Hybrid-driven five-finger dexterous hand

Abstract

The utility model discloses a hybrid-driven five-finger dexterous hand which comprises a palm module, a wrist module and an arm module which are sequentially connected. A finger driving module is arranged on the arm module, and a wrist driving module is arranged below the wrist module; the finger driving module consists of a plurality of groups of tendon rope driving modules; the wrist driving module is driven by a linear module. The tendon rope driving module is adopted to accurately control and adjust multiple degrees of freedom of different joints of multiple fingers on the palm, and the wrist module achieves pitching, swinging and other actions on the wrist through the linear module. Different driving modes are combined, reasonable layout of different driving mechanisms can be achieved in a limited space, and due to the fact that the accuracy requirements of finger and wrist control are different, the mixed driving mode is higher in pertinence.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a five-fingered dexterous hand of mixed drive. BACKGROUND

[0002] The dexterous hand of robot is a kind of mechanical device imitating human hand structure and function, can realize multi-degree-of-freedom motion, capture, operation object, and has the ability of tactile perception.Its design goal is to reproduce the flexibility, adaptability and fine operation ability of human hand through bionics principle.

[0003] The existing dexterous hand mainly exists the compatibility of dexterity and functionality, generally dexterous hand adopts motor direct drive or relies on connecting rod, gear and other transmission mechanisms to realize the movement of each joint of dexterous hand, but the size of this kind of mechanism is generally larger, it is difficult to integrate in smaller dexterous hand space, otherwise it will cause the phenomenon of low power and poor performance of dexterous hand, or the whole dexterous hand is bulky.Depend on the performance of motor itself to carry out force control and position control, if the driving unit does not adopt the transmission structure with self-locking function, its load capacity is weak, but when some transmission mechanisms with self-locking performance are adopted, it is difficult to achieve precise force control effect relying on the control performance of motor itself, and when position control is carried out, due to the existence of speed reducer, motor needs to move more turns to make the manipulator reach target position, and single-turn encoder on motor is difficult to effectively control position. SUMMARY

[0004] The utility model aims at overcoming at least one of the above-mentioned prior art defects, providing a kind of five-fingered dexterous hand of mixed drive, the purpose that synchronous tendon driving and linear driving mixed drive mode realize accurate regulation and control to dexterous hand.

[0005] The utility model provides a kind of five-fingered dexterous hand of mixed drive, including sequentially connected palm module, wrist module and arm module;The arm module is equipped with finger driving module, and the lower of the wrist module is equipped with wrist driving module;The finger driving module is composed of multiple tendon driving modules;The wrist driving module is linear module group drive.

[0006] The utility model adopts tendon driving module to realize accurate control and adjustment to multiple degrees of freedom of different joints of multiple fingers on palm, and the wrist module is realized to the action such as pitch and swing of wrist by linear module group.Combination of different driving modes can realize the reasonable layout of different driving mechanisms in limited space, and since the precision requirements of finger and wrist control are different, therefore, the driving mode of mixing is more targeted.

[0007] Furthermore, each set of tendon cable drive modules includes at least a first control board, a first motor, a worm gear, a worm wheel, a drive wheel assembly, a guide wheel assembly, and tendon cables; the first motor is connected to the worm gear, the worm gear meshes with the worm wheel, and the drive wheel assembly is coaxially fixed with the worm wheel; the guide wheel assembly is located on one side of the drive wheel assembly; one end of the tendon cable is fixed to the drive wheel assembly, the middle part is steered through the guide wheel assembly, and the other end is connected to the palm module.

