Flexible precision manipulator with parallel and enveloping gripping function

Abstract

This invention discloses a flexible precision manipulator with parallel and envelope gripping functions, belonging to the field of manipulator technology. It includes a base plate, a drive mechanism, and a gripping mechanism assembly. The gripping mechanism assembly includes a symmetrical linear mechanism, a one-to-two differential mechanism, a right-angle transmission mechanism, and a clamping mechanism. The symmetrical linear mechanism is connected to the power output end of the drive mechanism; the input end of the one-to-two differential mechanism is connected to the symmetrical linear mechanism; a connecting block is fixed on the base plate; two right-angle transmission mechanisms are used, each connected to one of the two output ends of the one-to-two differential mechanism; each right-angle transmission mechanism includes an input end guide assembly and an output end guide assembly arranged at right angles; two clamping mechanisms are used, each connected to one of two fourth crossbeams and arranged perpendicularly to the fourth crossbeams. This invention has a simple and compact structure, a large gripping range, and adaptability, enabling stable clamping of objects of different sizes and shapes.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to a flexible precision robotic arm with parallel and enveloping grasping functions. Background Technology

[0002] With the continuous advancement of science and technology, more and more industries require precision operations to meet the demands of high precision, high quality, and high reliability. Traditional rigid manipulators consist of rigid kinematic pairs and rigid links, achieving grasping operations through the relative motion between the links. However, the contact between the end effector gripper and the object being grasped is often rigid, making it difficult to effectively hold small and fragile objects. In contrast, flexible precision manipulators, as a special type of end effector, typically utilize the elastic deformation of thin-walled structures to achieve grasping operations. These manipulators have excellent compliance and can be used for the gripping and assembly of small / micro parts, showing broad application prospects in precision fields such as manufacturing, semiconductors, and biomedicine. Key indicators of precision manipulators include gripping range and gripping accuracy, both of which mainly depend on the drive source and gripping mechanism. The former typically uses piezoelectric ceramics or voice coil motors. Piezoelectric ceramics have large driving force and high motion accuracy, but the output motion is small, typically a few micrometers. Therefore, the corresponding gripping mechanism needs to integrate multi-stage motion amplification mechanisms to achieve a larger gripping range, but this often complicates the manipulator's structure and increases manufacturing costs. Voice coil motors have large output motion and high motion precision, thus eliminating the need for complex motion amplification mechanisms and simplifying the gripping mechanism. Although their driving force is relatively small, through reasonable mechanism design and reduction of gripping mechanism stiffness, the robot can still achieve a large gripping range and gripping force.

[0003] Currently, existing flexible precision robotic arms typically have a small grasping range and force, making them less effective at gripping large or heavy objects. Furthermore, most precision robotic arms lack adaptive capabilities. In many precision assemblies, even small parts can vary in shape, necessitating adaptive grasping capabilities to accommodate different part shapes. Additionally, parasitic motion refers to harmful movements perpendicular to the grasping direction during the gripping process. This motion affects the object's positioning accuracy and must be eliminated during the design phase.

[0004] In the prior art, there is a Chinese patent with patent number 202111393864.0, entitled "A Flexible Underactuated Manipulator for Precision Assembly of Irregularly Shaped Parts." While this structure possesses adaptive characteristics, these characteristics are manifested in the differentiated movements of its three fingers. Because each gripper can only move parallel to the others, it can only be used for single-point grasping; that is, each finger has only one point of contact with the object. This three-point grasping method makes it difficult to achieve stable grasping of irregular objects. Furthermore, the manipulator's grasping mechanism uses a traditional parallelogram mechanism. Parasitic motion is unavoidable during operation, affecting grasping accuracy and thus limiting its application range.

[0005] Therefore, how to provide a flexible precision manipulator that overcomes the limitations of existing flexible precision manipulators, such as complex motion amplification mechanisms, limited grasping range, and inability to adapt to the irregular shapes of objects that require micro-manipulation or micro-assembly, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a flexible precision manipulator with parallel and envelope grasping functions, aiming to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A flexible precision manipulator with parallel and envelope grasping functions includes a base plate and a drive mechanism mounted on the base plate. The manipulator is characterized by further including a grasping mechanism assembly, which includes a symmetrical linear mechanism, a one-to-two differential mechanism, a right-angle transmission mechanism, and a clamping mechanism.

