Integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom

Abstract

The invention discloses an integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom, and belongs to the field of mechanical design and manufacturing. The dexterous manipulator is composed of a palm module, a base and three-degree-of-freedom fingers, wherein the palm module is mounted at the top of the base; a fixed mounting through hole used for being connected with an external mechanical arm is designed in the bottom of the base; the three-degree-of-freedom fingers are integrally mounted on the palm module, each finger has three active degrees of freedom, and 15-degree-of-freedom operation and movement of the dexterous manipulator are achieved by controlling cooperation of the five fingers; rotation of a motor at the palm part is converted into bending motion of all joints of the five fingers through a compact parallel connection link mechanism, all drivers are integrated at the palm part, and flexible operation of the manipulator with fifteen active degrees of freedom can be achieved under the condition that an additional driving device is not needed. The technical problem that the size and the multi-control freedom degree of an existing dexterous manipulator driver are difficult to consider at the same time is solved.

Description

Technical Field

[0001] The invention belongs to the field of mechanical design and manufacturing, and in particular relates to an integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom. Background Art

[0002] Human hands have a high level of dexterity and sufficient gripping force, which can be used to perform a variety of tasks from grasping small objects to flexibly operating tools. Achieving high-level dexterous operation and movement similar to that of human hands is one of the core issues of current robot hand operation. Existing dexterous manipulators mainly include two technical routes: direct motor drive and tendon drive, which compromise with each other in terms of active control degrees of freedom, gripping torque and device size. Dexterous manipulators within the size of human hands usually use joints based on direct motor drive, with only six or even fewer active degrees of freedom; when the degrees of freedom increase, tendon drive is usually used due to the limitation of motor size, and the drive is difficult to integrate. Existing dexterous manipulators usually need to attach the drive and circuit components to the forearm, which is quite large, making it difficult to assemble the dexterous manipulator with existing commercial manipulators. Therefore, it is of great significance to develop a multi-degree-of-freedom five-finger dexterous manipulator with compact and highly integrated drives to achieve dexterous robot operation. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide an integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom. The dexterous manipulator integrates all drivers into the palm and realizes a total of fifteen active control degrees of freedom of five fingers through a compact parallel structure, so as to solve the contradiction between the integration degree and control degrees of freedom of existing dexterous manipulator devices.

[0004] In order to achieve the purpose of the present invention, the present invention adopts the following technical scheme:

[0005] An integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom comprises a palm module, a base and five three-degree-of-freedom dexterous fingers; the palm module is mounted on the top of the base; the bottom of the base is designed with a fixed mounting through hole for connecting an external manipulator; the three-degree-of-freedom fingers are integrated on the palm module, each finger has three active degrees of freedom, and the operation and movement of the dexterous manipulator with fifteen degrees of freedom are realized by controlling the cooperation of the five fingers;

[0006] The three-degree-of-freedom dexterous finger comprises a front-end driving assembly, a middle motion link and joint assembly, and a terminal fingertip; the driving assembly is mounted on a base, and drives the motion link and joint assembly linearly along the X-axis by stacking three terminal sliders in a triangular shape; the middle motion link and joint assembly comprises a joint drive chain, a proximal interphalangeal joint connector, and a distal interphalangeal joint connector; the joint drive chain is connected to a fixed seat of the driving assembly and three terminal sliders, the proximal interphalangeal joint connector is connected to the joint drive chain and the terminal fingertip, and the distal interphalangeal joint connector is connected to the joint drive chain and the terminal fingertip, respectively; the connection nodes of the proximal interphalangeal joint connector and the joint drive chain, and the connection nodes of the distal interphalangeal joint connector and the joint drive chain can swing and deflect; the motion link and joint assembly convert the linear motion of the three terminal sliders in the driving assembly into three-degree-of-freedom motion of the terminal fingertip.

