drive motor, 240 - rotation drive gear, 250 - Hall type rotation angle sensor; 310 - upper half structure of the palm bottom plate, 320 - lower half structure of the palm bottom plate, 330 - M12 double-headed screw, 340 - fixed bearing group of the mechanical finger rotation support frame; 351 - first motor rotation fixed frame, 352 - second motor rotation fixed frame, 353 - third motor rotation fixed frame. Detailed implementation manners

[0016] In order to make the purpose, technical solutions and technical effects of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the specification drawings and embodiments.

[0017] In an embodiment, the present invention proposes a three-finger robotic gripper with free configuration and multiple grasping states. This gripper is a three-finger gripper design that can achieve multi-angle grasping configurations under different grasping modes, and can achieve stable grasping, grasping displacement, and attitude manipulation during grasping of different types of target objects in daily home service scenarios. The embodiment combines a two-section multi-finger joint rigid-flexible coupling robotic finger 100 that can conformally deform and fit for grasping, a robotic finger rotation support frame 200 that can independently adjust the distribution angle, and an upper and lower split three-finger palm chassis 300. Among them, the three robotic fingers 100 are fixed on three fixed hole positions distributed in a non-equilateral triangle on the upper and lower split three-finger palm chassis 300 through the robotic finger rotation support frame 200. Driven by a rotary drive motor 230 coaxially installed in the robotic finger rotation support frame 200, they can rotate independently to adjust the distribution angle and achieve multi-angle grasping under different grasping configurations.

[0018] Specifically, as Figure 1 and Figure 3 shown, the overall multi-mode three-finger robotic gripper is distributed in a non-equilateral triangle. The three robotic fingers 100 are respectively distributed at the three vertices of the triangle, and the distance between them is the three non-equal sides of the triangle. The different distribution spans of the three sides enable the gripper to widely adjust the grasping size when grasping different-sized objects, and through the independent rotation of the three multi-finger joint rigid-flexible coupling robotic fingers 100, multi-angle grasping under different grasping configurations can be achieved. Among them, the robotic finger 100 adopts a two-section multi-joint rigid-flexible coupling structure design, including a finger root base, a parallel four-bar linkage mechanism, and a rigid-flexible coupling multi-finger joint elastic finger; the parallel four-bar linkage mechanism is fixed on the finger root base through a drive shaft system and a rotary fixed shaft system structure, and its end is connected to the fixed base at the root of the rigid-flexible coupling multi-finger joint elastic finger, and is used to support the multi-finger joint elastic finger structure and adjust the grasping size and height; a drive gear set for bidirectional transmission and adaptive stepless adjustment of the bidirectional driving torque is installed in the finger root base, which can simultaneously drive the parallel four-bar linkage mechanism and the rigid-flexible coupling multi-finger joint elastic finger, and realize the coupling of the motion of the two parts of the structure. This multi-finger joint rigid-flexible coupling robotic finger 100 can conformally change the grasping size and the bending angle of the elastic joint according to the size, outer contour, and surface characteristics of the target object, and is used to achieve a conforming envelope grasping of the target object.

[0019] Such as Figure 2As shown in the figure, for the convenience of manufacturing and assembly, the mechanical finger rotating support frame 200 adopts a structural design of upper and lower split manufacturing and coaxial assembly. The upper half structure 210 of the rotating support frame (including the cantilever beam structure for supporting the mechanical finger 100, that is, an integrated design with an extended cantilever for fixing the mechanical finger 100, and the cantilever length is the fixed extended distance of the mechanical finger 100) and the lower half structure 220 of the rotating support frame (designed with a fixed position at the end of the driving motor) are respectively manufactured by 3D printing using the FDM (Fused Deposition Modeling) process, and these two parts of the structure are coaxially assembled with the rotating driving motor 230 and the rotating driving gear 240 through bolt connection. When adjusting the grasping configuration, the three mechanical fingers 100 can be independently adjusted in the distribution angle under the coaxial drive of the rotating driving motor 230 in their respective mechanical finger rotating support frames 200; the rotating driving motor 230 is suspended and installed inside the mechanical finger rotating support frame 200 in a coaxial installation manner, and a clamping structure for preventing its own reverse rotation is clamped at its bottom, and the bottom end of the clamping structure is fixedly installed on the lower half structure 320 of the palm bottom plate; a Hall type rotation angle sensor 250 (brand model: KALAMOYI P3022-V1-CW360, which can measure the rotation angle range of 0° to 360°, and correspondingly output an analog voltage of 0 to 5V) is coaxially installed at the top of the mechanical finger rotating support frame 200, which can realize the real-time measurement of the distribution angle of the three mechanical fingers 100 of the gripper.