[0008] The arm module serves as a support frame, and the tendon cable drive module is fixed within this frame. Multiple sets of tendon cable drive modules can be arranged in a logical layout. Each set can have one or two tendon cables depending on the number of drive wheels. A first motor drives a worm gear, which in turn drives a worm wheel. The drive wheels are fixed to the worm wheel, enabling synchronous rotation. The guide wheel set can have one or more guide wheels to facilitate steering. This logical spatial arrangement allows multiple tendon cable drive modules to be integrated into the arm module. Driving the tendon cables enables precise control of the finger joints on the hand module. The rebound of the finger joints can be achieved by designing elastic elements, such as a return elastic cord, within the joints. When the tendon cables are not driven, the elastic element can return the finger joints to their original position. Since finger joint return is not the primary inventive feature of this invention, it can be designed using existing technology and will not be elaborated upon here.

[0009] Furthermore, this utility model includes a first tendon cord drive group, a second tendon cord drive group, and a third tendon cord drive group; the first tendon cord drive group, the second tendon cord drive group, and the third tendon cord drive group each include multiple tendon cord drive modules; wherein the first tendon cord drive group and the second tendon cord drive group are arranged longitudinally side by side in the arm module; the third tendon cord drive group is arranged horizontally side by side in the arm module; one end of the tendon cord on the first tendon cord drive group, the second tendon cord drive group, and the third tendon cord drive group is fixed to the drive end, and the other end is connected to the palm module.

[0010] In order to further save installation space, the position and structure of the tendon driving module are different layouts, due to the limited space of the arm module, the first tendon driving group adopts a vertical side-by-side arrangement, a group of driving wheels can be used, and a single wire tendon is arranged; the bottom uses a single guide wheel to convert the tendon from the vertical direction to the horizontal direction, and then extends to the palm module; the second tendon driving group also adopts a vertical side-by-side arrangement, and two groups of driving wheels can be arranged on both sides of the worm gear to realize the layout of double-wire tendons; two or more guide wheels are used to guide the tendons to the horizontal or vertical downward direction, so as to better limit the direction of the tendons and improve the stability. The third tendon driving group is horizontally arranged in the arm module; similar to the first tendon driving group and the second tendon driving group, single-wire tendons or double-wire tendons can be arranged, and the specific number is not limited, and the specific tendon connected to the finger is not limited. Since the main invention point of the present application is the design of hybrid drive, the specific connection of the tendon can be flexibly designed according to the need of the finger joint freedom.

[0011] Further, the palm module includes a palm and a thumb module, a finger module and a little finger module connected to the palm respectively; wherein the thumb module, the finger module and the little finger module have at least three finger joints respectively; one end of the tendon is fixed to the driving wheel set, and the other end is connected to the finger joint, and the multi-degree-of-freedom control of the thumb module, the finger module and the little finger module is realized by driving the tendon to contract.

[0012] The present application is aimed at a five-fingered dexterous hand, which includes five fingers, namely a thumb module, three finger modules and a little finger module. Each finger joint is connected by hinging and driven by a tendon.

[0013] Preferably, the bottom of the thumb module is provided with a rotary assembly; the rotary assembly includes an upper support, a support member and a lower support from top to bottom; the support member is arranged between the upper support and the lower support by hinging, and realizes rotary motion by driving the tendon.

[0014] Further, the thumb module includes a distal phalanx, a proximal phalanx and a metacarpal joint connected in turn from the fingertip to the palm end, the metacarpal joint is hinged with the support member, and realizes horizontal roll motion by driving the tendon.

[0015] The little finger module is also provided with a turnover assembly at the connection with the palm, the little finger module and the palm are connected by the turnover assembly, and the turnover assembly is driven by the tendon to realize the front and rear rotary connection.

[0016] Further, the wrist module comprises a support base and a wrist base, the support base is connected with the arm module; the wrist base is connected with the palm module; the linear module comprises a first motion branch, a second motion branch and a third motion branch which are parallel to each other; one end of the first motion branch and the second motion branch is installed on the support base, and the other end is rotatably connected with the palm module; one end of the third motion branch is rotatably connected with the support base, and the other end is rotatably connected with the wrist base; by driving the first motion branch and the second motion branch to move synchronously, the wrist base can realize the pitching motion; by driving the first motion branch and the second motion branch to move asynchronously, the wrist base can realize the swing motion.