[0007] As a preferred embodiment of the present invention, the driving assembly includes three linear actuators and a finger fixing seat; the three linear actuators are distributed in a triangle and are installed on the finger fixing seat;

[0008] Each linear drive includes a driving motor, a lead screw and an end slider, wherein the lead screw converts the rotational motion of the driving motor into the linear motion of the end slider; the three end sliders distributed in a triangle are respectively a first end slider and a second end slider located at the bottom of the triangle, and a third end slider located at the top of the triangle;

[0009] The finger fixing seat is provided with an X-direction mounting hole for mounting a screw rod, a slider structure for sliding connection with the end slider, and a Z-direction mounting hole located above and behind the third end slider.

[0010] As a preferred embodiment of the present invention, a shaft mounting portion is provided at the end of each end slider.

[0011] As a preferred embodiment of the present invention, the joint drive chain includes a pair of metacarpophalangeal joint crank connecting rods, a pair of spherical joint connecting rods, a first linear connecting rod, a second linear connecting rod and a T-shaped connecting rod; the three ends of the T-shaped connecting rod are provided with three hinged parts, and the metacarpophalangeal joint crank connecting rod is provided with four connecting ends;

[0012] The first connecting end of the pair of metacarpophalangeal joint crank connecting rods is hinged to the Z-direction mounting hole on the finger fixing seat through a cross-axis joint, so as to realize rotation with two degrees of freedom; one end of the pair of spherical joint connecting rods is hinged to the shaft mounting parts of the first end slider and the second end slider through a ball joint, and the other end of the pair of spherical joint connecting rods and the second connecting end of the pair of metacarpophalangeal joint crank connecting rods are hinged to the first hinge part of the T-shaped connecting rod through a ball joint and a rotating joint respectively; the third connecting end and the fourth connecting end of the pair of metacarpophalangeal joint crank connecting rods are hinged to the proximal interphalangeal joint connecting member and the distal interphalangeal joint connecting member respectively; under the transmission action of the pair of spherical joint connecting rods and the T-shaped connecting rod, the displacement difference of the linear motion of the first end slider and the second end slider can drive the metacarpophalangeal joint crank connecting rod to swing and deflect;

[0013] One end of the second linear link is hinged to the shaft mounting portion of the third end slider via a ball joint, the other end of the second linear link is hinged to one end of the first linear link via a rotary joint, the other end of the first linear link is connected to the second hinged portion of the T-shaped link via a rotary joint, and the rotation axes of the rotary joints at both ends of the first linear link are orthogonal to each other.

[0014] As a preferred embodiment of the present invention, the proximal interphalangeal joint connecting member includes a third linear connecting rod and an interphalangeal joint connecting plate, and the interphalangeal joint connecting plate includes three hinged parts;

[0015] One end of the third linear link is connected to the third hinged part of the T-shaped link through a rotation joint, the other end of the third linear link is connected to the first hinged part of the interphalangeal joint connecting plate through a rotation joint, the third connecting ends of a pair of metacarpophalangeal joint crank links are connected to the second hinged part of the interphalangeal joint connecting plate through a rotation joint; the third hinged part of the interphalangeal joint connecting plate is connected to the terminal fingertip through a rotation joint.

[0016] As a preferred embodiment of the present invention, the distal interphalangeal joint connecting member includes a distal interphalangeal joint crank connecting rod, one end of which is connected to the fourth connecting end of the metacarpophalangeal joint crank connecting rod through a rotation joint, and the other end is connected to the terminal fingertip through a rotation joint.

[0017] As a preferred embodiment of the present invention, among the five three-degree-of-freedom dexterous fingers, four are installed in the same row and in parallel on the top of the palm module, and the other is installed on one side of the palm module.

[0018] As a preferred embodiment of the present invention, a protective shell is further provided on the outside of the motion link and the joint assembly.

[0019] Compared with the prior art, the effects and benefits of the present invention are:

[0020] (1) The present invention converts the rotation of the motor in the palm into the bending motion of the joints of the five fingers through a compact parallel linkage mechanism, integrates all the drivers in the palm, and can achieve dexterous operation of the manipulator with up to fifteen active degrees of freedom without the need for additional drive devices.