[0020] As Figure 4 shown, the three-finger palm bottom plate 300 with a non-equilateral triangle layout adopts an upper and lower split structural design. The upper half structure 310 of the palm bottom plate and the lower half structure 320 of the palm bottom plate (including the fixed connection structure connected to the execution end of the robotic arm) are both manufactured by the 3D printing process of FDM, and are assembled together by tightening nuts on both sides of the M12 double-headed screw 330 for fixing and combining the upper and lower structures, and the pre-tightening force can be adjusted by tightening the nuts. The upper half structure 310 of the palm bottom plate and the lower half structure 320 of the palm bottom plate fix the three mechanical finger rotating support frames 200 in the stepped hole positions by pressing. Among them, the back of the lower half structure 320 of the palm bottom plate is designed with a fixed plate structure with standard connection hole positions. The fixed plate structure has 3 stepped fixed hole positions, which are distributed in a non-equilateral triangle to achieve different grasping sizes in multiple configurations; a mechanical finger rotating support frame fixed bearing group 340 is fixed on the stepped surface of each fixed hole position, which includes a 51204 thrust ball bearing (GB / T 301-1995) for realizing axial fixation and load-bearing and a 61803 deep groove ball bearing (GB / T 276-2013) for realizing radial fixation; the fixed plate structure can connect the whole gripper to a standard robotic arm platform (for example: UR robotic arm) to realize the multi-mode grasping function in daily home service scenarios.

[0021] As Figure 5As shown in the figure, three motor rotation fixing brackets for preventing the rotation drive motor 230 from reversing itself are designed inside the lower half structure 320 of the palm chassis. Considering the structural compactness and fixing stability, the motors at three different positions are respectively designed with their own motor rotation fixing bracket structures, namely the first motor rotation fixing bracket 351, the second motor rotation fixing bracket 352, and the third motor rotation fixing bracket 353, and are fixed inside the lower half structure 320 of the palm chassis through holes.

[0022] In summary, when the freely configurable three-finger gripper described in the present invention is working normally, it can, according to the shape size, contour features, center of gravity distribution, and placement pose of the target object to be grasped, achieve multi-angle grasping of the corresponding grasping configurations in different grasping modes through the independent adjustment of the distribution angles of the three mechanical fingers 100. As Figure 6 shown, the specific steps for adjusting the grasping configuration for the target object are as follows: (1) Driven by the coaxial rotation drive motor 230, the driving torque is transmitted to the mechanical finger rotation support frame 200 through the rotation drive gear 240, driving the mechanical finger 100 to rotate to achieve the adjustment of the distribution angle; (2) The mechanically adaptable and conformable grasping mechanical finger 100 tightens inward, and the inner grasping contact surface conforms to the surface contour of the target object, thereby achieving stable conformable grasping; (3) After grasping the target object, the rear manipulator can drive the parallel movement of the entire three-finger gripper through the fixed connection disk structure on the back of the lower half structure 320 of the three-finger palm chassis 300 to achieve the grasping displacement and placement of the target object; and during grasping, the three-finger gripper can independently rotate the three mechanical finger rotation support frames 200 in the three-finger palm chassis 300 to adjust the respective distribution angles of the three mechanical fingers 100, as well as adjust the bending angle of the mechanical finger 100 structure itself to achieve the attitude manipulation of the target object during grasping.