[0017] The support base is mainly used for installation and fixing, and the wrist base is used for externally connecting the palm; through the three motion branches of the utility model, the pitching motion and the swing motion of the wrist base are realized, and then the palm is rotated in multiple degrees of freedom; the first motion branch and the motion branch are linearly pushed, and the pitching angle is controlled through the limiting control of the third motion branch. Therefore, through the parallel design of the three motion branches, the wrist is adjusted in multiple degrees of freedom only through two groups of driving, the control method is simple, the overall volume is small, and the cost is low.

[0018] Further, the first motion branch and the second motion branch are the same in structure and comprise a linear module base, a second motor, a screw assembly, a driving rod and a ball head hinge which are connected in sequence; the other end of the linear module base is connected with the support base; the other end of the ball head hinge is connected with the wrist base; the third motion branch comprises a hooke joint, a passive connecting rod and a cross joint which are connected in sequence; the other end of the cross joint is connected with the support base; the other end of the hooke joint is connected with the wrist base.

[0019] The first motion branch and the second motion branch are arranged in parallel and symmetrically on the support base, are the same in structure, adopt the mode that the motor pushes the screw to move forward and backward, and then push the wrist base to make the pitching motion through the third motion branch; when the lengths pushed by the first motion branch and the second motion branch are different, the wrist base rotates around the hinge point of the third motion branch, so that the swing function of the wrist base is realized.

[0020] The straight line module base plays a connecting role, one end is fixed on the support base, and the other end is connected with the motor; the screw rod assembly is connected with the motor shaft, and the motor is used for driving the screw rod assembly to push the driving rod to move forward and backward; the ball head hinge is used for realizing the rotary connection of the driving rod and the wrist base.

[0021] The dexterous hand has the thumb module, the finger module and the little finger module on the palm module, wherein the thumb module and the three finger modules each have four degrees of freedom, the little finger module has five degrees of freedom, the palm module has twenty-one degrees of freedom in total, and the wrist module has two degrees of freedom, wherein the movement of the degrees of freedom of the palm module is realized through tendon connection, the end of the tendon is fixed on the corresponding degree of freedom, the driving end of the tendon is fixed on the finger driving unit, the finger driving unit is arranged on the arm module in total, the tendon is contracted through the finger driving unit, the corresponding degree of freedom is moved, so that the dexterous hand can output sufficient gripping force while having sufficient degrees of freedom; in the thumb module, the support member is fixed between the upper support and the lower support through hinging and can rotate therein, the thumb metacarpal joint is fixed on the support member through hinging and can roll transversely thereon, the thumb proximal phalanx is hinged on the thumb metacarpal joint, and the thumb distal phalanx is hinged on the thumb proximal phalanx; in the finger module, the finger proximal phalanx is hinged on the finger metacarpal joint, the finger middle phalanx is hinged on the finger proximal phalanx, the finger distal phalanx is hinged on the finger middle phalanx, and the finger metacarpal joint is hinged on the palm module; in particular, the little finger module has an additional degree of freedom, which is realized through the turnover assembly and is hinged on the little finger fixed support, the twenty-one degrees of freedom of the palm part are formed above, the palm module is connected with the wrist module through the wrist base, the wrist module is connected with the wrist module through the cross hinge, the passive connecting rod, the linear module and the ball hinge, a parallel mechanism having two degrees of freedom of pitching and swinging is formed, and the linear movement of the linear module is used for driving.

[0022] Compared with the prior art, the dexterous hand has the following beneficial effects:

[0023] The tendon driving module is adopted to realize precise control and adjustment of multiple degrees of freedom of different joints of multiple fingers on the palm, and the wrist module realizes pitching, swinging and other actions of the wrist through a linear module.

[0024] Meanwhile, the two mixed driving modes can realize adjustment of twenty-three degrees of freedom of the palm and the wrist, have high precision, occupy small space, and have more compact overall structure, so that the stability is higher. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of the five-fingered dexterous hand.