[0021] (2) The present invention can effectively solve the problems of existing dexterous manipulators that are large in size and require external drive devices and that the hand has too little active freedom, thereby improving the operational dexterity and versatility of the dexterous manipulator. The structure adopts parallel rigid connecting rods, which has precise control, fast response, and large finger output torque, making it suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 1 is a schematic structural diagram of an integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom shown in an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of a single three-DOF dexterous finger shown in this embodiment;

[0024] Figure 3 is a schematic diagram of the structure of the linear drive shown in this embodiment;

[0025] Figure 4 is a schematic structural diagram of a finger fixing seat shown in this embodiment;

[0026] Figure 5 is a schematic structural diagram of a single three-degree-of-freedom dexterous finger without a housing and a kinematic link and joint assembly shown in this embodiment;

[0027] Figure 6 is a schematic diagram of the structure of components involved in the transmission of the metacarpophalangeal joint drive chain shown in this embodiment;

[0028] Figure 7 is a schematic diagram of the structure of components involved in the transmission of the proximal interphalangeal joint drive chain shown in this embodiment;

[0029] Figure 8 1 is a schematic diagram of the structure of components involved in the movement of the proximal interphalangeal joint four-bar linkage and the distal interphalangeal joint four-bar linkage shown in this embodiment;

[0030] Fig. 9 It is a schematic diagram of the crank-connecting rod structure of the metacarpophalangeal joint;

[0031] In the figure: 1-palm module, 2-three-degree-of-freedom dexterous finger, 201-first linear drive, 2011-first drive motor, 2012-first screw rod, 2013-first end slider, 202-second linear drive, 2021-second drive motor, 2022-second screw rod, 2023-second end slider, 203-third linear drive, 2031-third drive motor, 2032-third screw rod, 2033-third end slider, 204-finger fixing seat, 2041-Z-direction mounting hole, 2042-slider structure, 2043-X-direction mounting hole, 205-motion connecting rod and Joint assembly, 2051-mecarpophalangeal joint drive chain, 2052-proximal interphalangeal joint drive chain, 2053-proximal interphalangeal joint four-link, 2054-distal interphalangeal joint four-link, 2055-mecarpophalangeal joint crank connecting rod, 2056-spherical joint connecting rod, 2057-interphalangeal joint connecting plate, 2058-cross axis joint, 2059-T-type connecting rod, 20510-distal interphalangeal joint crank connecting rod, 20511-first linear connecting rod, 20512-second linear connecting rod, 20513-third linear connecting rod, 206-housing, 207-end fingertip, 3-base, 301-fixed mounting through hole. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings. The embodiments of the present invention described are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0033] like Figure 1 As shown, the present invention proposes an integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom, including a palm module 1, a base 3 and five three-degree-of-freedom dexterous fingers 2; the palm module 1 is installed on the top of the base 3; the bottom of the base 3 is designed with a fixed installation through hole 301 for connecting an external robot arm, and the manipulator can be installed on the robot arm through the fixed installation through hole 301; the three-degree-of-freedom fingers 2 are integrated on the palm module 1, each finger has three active degrees of freedom, and the operation and movement of the dexterous manipulator with fifteen degrees of freedom are realized by controlling the cooperation of the five fingers.