[0009] The symmetrical linear mechanism is connected to the power output end of the drive mechanism and is arranged perpendicular to the central axis of the drive mechanism.

[0010] The one-to-two differential mechanism is arranged in parallel with the symmetrical linear mechanism. The input end of the one-to-two differential mechanism is connected to the middle of the symmetrical linear mechanism. A connecting block is fixed on the side of the base plate near the one-to-two differential mechanism.

[0011] There are two right-angle transmission mechanisms, each connected to one of the two output ends of the differential mechanism. Each right-angle transmission mechanism includes an input guide assembly and an output guide assembly arranged at right angles. The input guide assembly is a first parallelogram mechanism composed of a second longitudinal beam, two third crossbeams, the width edge of the connecting block, and four second semi-circular hinges. The output guide assembly is a second parallelogram structure composed of two first longitudinal beams, the length edge of the connecting block, four fifth semi-circular hinges, and a fourth crossbeam. An inclined beam connects the second longitudinal beam and the fourth crossbeam via third semi-circular hinges. There are two clamping mechanisms, each connected to one of the two fourth crossbeams and arranged perpendicularly to them.

[0012] Preferably, in the above-mentioned flexible precision manipulator with parallel and enveloping grasping functions, two first flexible beams are connected between the second longitudinal beam and the width edge of the connecting block, and between the fourth cross beam and the length edge of the connecting block. The two first flexible beams and the width edge of the connecting block, and the two first flexible beams and the length edge of the connecting block, all form a triangular structure.

[0013] Preferably, in the above-mentioned flexible precision manipulator with parallel and enveloping gripping functions, each of the gripping mechanisms includes a gripper, a support beam, and a second flexible beam; the gripper is parallel to the fourth crossbeam, one end of the support beam is fixedly connected to the fourth crossbeam, and the other end is hinged to the gripper via a fourth semi-circular hinge, and the second flexible beam is fixed to the end of the gripper away from the end connected to the support beam.

[0014] Preferably, in the above-mentioned flexible precision manipulator with parallel and enveloping grasping functions, a flexible clamping member is connected between the gripper and the fourth crossbeam via a sixth semi-circular hinge; the flexible clamping member includes multiple short beams, which are connected to each other via a seventh semi-circular hinge.

[0015] Preferably, in the above-mentioned flexible precision manipulator with parallel and envelope grasping functions, the driving mechanism is a voice coil motor. The voice coil motor is fixed on the base plate by a motor base. The voice coil motor includes a fixed coil and a moving coil. The fixed coil is mounted on the motor base, and the moving coil is connected to the symmetrical linear mechanism.

[0016] Preferably, in the aforementioned flexible precision manipulator with parallel and enveloping grasping functions, the symmetrical linear mechanism includes an intermediate platform, a support base, and a flexible unit; one end face of the intermediate platform is connected to the moving coil; there are two support bases, which are fixed on the base plate and located on both sides of the intermediate platform; the flexible unit is connected between the intermediate platform and the support base; the flexible unit includes a first right-angle hinge, a first crossbeam, and a second right-angle hinge connected end to end; the first right-angle hinge is hinged to the support base, and the second right-angle hinge is hinged to the intermediate platform.

[0017] Preferably, in the above-mentioned flexible precision manipulator with parallel and enveloping grasping functions, the number of flexible units is four sets, and the four sets of flexible units are symmetrically connected in pairs between the support base and the intermediate platform.

[0018] Preferably, in the above-mentioned flexible precision manipulator with parallel and enveloping grasping functions, the input end of the one-to-two differential mechanism is hinged to the end of the intermediate platform away from the moving coil; the two output ends of the one-to-two differential mechanism are hinged to the third crossbeam.

[0019] Preferably, in the aforementioned flexible precision manipulator with parallel and enveloping grasping functions, a displacement strain sensor is installed on the second right-angle hinge.