[0026] Figure 2 It is a schematic view of the arm module and the wrist module of the five-fingered dexterous hand.

[0027] Figure 3 It is a schematic view of the internal structure of the arm module and the wrist module of the five-fingered dexterous hand.

[0028] Figure 4 It is a schematic view of the internal structure of the arm module and the wrist module of the five-fingered dexterous hand from another perspective.

[0029] Figure 5 It is a structural schematic view of the palm module of the five-fingered dexterous hand. DETAILED DESCRIPTION

[0030] The accompanying drawings of the embodiments are used to describe the technical solutions in the embodiments of the present application in more detail. In the drawings, the same or similar notations represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0031] It should be noted that if the present application involves directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition and the like between the components in a certain specific posture (as shown in the drawings), if the specific posture changes, the directional indications also change accordingly.

[0032] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0033] Example

[0034] This embodiment provides a hybrid-driven five-finger dexterous hand, such as Figure 1 As shown, it includes a palm module 1, a wrist module 2, and an arm module 3 connected in sequence; the arm module 3 is provided with a finger drive module 4, and the wrist module 2 is provided with a wrist drive module 5 below it; the finger drive module 4 is composed of multiple sets of tendon drive modules; the wrist drive module 5 is a linear module drive.

[0035] like Figure 2 As shown in the figure, this embodiment designs a first tendon ligament drive group 10, a second tendon ligament drive group 20, and a third tendon ligament drive group 30; the first tendon ligament drive group 10, the second tendon ligament drive group 20, and the third tendon ligament drive group 30 each include multiple tendon ligament drive modules; wherein the first tendon ligament drive group 10 and the second tendon ligament drive group 20 are arranged longitudinally side by side in the arm module 3; the third tendon ligament drive group 30 is arranged horizontally side by side in the arm module 3; one end of the tendon ligament 46 on the first tendon ligament drive group 10, the second tendon ligament drive group 20, and the third tendon ligament drive group 30 is fixed to the drive end, and the other end is connected to the palm module 1. As illustrated in this embodiment, the first tendon ligament drive group 10 is designed with two rows, each row having five tendon ligament drive modules; the second tendon ligament drive group 20 is set with one row of four tendon ligament drive modules; the third tendon ligament drive group 30 is designed with one horizontal row of three tendon ligament drive modules. Figures 2 to 4As shown in the embodiment, the tendon driving module comprises a first control plate 41, a first motor 42, a worm 43, a worm wheel 44, a driving wheel set 47, a guide wheel set 45 and a tendon 46; the first motor 42 is connected with the worm 43, the worm 43 is engaged with the worm wheel 44, and the driving wheel set 47 is coaxially fixed with the worm wheel 44; the guide wheel set 45 is arranged on one side of the driving wheel set 47; one end of the tendon 46 is fixed on the driving wheel set 47, the middle part is turned through the guide wheel set 45, and the other end is connected with the palm module 1. The driving wheel set 47 comprises one or two driving wheels, and the single driving wheel can be directly fixed on one side of the worm wheel 44; the double driving wheels are respectively fixed on two sides of the worm wheel 44, and in the drawings of the utility model, the inclined thread on the worm 43 is not shown for the sake of clear view.

[0036] As one of the embodiments, the utility model is combined with the tendon driving module Figures 2 to 4 As shown in the embodiment, the first tendon driving set 10 adopts a vertical and side-by-side arrangement mode, adopts a single driving wheel and a worm wheel 44, a single tendon 46 is fixed on the driving wheel, and the tendon 46 is guided through a guide wheel; the second tendon driving set 20 adopts two groups of driving wheels which are fixed on two sides of the worm wheel 44, and a single tendon 46 is fixed on each driving wheel; each tendon 46 is guided through three guide wheels; the design of the multiple guide wheels can make the guidance of the tendon 46 more stable. The third tendon driving set 30 is horizontally arranged in the arm module 3, and the design scheme is similar to that of the second tendon driving set 20, that is, two groups of driving wheels are fixed on two sides of the worm wheel 44, and a single tendon 46 is fixed on each driving wheel; each tendon 46 is guided through three guide wheels.