[0034] like Figure 2The figure shows a schematic diagram of the structure of a single three-degree-of-freedom dexterous finger proposed in this embodiment, wherein the three-degree-of-freedom dexterous finger 2 comprises a front-end driving assembly, a middle motion link and joint assembly, and a terminal fingertip; the driving assembly is mounted on a base 3, and drives the motion link and joint assembly linearly along the X-axis by stacking three triangular terminal sliders; the middle motion link and joint assembly comprises a joint drive chain, a proximal interphalangeal joint connector and a distal interphalangeal joint connector; the joint drive chain is connected to a fixed seat of the driving assembly and three terminal sliders, the proximal interphalangeal joint connector is connected to the joint drive chain and the terminal fingertip, and the distal interphalangeal joint connector is respectively connected to the joint drive chain and the terminal fingertip; the connection nodes of the proximal interphalangeal joint connector and the joint drive chain, and the connection nodes of the distal interphalangeal joint connector and the joint drive chain can swing and deflect; the motion link and joint assembly convert the linear motion of the three terminal sliders in the driving assembly into a three-degree-of-freedom motion of the terminal fingertip 207.

[0035] The driving assembly includes three linear drivers and a finger fixing seat 204; the three linear drivers are distributed in a triangle and installed on the finger fixing seat 204. Specifically, the three linear drivers are respectively the first linear driver 201, the second linear driver 202, and the third linear driver 203. The three linear drivers are all integrated and installed in the palm module 1, and the three linear drivers are distributed in parallel in a triangle and installed on the finger fixing seat 204. The finger fixing seat 204 plays the role of installing and limiting the linear drivers, so that the linear drivers can independently transmit their respective linear motions to the motion connecting rod and joint 205; the two ends of the motion connecting rod and joint 205 are respectively connected to the three linear drivers and the end fingertips 207, converting the linear motions of the three linear drivers into three-degree-of-freedom motions of the end fingertips 207; the housing 206 is installed on the periphery of the motion connecting rod and joint 205 to protect the motion connecting rod and joint 205.

[0036] like Figure 3The figure is a schematic diagram of the structure of the linear drive proposed in this embodiment. It can be seen that the three linear drives are arranged in parallel in a triangle. Each linear drive includes a drive motor, a screw rod and an end slider. The screw rod is connected to the rotation output end of the drive motor, and the end slider is installed at the end of the screw rod. The design of the screw rod can convert the rotational motion of the drive motor into the linear motion of the end slider. Specifically, the first linear driver 201 includes a first drive motor 2011, a first screw rod 2012 and a first end slider 2013, and the first screw rod 2012 converts the rotational motion of the first drive motor 2011 into the linear motion of the first end slider 2013; the second linear driver 202 includes a second drive motor 2021, a second screw rod 2022 and a second end slider 2023, and the second screw rod 2022 converts the rotational motion of the second drive motor 2021 into the linear motion of the second end slider 2023; the third linear driver 203 includes a third drive motor 2031, a third screw rod 2032 and a third end slider 2033, and the third screw rod 2032 converts the rotational motion of the third drive motor 2031 into the linear motion of the third end slider 2033. The first end slider 2013, the second end slider 2023 and the third end slider 2033 are all slidably connected to the finger fixing seat 204. Figure 4 As shown, for example, the finger fixing seat 204 is provided with an X-direction mounting hole 2043 for mounting a screw rod, a slider structure 2042 for sliding connection with the end slider, and a Z-direction mounting hole 2041 located at the rear and upper part of the third end slider. A slide rail can be provided on each end slider to match the slider structure 2042 designed on the finger fixing seat 204. A shaft mounting portion is provided at the end of each end slider for connecting the motion link and the joint assembly.

[0037] like Figure 5 As shown, the motion link and joint assembly 205 includes a metacarpophalangeal joint crank link 2055, a spherical joint link 2056, an interphalangeal joint connecting plate 2057, a cross-axis joint 2058, a T-shaped link 2059, a distal interphalangeal joint crank link 20510, etc., and is structurally divided into a joint drive chain, a proximal interphalangeal joint connector and a distal interphalangeal joint connector.

[0038] like Figure 6-7 As shown, the joint drive chain includes a pair of metacarpophalangeal joint crank links 2055, a pair of spherical joint links 2056, a first linear link 20511, a second linear link 20512 and a T-shaped link 2059; the three ends of the T-shaped link 2059 are provided with three hinged parts, and the metacarpophalangeal joint crank link 2055 is provided with four connecting ends, which are respectively Fig. 9 Ad in.