[0023] Due to the application of the above embodiments of the present invention, the present invention has the advantages over existing similar mechanical grippers of being able to achieve more than 5 kinds of grasping modes, having a larger adjustment range, and a more flexible and adjustable grasping configuration; and can achieve multi-mode conformable grasping for objects with different shape sizes, contour features, and center of gravity distributions. Especially for the problems of stable grasping, attitude manipulation, and displacement placement of various types of target objects in the daily home service scenario, the present invention demonstrates applicability and functionality superior to similar products.

[0024] In the structural design description of this patent application of the present invention, the structural design described by taking the three-finger palm embodiment with a non-equilateral triangle layout as an example is for the convenience of describing the structural principle of the present invention and simplifying the description, rather than indicating or implying that the device referred to must have a specific quantity and orientation, work in a specific assembly structure and operation sequence, and therefore cannot be understood as a limitation to the present invention.

[0025] The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. It is not intended to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A three-fingered robotic gripper with free configurability and multiple grasping states, characterized in that, It includes three two - section multi - jointed rigid - flexible coupled mechanical fingers (100) that can be conformably deformed and grasped, a mechanical finger rotating support frame (200) with an independently adjustable distribution angle, and an upper - lower split three - finger palm base plate (300). Among them, the three mechanical fingers (100) are fixed on three non - equilateral triangle - distributed fixed hole positions on the upper - lower split three - finger palm base plate (300) through the mechanical finger rotating support frame (200). Driven by a rotating drive motor (230) coaxially installed in the mechanical finger rotating support frame (200), they can rotate independently to adjust the distribution angle, achieving multi - angle grasping under different grasping configurations.

2. The three-finger robotic gripper with free configurability and multiple grasping states according to claim 1, characterized in that, The overall three - finger mechanical gripper is distributed in a non - equilateral triangle. The three mechanical fingers (100) are respectively distributed at the three vertices of the triangle, and the distances between them are the three non - equal sides of the triangle. The different distribution spans of the three sides enable the gripper to widely adjust the grasping size when grasping objects of different sizes, and multi - angle grasping under different grasping configurations can be achieved through the independent rotation of the three multi - jointed rigid - flexible coupled mechanical fingers (100).

3. The three-finger robotic gripper with free configurability and multiple grasping states according to claim 1, characterized in that, The mechanical finger (100) is fixed on the cantilever structure of the mechanical finger rotating support frame (200) and is installed at the hole position of the three - finger palm base plate (300) through the mechanical finger rotating support frame (200). The three mechanical fingers (100) form a non - equilateral triangle distribution with each other. Driven by a rotating drive motor (230) coaxially installed, the three support frames can rotate independently to change the distribution angle, achieving the corresponding grasping configuration under different grasping modes.

4. The three-finger robotic gripper with free configuration and multiple grasping states according to claim 1, wherein The mechanical finger (100) adopts a two - section multi - jointed rigid - flexible coupled structure design, which is composed of a finger root base, a parallel four - bar mechanism, and a multi - jointed flexible finger structure. It can conformably change the grasping size and the bending angle of the flexible joint according to the size, outer contour, and surface characteristics of the target object, and is used to achieve a conformable envelope grasping of the target object.

5. The three-finger robotic gripper with free configuration and multiple grasping states according to claim 1, characterized in that, The mechanical finger rotating support frame (200) adopts an upper - lower split manufacturing and coaxial assembly structure design, including an upper half structure (210) of the rotating support frame and a lower half structure (220) of the rotating support frame. They are respectively manufactured by 3D printing using the fused deposition modeling process, and these two parts are coaxially assembled with the rotating drive motor (230) and the rotating drive gear (240) through bolt connection. Among them, the upper half structure (210) of the rotating support frame is integrally designed with an out - stretching cantilever for fixing the mechanical finger, and the length of the cantilever is the fixed out - stretching distance of the mechanical finger. The lower half structure (220) of the rotating support frame is designed with a fixed position at the end of the drive motor. When adjusting the grasping configuration, the three mechanical fingers (100) can be coaxially driven by the rotating drive motors (230) in their respective mechanical finger rotating support frames (200) to independently adjust the distribution angle.