[0037] In other embodiments of the utility model, the number of tendons 46 can be adjusted according to the needs of the degrees of freedom, and the number of tendons 46 required by the degrees of freedom of different joints is different, and the design can be made according to the needs.

[0038] As shown in the embodiment, Figure 1 As shown in the embodiment, the utility model discloses a dexterous hand which is provided with a thumb module 11, a finger module 12 and a little finger module 13 on the palm module 1, wherein the thumb module 11 and the three finger modules 12 each have four degrees of freedom, the little finger module 13 has five degrees of freedom, the palm module 1 has twenty-one degrees of freedom in total, and the wrist module 2 has two degrees of freedom; wherein the movement of the degrees of freedom of the palm module 1 is realized through tendon 46 connection, and the end of the tendon 46 is fixed on the corresponding degree of freedom; since the specific corresponding joint of the tendon 46 is not the main point of the utility model, the other end of the tendon 46 is not limited to be connected with which degree of freedom in the embodiment.

[0039] The driving end of the tendon rope 46 is fixed on the finger driving unit, the finger driving unit is all arranged on the arm module 3, the tendon rope 46 is retracted through the finger driving unit, the corresponding freedom is moved, so that the dexterous hand can output enough grasping force to the target while having enough freedom; the utility model discloses a rotary assembly 40 is equipped at the bottom of the thumb module 11, the rotary assembly 40 successively includes upper support 401, support piece 402, lower support 403 from top to bottom, the support piece 402 is arranged between the upper support 401 and the lower support 403 through hinging, and rotary movement is realized through the driving of the tendon rope 46. In the thumb module 11, the support piece 402 is fixed between the upper support 401 and the lower support 403 through hinging, and can rotate in it.

[0040] As shown in Figure 5 Fig. 1, wherein the thumb module 11 successively includes thumb distal phalanx 111, thumb proximal phalanx 112 and thumb metacarpal phalanx 113 from the distal end to the proximal end; the finger module 12 successively includes finger distal phalanx 121, finger middle phalanx 122, finger proximal phalanx 123 and finger metacarpal phalanx 124 from the distal end to the proximal end; the little finger module 13 successively includes little finger distal phalanx 131, little finger middle phalanx 132, little finger proximal phalanx 133 and little finger metacarpal phalanx 135 from the distal end to the proximal end.

[0041] The thumb metacarpal phalanx 113 is fixed on the support piece 402 through hinging and can roll horizontally on it, the thumb proximal phalanx 112 is hinged on the thumb metacarpal phalanx 113, and the thumb distal phalanx 111 is hinged on the thumb proximal phalanx 112; in the finger module 12, the finger proximal phalanx 123 is hinged on the finger metacarpal phalanx 124, the finger middle phalanx 122 is hinged on the finger proximal phalanx 123, the finger distal phalanx 121 is hinged on the finger middle phalanx 122, and the finger metacarpal phalanx 124 is hinged on the palm module 1, in particular, as shown in Figure 1 and Figure 5 Fig. 2, the little finger module 13 has an additional degree of freedom, which is realized through the turnover assembly 50 and is hinged on the little finger fixed support 134, and the above twenty-one degrees of freedom of the palm part are formed.

[0042] As shown in Figure 2As shown, the wrist module 2 comprises a support base 21 and a wrist base 22, the support base 21 connects the arm module 3; the wrist base 22 connects the palm module 1; the linear module comprises a first motion branch chain 51, a second motion branch chain 52 and a third motion branch chain 53 which are parallel to each other; one end of the first motion branch chain 51 and the second motion branch chain 52 is installed on the support base 21, and the other end is rotatably connected to the palm module 1; one end of the third motion branch chain 53 is rotatably connected to the support base 21, and the other end is rotatably connected to the wrist base 22; by driving the first motion branch chain 51 and the second motion branch chain 52 to move synchronously, the wrist base 22 realizes the pitching motion; by driving the first motion branch chain 51 and the second motion branch chain 52 to move asynchronously, the wrist base 22 realizes the swing motion.