[0039] The first connecting end of the pair of metacarpophalangeal joint crank connecting rods 2055 is hinged to the Z-direction mounting hole 2041 on the finger fixing seat 204 through a cross-axis joint 2058, so as to realize rotation with two degrees of freedom; one end of a pair of spherical joint connecting rods 2056 is hinged to the shaft mounting parts of the first end slider 2013 and the second end slider 2023 through a ball joint, and the other end of the pair of spherical joint connecting rods 2056 and the second connecting end of the pair of metacarpophalangeal joint crank connecting rods 2055 are hinged to the first hinge part of the T-shaped connecting rod 2059 through a ball joint and a rotary joint; the third connecting end and the fourth connecting end of the pair of metacarpophalangeal joint crank connecting rods 2055 are hinged to the proximal interphalangeal joint connecting member and the distal interphalangeal joint connecting member respectively; under the transmission action of the pair of spherical joint connecting rods 2056 and the T-shaped connecting rod 2059, the displacement difference of the linear motion of the first end slider 2013 and the second end slider 2023 can drive the metacarpophalangeal joint crank connecting rod 2055 to swing and deflect.

[0040] One end of the second linear link 20512 is hinged to the shaft mounting portion of the third end slider 2033 via a ball joint, the other end of the second linear link 20512 is hinged to one end of the first linear link 20511 via a rotation joint, the other end of the first linear link 20512 is connected to the second hinged portion of the T-shaped link 2059 via a rotation joint, and the rotation axes of the rotation joints at both ends of the first linear link 20512 are orthogonal to each other.

[0041] From the transmission principle of the joint drive chain, it can be divided into a metacarpophalangeal joint drive chain 2051 and a proximal interphalangeal joint drive chain 2052 .

[0042] like Figure 6 The figure shows a schematic diagram of the various components involved in the transmission of the metacarpophalangeal joint drive chain proposed in this embodiment, including a finger fixing seat 204, a first end slider 2013, a second end slider 2023, two metacarpophalangeal joint crank connecting rods 2055 and two spherical joint connecting rods 2056; since the metacarpophalangeal joint crank connecting rods 2055 are connected to the finger fixing seat 204 through a cross-axis joint 2058, two degrees of freedom of rotation can be achieved; the spherical joint connecting rods 2056 connect the two metacarpophalangeal joint crank connecting rods 2055 with the first end slider 2013 and the second end slider 2023 through four spherical joints, and the displacement difference of the linear motion of the first end slider 2013 and the second end slider 2023 can drive the metacarpophalangeal joint crank connecting rods 2055 to swing and deflect.

[0043] like Figure 7The figure shows a schematic diagram of the components involved in the transmission of the proximal interphalangeal joint drive chain proposed in this embodiment, including the third end slider 2033, two spherical joint connecting rods 2056, a T-shaped connecting rod 2059, a first linear connecting rod 20511 and a second linear connecting rod 20512. Since the T-shaped link 2059 is connected in series with the third slider end 2033 through the first linear link 20511 and the second linear link 20512, and the second linear link 20512 and the third slider end 2033 are connected through a spherical joint, the linear motion of the third slider end 2033 can be transmitted to the T-shaped link 2059 through the first linear link 20511 and the second linear link 20512 connected in series; similarly, the T-shaped link 2059 and the two spherical joint links 2056 are connected through two spherical joints, and the linear motion of the first end slider 2013 and the second end slider 2023 can be transmitted to the T-shaped link 2059 through the two spherical joint links 2056.

[0044] In the present invention, the proximal interphalangeal joint connecting member includes a third linear connecting rod 20513 and an interphalangeal joint connecting plate 2057, and the interphalangeal joint connecting plate 2057 includes three hinged parts.

