Multi-degree-of-freedom flexible bionic dexterous hand

Abstract

The application discloses a multi-degree-of-freedom flexible bionic dexterous hand, which comprises a thumb-palm assembly, a finger side swing assembly, a finger assembly and a palm base assembly; the thumb-palm assembly adopts a flexible parallel structure and comprises three driving bellows and a thumb connecting plate; the finger side swing assembly is composed of three bellows and is respectively arranged between a little thumb, an index finger, a middle finger and a ring finger; the finger assembly is composed of a flexible finger and a flexible connecting base, wherein the flexible finger is designed in a layered structure based on the degree of freedom of a human hand to improve the self-adjusting contact mode capability of the dexterous hand; and the palm base is formed by post-pouring after reserving positions of the finger and the thumb-palm assembly. The application provides the multi-degree-of-freedom flexible bionic dexterous hand, which is simple in structure, convenient to manufacture, capable of effectively improving the dexterity and operation capability of the flexible dexterous hand and having a certain self-adjusting contact mode capability, and can be applied to many fields such as industrial grabbing, agricultural picking and medical rehabilitation.

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