[0043] In combination Figure 3 As shown, the first motion branch chain 51 and the second motion branch chain 52 have the same structure, comprising a linear module base 501, a second motor 502, a screw assembly 503, a driving rod 504 and a ball head hinge 505 which are connected in sequence; the other end of the linear module base 501 is connected to the support base 21; the other end of the ball head hinge 505 is connected to the wrist base 22; the third motion branch chain 53 comprises a hook hinge 506, a passive connecting rod 507 and a cross hinge 508 which are connected in sequence; the other end of the cross hinge 508 is connected to the support base 21; the other end of the hook hinge 506 is connected to the wrist base 22.

[0044] The first motion branch chain 51 and the second motion branch chain 52 are arranged in parallel and symmetrically on the support base 21, and have the same structure, both of which adopt the mode of driving the screw to move forward and backward by the motor at the same frequency, and then drive the wrist base 22 to make the pitching motion with the third motion branch chain 53 as the hinge point; when the lengths driven by the first motion branch chain 51 and the second motion branch chain 52 are different, the wrist base 22 will rotate around the hinge point of the third motion branch chain 53, thereby realizing the swing function of the wrist base 22.

[0045] The linear module base 501 plays a connecting role, one end of which is fixed on the support base 21, and the other end of which is connected with the motor; the screw rod assembly 503 is connected with the motor shaft, and the screw rod assembly 503 is driven by the motor to push the driving rod 504 to move forward and backward; the ball joint 505 is used to realize the rotary connection of the driving rod 504 and the wrist base 22. Due to the limiting effect of the third movement branch chain 53, when the driving rods 504 of the first movement branch chain 51 and the second movement branch chain 52 are synchronously extended and contracted and the lengths are the same, the pitching action of the wrist base 22 can be realized; when the extension lengths of the driving rods 504 of the first movement branch chain 51 and the second movement branch chain 52 are different, the swinging action of the wrist base 22 can be realized. The passive connecting rod 507 of the utility model is rotatably connected with the support base 21 and the wrist base 22 through the hooke joint 506 and the cross joint 508 at both ends respectively.

[0046] The palm module 1 is connected with the wrist module 2 through the wrist base 22, the wrist module 2 is connected with the cross joint 508, the passive connecting rod 507, the linear module and the ball joint to form a connecting rod group, thereby forming a parallel mechanism with two degrees of freedom of pitching and swinging, and the linear module is driven through linear motion.

[0047] The above implementation manners are only used to illustrate the technical scheme of the utility model and not limit, although the utility model is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical scheme of the utility model can be modified or replaced equivalently without departing from the spirit and scope of the technical scheme of the utility model. The technical personnel in the art can also make other changes and use in the design of the utility model within the spirit of the utility model, as long as it does not deviate from the technical effect of the utility model. These changes made according to the spirit of the utility model should be included in the scope of the utility model claimed.

Claims

1. A hybrid-driven five-finger dexterous hand, characterized in that, It includes a palm module (1), a wrist module (2), and an arm module (3) connected in sequence; The arm module (3) is provided with a finger drive module (4), and the wrist module (2) is provided with a wrist drive module (5) below it; The finger drive module (4) consists of multiple tendon ligament drive modules; the wrist drive module (5) is a linear module drive.

2. The five-fingered dexterous hand according to claim 1, characterized in that, Each set of tendon cable drive modules includes at least a first control board (41), a first motor (42), a worm (43), a worm wheel (44), a drive wheel set (47), a guide wheel set (45), and a tendon cable (46); The first motor (42) is connected to the worm (43), the worm (43) meshes with the worm wheel (44), and the drive wheel assembly (47) is coaxially fixed with the worm wheel (44); the guide wheel assembly (45) is located on one side of the drive wheel assembly (47); One end of the tendon rope (46) is fixed to the active wheel assembly (47), the middle part is steered through the guide wheel assembly (45), and the other end is connected to the palm module (1).