[0045] One end of the third linear link 20513 is connected to the third hinged part of the T-shaped link 2059 through a rotation joint, the other end of the third linear link 20513 is connected to the first hinged part of the interphalangeal joint connecting plate 2057 through a rotation joint, the third connecting ends of a pair of metacarpophalangeal joint crank links 2055 are connected to the second hinged part of the interphalangeal joint connecting plate 2057 through a rotation joint; the third hinged part of the interphalangeal joint connecting plate 2057 is connected to the terminal fingertip through a rotation joint.

[0046] The distal interphalangeal joint connecting member comprises a distal interphalangeal joint crank connecting rod 20510, one end of which is connected to the fourth connecting end of the metacarpophalangeal joint crank connecting rod 2055 via a rotary joint, and the other end of which is connected to the distal fingertip via a rotary joint.

[0047] From the transmission principle of the proximal interphalangeal joint connecting part and the distal interphalangeal joint connecting part, it can be divided into a proximal interphalangeal joint four-bar link 2053 and a distal interphalangeal joint four-bar link 2054.

[0048] like Figure 8 The figure shows the schematic diagram of the components involved in the transmission process of the proximal interphalangeal joint four-bar link 2053 and the distal interphalangeal joint four-bar link 2054 proposed in this embodiment.

[0049] The proximal interphalangeal joint four-bar linkage 2053 comprises a third linear link 20513, a metacarpophalangeal joint crank link 2055, a T-shaped link 2059 and an interphalangeal joint connecting plate 2057; the interphalangeal joint connecting plate 2057 is connected to the metacarpophalangeal joint crank link 2055 and the third linear link 20513 via a rotary joint; the third linear link 20513 is connected to the T-shaped link 2059 via a rotary joint; when the linear motion of the first end slider 2013 and the second end slider 2023 drives the third hinge portion of the T-shaped link 2059 to move, the power is transmitted to the third linear link 20513, thereby driving the end interphalangeal movement under the power transmission of the proximal interphalangeal joint four-bar linkage 2053.

[0050] The distal interphalangeal joint four-bar linkage 2054 includes an interphalangeal joint connecting plate 2057, a distal interphalangeal joint crank connecting rod 20510 and a terminal fingertip 207; the distal interphalangeal joint crank connecting rod 20510 is connected to the metacarpophalangeal joint crank connecting rod 2055 and the terminal fingertip 207 via a rotary joint; the interphalangeal joint connecting plate 2057 and the terminal fingertip 207 are connected via a rotary joint; similarly, under the power transmission action of the above-mentioned proximal interphalangeal joint four-bar linkage 2053, the interphalangeal joint connecting plate 2057 generates movement, which is then transmitted to the terminal fingertip 207 through the distal interphalangeal joint crank connecting rod 20510.

[0051] Under the power transmission of the proximal interphalangeal joint four-bar link 2053 and the distal interphalangeal joint four-bar link 2054, the metacarpophalangeal joint crank link 2055 and the third linear link 20513 directly drive the distal fingertip 207 to move.

[0052] Under the above structural design, a single finger can achieve three-degree-of-freedom driving, specifically:

[0053] Define the direction along the finger as the X-axis, the direction perpendicular to the X-axis on the plane where the fingers are arranged side by side as the Y-axis, and the axial direction of the Z-direction mounting hole of the finger fixing seat as the Z-axis;

[0054] The first degree of freedom is: when the first end slider 2013 and the second end slider 2023 move synchronously along the X-axis, the pair of spherical joint connecting rods 2056 drive the metacarpophalangeal joint crank 2055 connecting rod to rotate around the Y-axis of the cross-axis joint 2058;

[0055] The second degree of freedom is: when the first end slider 2013 and the second end slider 2023 move asynchronously along the X-axis, the displacement difference between the first end slider 2013 and the second end slider 2023 along the X-axis direction will drive the metacarpophalangeal joint crank 2055 to rotate around the Z-axis of the cross-axis joint 2058 through the pair of spherical joint connecting rods 2056;

[0056] The third degree of freedom is: when the third end slider 2033 moves linearly along the X-axis direction, it will drive the T-shaped link 2059 to rotate around the ball joint through the second linear link 20512 and the first linear link 20511, and then drive the interphalangeal joint connecting plate 2057 to rotate around the Y-axis of the rotational joint between the metacarpophalangeal joint crank link 2055 and the interphalangeal joint connecting plate through the third linear link 20513.