[0020] Preferably, in the aforementioned flexible precision manipulator with parallel and enveloping grasping functions, a force strain sensor is installed on the outer wall of the second flexible beam.

[0021] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a flexible precision manipulator with parallel and envelope grasping functions, which has the following beneficial effects:

[0022] 1. The present invention has the characteristics of simple and compact structure, low processing cost, large grasping range and self-adaptability.

[0023] 2. The clamping mechanism of this invention has two functions: parallel gripping and adaptive gripping, which are used for gripping regular and irregular shaped objects, respectively, thus expanding the diversity of objects that the robotic arm can grasp.

[0024] 3. The present invention is based on an underactuated one-to-two differential mechanism that can adjust the difference in motion of the gripping mechanisms on both sides of the robot, which enables the robot to be used to grasp fixed objects.

[0025] 4. This invention overcomes the shortcomings of existing flexible precision manipulators, such as complex motion amplification mechanisms, limited grasping range, and inability to adapt to the irregular shapes of objects that are micro-operated or micro-assembled. It can achieve stable clamping of objects of different sizes and shapes, and integrates force strain sensors and displacement strain sensors for force and displacement detection and control during the grasping process. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 The attached figure is a schematic diagram of the structure of the flexible precision manipulator with parallel and envelope grasping functions provided by the present invention;

[0028] Figure 2 The attached figure is a structural schematic diagram of the gripping mechanism assembly provided by the present invention;

[0029] Figure 3 The attached figure is a schematic diagram of the right-angle transmission mechanism provided by the present invention without deformation;

[0030] Figure 4 The attached figure is a schematic diagram of the deformation structure of the right-angle transmission mechanism provided by the present invention;

[0031] Figure 5 The attached figure is a schematic diagram of the clamping mechanism provided by the present invention without deformation;

[0032] Figure 6 The attached figure is a schematic diagram of the deformation structure of the clamping mechanism provided by the present invention;

[0033] Figure 7 The attached figure is a schematic diagram of the symmetrical linear mechanism provided by the present invention without deformation;

[0034] Figure 8 The attached figure is a schematic diagram of the symmetrical linear mechanism provided by the present invention undergoing deformation;

[0035] Figure 9 The attached figure is a schematic diagram of the non-deformed structure of the one-to-two differential mechanism provided by the present invention;

[0036] Figure 10 The attached figure is a structural schematic diagram of the deformation of the one-to-two differential mechanism provided by the present invention;

[0037] Figure 11The attached figure is a structural schematic diagram of the initial state of the robotic arm grasping a fixed part provided by the present invention;

[0038] Figure 12 The attached figure is a schematic diagram of the structure of the robotic arm provided by the present invention, in which one side of the clamping end of the fixed part is obstructed.

[0039] Figure 13 The attached figure is a schematic diagram of the structure in which the two clamping ends of the robotic arm provided by the present invention are obstructed when grasping a fixed part.

[0040] in:

[0041] 1-Gripping mechanism assembly; 101-Symmetrical linear mechanism; 102-Differential mechanism; 103-Right-angle transmission mechanism; 104-Clamping mechanism; 105-Connecting block; 11-First right-angle hinge; 12-First crossbeam; 13-Second right-angle hinge; 14-Intermediate platform; 21-Central semi-circular hinge; 22-Second crossbeam; 23-First semi-circular hinge; 31-Second semi-circular hinge; 32-First longitudinal beam; 33-Third crossbeam; 34-Second longitudinal beam; 35-First flexible beam; 36-Fourth crossbeam; 37-Third semi-circular... 38-Inclined beam; 39-Fifth semicircular hinge; 41-Support beam; 42-Fourth semicircular hinge; 43-Short beam; 44-Gripper; 45-Second flexible beam; 46-Regular object; 47-Irregular object; 48-Sixth semicircular hinge; 49-Seventh semicircular hinge; 2-Force strain sensor; 3-Displacement strain sensor; 4-Drive motor; 5-Motor base; 6-Support base; 7-Base plate; 81-Fixed base; 82-Grip end; 83-Fixed object; 84-Object centerline; 85-Manipulator centerline. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figure 1As shown, this embodiment of the invention discloses a flexible precision manipulator with parallel and envelope grasping functions, mainly composed of a grasping mechanism assembly 1, a force strain sensor 2, a displacement strain sensor 3, a voice coil motor, a motor base 5, a support base 6, and a base plate 7. The voice coil motor includes a moving coil 41 and a fixed coil 42. The grasping mechanism assembly 1 is mounted on the base plate 7 via the support base 6, the fixed coil 42 of the voice coil motor is mounted on the motor base 5, and the moving coil 41 is connected to the grasping mechanism assembly 1. Here, the manipulator uses strain gauge sensors for information feedback, mainly considering the small size of the strain gauges themselves. The calibrated force strain sensor 2 and displacement strain sensor 3 can provide the manipulator with clamping force and motion information during the grasping process, so that the manipulator can perform precise force / motion control. Before the manipulator grasps an object, the grasping force is zero, and closed-loop motion control is performed. After the manipulator grasps an object, force control is performed to ensure stable grasping of the object and avoid damage to the object due to excessive grasping force.