3. The five-fingered dexterous hand according to claim 1, characterized in that, The finger drive module (4) includes a first tendon cord drive group (10), a second tendon cord drive group (20), and a third tendon cord drive group (30); the first tendon cord drive group (10), the second tendon cord drive group (20), and the third tendon cord drive group (30) each include multiple tendon cord drive modules; wherein the first tendon cord drive group (10) and the second tendon cord drive group (20) are arranged longitudinally side by side in the arm module (3); the third tendon cord drive group (30) is arranged horizontally side by side in the arm module (3); one end of the tendon cord (46) on the first tendon cord drive group (10), the second tendon cord drive group (20), and the third tendon cord drive group (30) is fixed to the drive end, and the other end is connected to the palm module (1).

4. The five-fingered dexterous hand according to claim 2, characterized in that, The palm module (1) includes a palm and a thumb module (11), a finger module (12) and a little finger module (13) respectively connected to the palm; wherein the thumb module (11), the finger module (12) and the little finger module (13) each have at least three finger joints; one end of the tendon rope (46) is fixed to the active wheel assembly (47), and the other end is connected to the finger joint, and the multi-degree-of-freedom control of the thumb module (11), the finger module (12) and the little finger module (13) is realized by driving the tendon rope (46) to contract.

5. The five-fingered dexterous hand according to claim 4, characterized in that, The thumb module (11) is provided with a rotating component (40) at the bottom; the rotating component (40) includes an upper support (401), a support member (402), and a lower support (403) from top to bottom; the support member (402) is hinged between the upper support (401) and the lower support (403), and achieves rotational movement by the drive of the tendon rope (46).

6. The five-fingered dexterous hand according to claim 5, characterized in that, The thumb module (11) includes, from the fingertip to the palm end, a distal phalanx, a proximal phalanx and a metacarpophalangeal phalanx that are rotatably connected. The metacarpophalangeal phalanx is hinged to the support member (402) and is driven by a tendon cord (46) to achieve a rolling motion.

7. The five-fingered dexterous hand according to claim 4, characterized in that, The little finger module (13) is also provided with a flipping component (50) at the connection between it and the palm. The little finger module (13) and the palm are connected by the flipping component (50) to rotate back and forth. The flipping component (50) is driven by the tendon rope (46) to achieve the flipping.

8. The five-fingered dexterous hand according to claim 2, characterized in that, The wrist module (2) includes a support base (21) and a wrist base (22), the support base (21) being connected to the arm module (3); the wrist base (22) being connected to the palm module (1); The linear module includes a first motion branch (51), a second motion branch (52), and a third motion branch (53) connected in parallel. One end of the first motion chain (51) and the second motion chain (52) are mounted on the support base (21), and the other end is rotatably connected to the palm module (1); One end of the third motion chain (53) is rotatably connected to the support base (21), and the other end is rotatably connected to the wrist base (22); By driving the first motion branch (51) and the second motion branch (52) to move synchronously, the wrist base (22) can achieve pitch motion; by driving the first motion branch (51) and the second motion branch (52) to move asynchronously, the wrist base (22) can achieve swing motion.

9. The five-fingered dexterous hand according to claim 8, characterized in that, The first motion branch (51) and the second motion branch (52) have the same structure, including a linear module base (501), a second motor (502), a lead screw assembly (503), a drive rod (504), and a ball joint hinge (505) connected in sequence. The other end of the linear module base (501) is connected to the support base (21); The other end of the ball joint hinge (505) is connected to the wrist base (22); The third motion chain (53) includes a Hooke hinge (506), a passive link (507), and a cross hinge (508) connected in sequence; the other end of the cross hinge (508) is connected to the support base (21); the other end of the Hooke hinge (506) is connected to the wrist base (22).

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