[0057] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the specific implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom, characterized in that: The invention comprises a palm module (1), a base (3) and five three-degree-of-freedom dexterous fingers (2); the palm module (1) is mounted on the top of the base (3); the bottom of the base (3) is provided with a fixed mounting through hole (301) for connecting an external robotic arm; the three-degree-of-freedom fingers (2) are integrated and mounted on the palm module (1), each finger having three active degrees of freedom, and the operation and movement of the dexterous robotic arm with fifteen degrees of freedom are realized by controlling the cooperation of the five fingers; The three-degree-of-freedom dexterous finger (2) comprises a front-end driving assembly, a middle motion link and joint assembly, and a terminal fingertip; the driving assembly is mounted on a base (3), and drives the motion link and joint assembly linearly along the X-axis by stacking three terminal sliders in a triangular shape; the middle motion link and joint assembly comprises a joint drive chain, a proximal interphalangeal joint connector, and a distal interphalangeal joint connector; the joint drive chain is connected to a fixed seat of the driving assembly and three terminal sliders, the proximal interphalangeal joint connector is connected to the joint drive chain and the terminal fingertip, and the distal interphalangeal joint connector is connected to the joint drive chain and the terminal fingertip, respectively; the connection nodes of the proximal interphalangeal joint connector and the joint drive chain, and the connection nodes of the distal interphalangeal joint connector and the joint drive chain can swing and deflect; the motion link and joint assembly converts the linear motion of the three terminal sliders in the driving assembly into a three-degree-of-freedom motion of the terminal fingertip (207).

2. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 1 is characterized in that: The driving assembly comprises three linear drivers and a finger fixing seat (204); the three linear drivers are distributed in a triangle shape and are mounted on the finger fixing seat (204); Each linear drive comprises a driving motor, a lead screw and an end slider, wherein the lead screw converts the rotational motion of the driving motor into the linear motion of the end slider; the three end sliders distributed in a triangle are respectively a first end slider (2013) and a second end slider (2023) located at the bottom of the triangle, and a third end slider (2033) located at the top of the triangle; The finger fixing seat (204) is provided with an X-direction mounting hole (2043) for mounting a screw rod, a slider structure (2042) for being slidably connected to the end slider, and a Z-direction mounting hole (2041) located above and behind the third end slider.

3. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 2 is characterized in that: A shaft mounting portion is provided at the end of each end slider.

4. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 3 is characterized in that: The joint drive chain comprises a pair of metacarpophalangeal joint crank connecting rods (2055), a pair of spherical joint connecting rods (2056), a first linear connecting rod (20511), a second linear connecting rod (20512) and a T-shaped connecting rod (2059); three ends of the T-shaped connecting rod (2059) are provided with three hinged parts, and the metacarpophalangeal joint crank connecting rod (2055) is provided with four connecting ends; The first connection ends of the pair of metacarpophalangeal joint crank connecting rods (2055) are hinged to the Z-direction mounting holes on the finger fixing seat (204) through a cross-axis joint (2058), so as to realize rotation with two degrees of freedom; one end of the pair of spherical joint connecting rods (2056) is respectively hinged to the shaft mounting parts of the first end slider (2013) and the second end slider (2023) through a ball joint, and the other ends of the pair of spherical joint connecting rods (2056) and the second connection ends of the pair of metacarpophalangeal joint crank connecting rods (2055) are respectively hinged to the shaft mounting parts of the first end slider (2013) and the second end slider (2023). The first hinged portion of the T-shaped connecting rod (2059) is hingedly connected via a ball joint and a rotary joint; the third connection end and the fourth connection end of the pair of metacarpophalangeal joint crank connecting rods (2055) are respectively hingedly connected to the proximal interphalangeal joint connecting member and the distal interphalangeal joint connecting member; under the transmission action of the pair of spherical joint connecting rods (2056) and the T-shaped connecting rod (2059), the displacement difference of the linear motion of the first end slider (2013) and the second end slider (2023) can drive the metacarpophalangeal joint crank connecting rod (2055) to swing and deflect; One end of the second linear link (20512) is hinged to the shaft mounting portion of the third end slider (2033) via a ball joint, the other end of the second linear link (20512) is hinged to one end of the first linear link (20511) via a rotary joint, the other end of the first linear link (20511) is connected to the second hinged portion of the T-shaped link (2059) via a rotary joint, and the rotation axes of the rotary joints at both ends of the first linear link (20511) are orthogonal to each other; The third hinged portion of the T-shaped connecting rod (2059) serves as the power output end of the joint drive chain and is used to connect the proximal interphalangeal joint connecting piece.

5. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 4 is characterized in that: The proximal interphalangeal joint connecting member comprises a third linear connecting rod (20513) and an interphalangeal joint connecting plate (2057), and the interphalangeal joint connecting plate (2057) comprises three hinged parts; One end of the third linear link (20513) is connected to the third hinged portion of the T-shaped link (2059) via a rotary joint, the other end of the third linear link (20513) is connected to the first hinged portion of the interphalangeal joint connecting plate (2057) via a rotary joint, the third connection ends of a pair of metacarpophalangeal joint crank links (2055) are connected to the second hinged portion of the interphalangeal joint connecting plate (2057) via a rotary joint; the third hinged portion of the interphalangeal joint connecting plate (2057) is connected to the terminal fingertip via a rotary joint.

6. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 4, characterized in that: The distal interphalangeal joint connecting member comprises a distal interphalangeal joint crank connecting rod (20510), one end of which is connected to the fourth connecting end of the metacarpophalangeal joint crank connecting rod (2055) via a rotary joint, and the other end is connected to the distal fingertip via a rotary joint.

7. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 1, characterized in that: Among the five three-degree-of-freedom dexterous fingers (2), four are installed in a row and in parallel on the top of the palm module (1), and the other is installed on one side of the palm module (1).

8. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 1, characterized in that: A protective shell is also provided outside the motion connecting rod and the joint assembly.

9. The integrated parallel five-finger dexterous manipulator with fifteen degrees of freedom according to claim 4, characterized in that: The three-degree-of-freedom driving method of a single finger is as follows: Define the direction along the finger as the X-axis, the direction perpendicular to the X-axis on the plane where the fingers are arranged side by side as the Y-axis, and the axial direction of the Z-direction mounting hole of the finger fixing seat as the Z-axis; The first degree of freedom is: when the first end slider (2013) and the second end slider (2023) move synchronously along the X-axis in a straight line, the pair of spherical joint connecting rods (2056) drive the metacarpophalangeal joint crank (2055) connecting rod to rotate around the Y-axis of the cross-axis joint (2058); The second degree of freedom is that when the first end slider (2013) and the second end slider (2023) move asynchronously along the X-axis, the displacement difference between the first end slider (2013) and the second end slider (2023) along the X-axis direction will drive the metacarpophalangeal joint crank (2055) to rotate around the Z-axis of the cross-axis joint (2058) through the pair of spherical joint connecting rods (2056); The third degree of freedom is: when the third end slider (2033) moves linearly along the X-axis direction, it drives the T-shaped link (2059) to rotate around the ball joint through the second linear link (20512) and the first linear link (20511), and then drives the interphalangeal joint connecting plate (2057) to rotate around the Y-axis of the rotational joint between the metacarpophalangeal joint crank link (2055) and the interphalangeal joint connecting plate through the third linear link (20513).

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