[0044] Specifically, such as Figure 1-2 As shown, the gripping mechanism component 1 has a symmetrical structure and adopts an integrated design and processing. It mainly includes a symmetrical linear mechanism 101, a one-to-two differential mechanism 102, a right-angle transmission mechanism 103, and a clamping mechanism 104. A voice coil motor, a connecting block 105, and a support base 6 are fixed on the base plate 7. The connecting block 105 and the voice coil motor are arranged at intervals. There are two support bases 6, which are arranged on both sides of the voice coil motor and located between the connecting block 105 and the voice coil motor. The moving coil 41 is connected to the intermediate platform 14 of the symmetrical linear mechanism 101. The symmetrical linear mechanism 101 is symmetrically arranged along the central axis of the voice coil motor. Four sets of flexible units are flexibly connected on both sides of the intermediate platform 14. The four sets of flexible units are arranged symmetrically in pairs. Each set of flexible units includes a first right-angle hinge 11, a first crossbeam 12, and a second right-angle hinge 13.

[0045] like Figure 3 As shown, the two sides of the intermediate platform 14 are flexibly connected to the first crossbeam 12 by the second right-angle hinge 13. The first crossbeam 12 and the support base 6 are flexibly connected by the first right-angle hinge 11. The displacement strain sensor 3 is installed on the second right-angle hinge 13.

[0046] like Figure 4 As shown, when the intermediate platform 14 is subjected to a force F or a displacement din, the symmetry of the mechanism can ensure that the intermediate platform 14 has very good translational characteristics and can avoid lateral displacement or lateral force being applied to the moving coil 41 of the voice coil motor, thereby ensuring that the voice coil motor can work normally.

[0047] like Figure 5As shown, the one-to-two differential mechanism 102 mainly includes a central semicircular hinge 21, a second crossbeam 22, and four first semicircular hinges 23. Each side of the second crossbeam 22 connects to two first semicircular hinges 23, primarily serving to decouple motion, i.e., driving subsequent connecting mechanisms without interfering with their motion. The one-to-two differential mechanism 102 is an underdriven mechanism, i.e., it has one input motion din and two output motions d1 and d2. The input end of the one-to-two differential mechanism 102 is flexibly connected to the end of the intermediate platform 14 away from the moving coil via the central semicircular hinge 21. The two output ends are respectively connected to the third crossbeams 33 of the two right-angle transmission mechanisms 103. The clamping mechanism 104 is installed at the output end of the right-angle transmission mechanism 103, i.e., the clamping mechanism 104 is installed on the fourth crossbeam 36 of the right-angle transmission mechanism 103.

[0048] like Figure 5-6 As shown, the input motion is provided by a voice coil motor. When the two output motions are the same (d1=d2), the second crossbeam 22 only translates and does not rotate (θ=0). However, when the two output motions are different (d1≠d2), the second crossbeam 22 moves while rotating around the central semicircular hinge 21 (θ≠0).