6. The three-finger robotic gripper with free configuration and multiple grasping states according to claim 1, characterized in that, The rotary drive motor (230) is suspended and installed coaxially inside the mechanical finger rotary support frame (200). A clamping structure to prevent its own reverse rotation is clamped at the bottom, and the bottom end of the clamping structure is fixedly installed on the lower half structure (320) of the palm chassis; at the top of the upper half structure (210) of the rotary support frame, a Hall-type rotary angle sensor (250) is coaxially installed to realize real-time measurement of the distribution angles of the three mechanical fingers of the gripper.

7. The three-finger robotic gripper with free configurability and multiple grasping states according to claim 1, characterized in that, The three-finger palm chassis (300) adopts an upper and lower split design, including the upper half structure (310) and the lower half structure (320) of the palm chassis, both of which are manufactured by FDM 3D printing process. They are assembled together by tightening nuts on both sides of the M12 double-headed screw (330) for fixing and combining the upper and lower structures. After installation, the pre-tightening force can be adjusted by adjusting the bolts at both ends.

8. The three-finger robotic gripper with free configuration and multiple grasping states according to claim 1, characterized in that On the back of the upper half structure (310) of the palm chassis, a fixed disk structure with standard connection hole positions is designed. The fixed disk structure has 3 stepped fixed hole positions, which are distributed in a non-equilateral triangle to achieve different grasping sizes in various configurations; a mechanical finger rotary support frame fixed bearing group (340) is fixed on the stepped surface of each fixed hole position, which includes a thrust ball bearing for axial fixation and weighing and a deep groove ball bearing for radial fixation; the fixed disk structure can also connect the whole gripper to a standard robotic arm platform to realize grasping and displacement actions of different types of objects in various poses.

9. The three-finger robotic gripper with free configuration and multiple grasping states according to claim 1, wherein Inside the lower half structure (320) of the palm chassis, three motor rotary fixed frames to prevent the rotary drive motor (230) from reversing itself are provided; considering the structural compactness and structural fixation stability, the three motors at different positions are respectively designed with their own different motor rotary fixed frame structures, namely the first motor rotary fixed frame (351), the second motor rotary fixed frame (352) and the third motor rotary fixed frame (353), and are fixed on the inside of the lower half structure (320) of the palm chassis through hole positions.

10. A working method of a three-finger robotic gripper with free configurability and multiple grasping states as described in any one of claims 1-9, characterized in that, It includes the following steps: (1) Driven by the coaxially installed rotary drive motor (230), the driving torque is transmitted to the mechanical finger rotary support frame (200) through the rotary drive gear (240) to drive the mechanical finger (100) to rotate and realize the adjustment of the distribution angle. (2) The conformable mechanical finger (100) that can conformably grasp tightens inward, and the inner grasping contact surface conforms to the surface contour of the target object, thereby realizing stable conformable grasping. (3) After grasping the target object, the rear robotic arm can drive the parallel movement of the whole three-finger gripper through the fixed connection disk structure on the back of the lower half structure (320) of the palm chassis of the three-finger palm chassis (300) to realize the grasping, displacement and placement of the target object; and during grasping, the three-finger gripper can adjust the respective distribution angles of the three mechanical fingers (100) through the independent rotation of the three mechanical finger rotary support frames (200) in the three-finger palm chassis (300), as well as the bending angle adjustment of the mechanical finger structure itself, to realize the attitude manipulation of the target object during grasping.

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