[0049] The characteristic of the one-to-two differential mechanism 102 gives the robotic arm a special function: it can grasp a fixed object, such as... Figure 7-9 As shown, the fixed object 83 is fixed on the fixed base 81. When there is a deviation δ between the relative position of the robot and the fixed object 83, the two gripping ends 82 move synchronously before the gripping end 82 touches the object. At this time, the second crossbeam 22 only translates and does not rotate. When the left gripping end 82 touches the object and stops moving, the right gripping end 82 can continue to move under the adjustment of the one-to-two differential mechanism 102 until it touches the object. Most precision robots can only grasp suspended objects, that is, objects without any motion constraints. The gripping ends of such robots often can only move synchronously. If one side is blocked and stops moving, the other grippers cannot continue to move, so it is difficult to grasp fixed objects.

[0050] like Figure 10-11As shown, the right-angle transmission mechanism includes four second semi-circular hinges 31, two first longitudinal beams 32, two third transverse beams 33, a second longitudinal beam 34, four fifth semi-circular hinges 39, four first flexible beams 35, a fourth transverse beam 36, two third semi-circular hinges 37, and an inclined beam 38. The main purpose of this structure is to convert vertical motion (d1 or d2) into horizontal clamping motion (dg1 or dg2). The four second semi-circular hinges 31, the two third transverse beams 33, the width edge of the connecting block 105, and the second longitudinal beam 34 form a first parallelogram mechanism as an input end guide component. The four fifth semi-circular hinges 39, the two first longitudinal beams 32, the length edge of the connecting block 105, and the fourth transverse beam 36 form a second parallelogram structure as an output end guide component. The first parallelogram mechanism and the second parallelogram structure are arranged at right angles. This structure mainly guides the linear motion of the input and output ends of the right-angle transmission mechanism.

[0051] Both the first and second parallelogram mechanisms have two first flexible beams 35 inside. The two first flexible beams 35 and the edges of the first and second parallelogram mechanisms form a triangular configuration. Specifically, the two first flexible beams 35 in the first parallelogram mechanism and the width edge of the connecting block 105 form a triangular configuration, and the two first flexible beams 35 in the second parallelogram mechanism and the length edge of the connecting block 105 form a triangular configuration. This structural arrangement can eliminate the parasitic motion of the first and second parallelogram mechanisms, thereby ensuring the linear motion of the input and output guide components. The two ends of the inclined beam 38 are connected to the second longitudinal beam 34 and the fourth transverse beam 36 respectively through two third semi-circular hinges 37, which can convert vertical motion into horizontal motion. During the motion conversion process, the inclined beam 38 rotates around its instantaneous center.

[0052] like Figure 12-13As shown, the clamping mechanism 104 consists of a support beam 41, a fourth semi-circular hinge 42, two short beams 43, a gripper 44, and a second flexible beam 45. The force strain sensor 2 is installed on the outer wall of the root of the second flexible beam 45. The entire clamping mechanism 104 moves horizontally under the drive of the right-angle transmission mechanism 103. When clamping a geometrically regular object 46 (e.g., a cylindrical, spherical, or square object), the second flexible beam 45 is used for clamping, and the hinge of the clamping mechanism 104 does not deform. At this time, the gripping method is parallel gripping. When clamping an irregular object 47, the middle short beam 43 is used for clamping. At this time, the fourth semi-circular hinge 42, the sixth semi-circular hinge 48, and the seventh semi-circular hinge 49 all bend and deform. Both clamping mechanisms 104 bend inward and use an enveloping gripping method to clamp the object. This method is more stable for clamping irregular objects 47.

[0053] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0054] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible precision manipulator with parallel and enveloping grasping functions, comprising a substrate (7) and a drive mechanism (4) mounted on the substrate (7), characterized in that, It also includes a gripping mechanism assembly (1), which includes a symmetrical linear mechanism (101), a one-to-two differential mechanism (102), a right-angle transmission mechanism (103), and a clamping mechanism (104); The symmetrical linear mechanism (101) is connected to the power output end of the drive mechanism (4); The one-to-two differential mechanism (102) is arranged in parallel with the symmetrical linear mechanism (101). The input end of the one-to-two differential mechanism (102) is connected to the middle part of the symmetrical linear mechanism (101). A connecting block (105) is fixed on the side of the base plate (7) near the one-to-two differential mechanism (102). There are two right-angle transmission mechanisms (103), and the two right-angle transmission mechanisms (103) are respectively connected to the two output ends of the one-to-two differential mechanism (102); each right-angle transmission mechanism (103) includes an input end guide assembly and an output end guide assembly arranged at right angles; the input end guide assembly is a first parallelogram mechanism composed of a second longitudinal beam (34), two third cross beams (33), the width edge of the connecting block (105) and four second semi-circular hinges (31); the output end guide assembly is a second parallelogram structure composed of two first longitudinal beams (32), the length edge of the connecting block (105), four fifth semi-circular hinges (39) and a fourth cross beam (36); the second longitudinal beam (34) and the fourth cross beam (36) are connected by an inclined beam (38) through a third semi-circular hinge (37); There are two clamping mechanisms (104), which are connected to the two fourth crossbeams (36) respectively and are arranged perpendicular to the fourth crossbeams (36).

2. A flexible precision manipulator with parallel and envelope grasping functions according to claim 1, characterized in that, Two first flexible beams (35) are connected between the second longitudinal beam (34) and the connecting block (105) in the width direction, and between the fourth cross beam (36) and the connecting block (105) in the length direction. The two first flexible beams (35) and the connecting block (105) in the width direction, and the two first flexible beams (35) and the connecting block (105) in the length direction, all form a triangular structure.

3. A flexible precision manipulator with parallel and envelope grasping functions according to claim 1, characterized in that, Each of the clamping mechanisms (104) includes a gripper (44), a support beam (41), and a second flexible beam (45); the gripper (44) is parallel to the fourth crossbeam (36), one end of the support beam (41) is fixedly connected to the fourth crossbeam (36), and the other end is hinged to the gripper (44) through a fourth semi-circular hinge (42), and the second flexible beam (45) is fixed to the end of the gripper (44) away from the end connected to the support beam (41).

4. A flexible precision manipulator with parallel and envelope grasping functions according to claim 3, characterized in that, The gripper (44) and the fourth crossbeam (36) are connected by a flexible clamping member via a sixth semi-circular hinge (48); the flexible clamping member includes multiple short beams (43), which are connected by a seventh semi-circular hinge (49).

5. A flexible precision manipulator with parallel and envelope grasping functions according to claim 1, characterized in that, The driving mechanism (4) is a voice coil motor, which is fixed on the base plate (7) by a motor base (5). The voice coil motor includes a fixed coil (42) and a moving coil (41). The fixed coil (42) is mounted on the motor base (5), and the moving coil (41) is connected to the symmetrical linear mechanism (101).

6. A flexible precision manipulator with parallel and envelope grasping functions according to claim 5, characterized in that, The symmetrical linear mechanism (101) includes an intermediate platform (14), a support base (6), and a flexible unit; one end face of the intermediate platform (14) is connected to the moving coil (41); there are two support bases (6), which are fixed on the base plate (7) and located on both sides of the intermediate platform (14); the flexible unit is connected between the intermediate platform (14) and the support base (6); the flexible unit includes a first right-angle hinge (11), a first crossbeam (12), and a second right-angle hinge (13) connected end to end; the first right-angle hinge (11) is hinged to the support base (6), and the second right-angle hinge (13) is hinged to the intermediate platform (14).

7. A flexible precision manipulator with parallel and envelope grasping functions according to claim 6, characterized in that, The number of flexible units is four sets, and the four sets of flexible units are symmetrically connected in pairs between the support base (6) and the intermediate platform (14).

8. A flexible precision manipulator with parallel and envelope grasping functions according to claim 6, characterized in that, The input end of the one-to-two differential mechanism (102) is hinged to the end of the intermediate platform (14) away from the moving coil (41); the two output ends of the one-to-two differential mechanism (102) are hinged to the third crossbeam (33).

9. A flexible precision manipulator with parallel and envelope grasping functions according to claim 6, characterized in that, A displacement strain sensor (3) is installed on the second right-angle hinge (13).

10. A flexible precision manipulator with parallel and envelope grasping functions according to claim 3, characterized in that, A force strain sensor (2) is installed on the outer wall of the second flexible beam (45).

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