Bionic manipulator based on redundant parallel mechanism

Abstract

The invention provides a bionic manipulator based on a redundant parallel mechanism. The bionic manipulator is characterized by comprising a big arm assembly (1), an elbow joint (2), a small arm assembly (3) and a bionic palm (4), wherein the elbow joint (2) is composed of an elbow fixing mounting plate (2-1) and a steering engine driving assembly (2-4), an elbow fixing platform (2-1) is connected with the large arm moving end (1-5), the steering engine driving assembly (2-4) is connected with the bottom of the small arm fixing supporting frame (3-1), and a wrist joint of the bionic palm (4) is connected with the small arm moving end (3-6); compared with the prior art, the large arm assembly and the small arm assembly of the manipulator both adopt six-degree-of-freedom parallel mechanisms, the movement mode is consistent with the biomechanical principle of the upper limbs of human beings, and complex posture adjustment can be completed; the small arm assembly adopts the redundant parallel mechanism design, the arm working interval and the torsion angle range can be expanded, the flexibility of the mechanical arm is enhanced, and the mechanical arm adapts to complex operation and different working environments.

Description

Technical Field

[0001] The present invention provides a bionic machine, and in particular provides a bionic manipulator based on a redundant parallel mechanism. Background Art

[0002] As an important research direction in the field of robotics, bionic manipulators have attracted widespread attention in recent years. By drawing on the design principles of biological morphology and motion mechanisms in biology, bionic manipulators not only have excellent flexibility and adaptability, but also can achieve precise motion control. Compared with traditional industrial manipulators, bionic manipulators can more effectively cope with complex and dynamically changing environments by imitating the structure and motion laws of natural organisms. This makes the application of bionic manipulators in medical surgery, assisting the disabled, and in dangerous environments show broad prospects. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] Existing bionic manipulators have the following disadvantages:

[0005] 1. Limitations in flexibility and precision: Bionic manipulators are often rigid in structure and lack sufficient flexibility, which makes it difficult to precisely control objects with irregular shapes or uncertainties. Although some bionic manipulators are designed with flexibility in mind, many still cannot achieve subtle adjustments when performing precision operations.

[0006] 2. Spatial limitations. Currently, many bionic manipulators have a narrow working area. Their movements are limited by space and it is difficult to complete complex tasks. Due to the kinematic characteristics of the joints, the manipulator's operable space is often irregular in different positions and postures, and some areas may not be accessible, thus limiting its application in diverse environments.

[0007] 3. The power system is not efficient enough. The current power system, especially the motor and transmission device, cannot meet the needs of long-term efficient work. Energy consumption and heat dissipation of the system are still important factors restricting the performance improvement of bionic manipulators.

[0008] Therefore, in view of the shortcomings of the existing technology, a bionic manipulator design based on redundant parallel mechanism is proposed to overcome the limitations in flexibility, precision, space limitations and power efficiency. Specific improvements include: increasing redundant degrees of freedom through the design of parallel mechanism, thereby improving the flexibility and response speed of the manipulator; redundant degrees of freedom make the control strategy more flexible, able to adapt to objects of different shapes, weights and motion states, and significantly improve the stability and response speed during operation; at the same time, by reasonably distributing the load of redundant drive points, the single motor is avoided from overworking, thereby improving the overall system's work efficiency and long-term operation capability.

[0009] (II) Technical solution

[0010] The present invention aims to solve one of the technical problems existing in the prior art and provides a bionic manipulator based on a redundant parallel mechanism. The bionic manipulator has excellent dynamic performance and compact structural design, can achieve highly flexible movement, and exhibits high stiffness, precision and stability. By adopting a redundant parallel mechanism design, the manipulator significantly expands its workspace, exhibits excellent flexibility advantages, and can accurately simulate the natural movement of upper limb biomechanics.

[0011] To solve the above technical problems, the present invention adopts the following technical solutions:

[0012] A bionic manipulator based on a redundant parallel mechanism is characterized by comprising an upper arm component, an elbow joint, a lower arm component and a bionic palm; wherein the elbow joint is composed of an elbow fixed mounting plate and a steering gear drive component, the elbow fixed platform is connected to the upper arm moving end, the steering gear drive component is connected to the bottom of the lower arm fixed support frame, and the wrist joint of the bionic palm is connected to the lower arm moving end.

[0013] Preferably, the boom assembly as a whole is composed of a 3-UPU parallel mechanism, and each UPU branch chain is composed of a symmetrical Hooke's joint, a telescopic electric cylinder and an asymmetrical Hooke's joint; wherein the symmetrical Hooke's joint is used to connect the boom base with the bottom of the telescopic electric cylinder, and the asymmetrical Hooke's joint is used to connect the boom moving end with the top of the telescopic electric cylinder push rod; the telescopic electric cylinder can provide precise force control, which is used to drive the boom to rotate or extend, simulating the movement of human muscles.

[0014] Preferably, the elbow joint as a whole adopts a servo motion mechanism, which is mainly composed of a fixed mounting plate, a driving servo, a servo housing and a servo drive assembly; wherein, the driving servo is fixed to the servo housing by bolts, the groove at the bottom of the housing is docked and positioned with the fixed mounting plate, the servo drive assembly is fixed to the forearm base by bolts, the groove at the bottom of the fixed mounting plate is docked with the protrusion at the movable end of the upper arm and connected by bolts; the elbow joint provides one degree of rotational freedom, which can realize movements such as bending and stretching, and the power provided by the driving servo enables the joint to rotate within a specified range, simulating the movement of the human elbow.

[0015] Preferably, the forearm assembly as a whole adopts a redundant parallel mechanism design, and is mainly composed of a forearm fixed bracket, a screw module, a micro electric cylinder and a forearm movable end; wherein, three groups of screw modules are symmetrically distributed and fixed on the forearm fixed bracket; the slider of each group of screw modules is connected to the bottom of two micro electric cylinders through a ball joint; six groups of micro electric cylinders are evenly distributed and connected to the forearm movable end through micro Hooke's joints; the forearm movable end is positioned and fixed to the bottom of the wrist at the base of the hand through bolts; the forearm assembly realizes the movement of the forearm mechanism through the joint action of six micro electric cylinders and three screw modules; the forearm component adopts a redundant parallel mechanism design, which expands the motion range and angular amplitude of the forearm mechanism while maintaining six degrees of freedom, thereby achieving the movement flexibility requirements that exceed those of ordinary human forearms.

[0016] Preferably, the screw module is mainly provided with rotational power by a driving motor, and the driving motor transmits power to the transmission screw through a coupling; the driving motor is fixed to the motor seat by bolts, and the ball joint connecting shaft is connected to the bottom ball joint of the micro electric cylinder through a slider; the bearing seat, the bearing seat and the motor seat are fixed by bolts and assembled on the forearm fixed support bracket; the slider engages with the transmission screw and maintains linear motion under the guidance of the support shaft; the three sets of screw modules provide three sliding redundant degrees of freedom for the forearm assembly.

[0017] Preferably, the bionic palm is composed of a base of hand, which is composed of a wrist and a palm. The structure of the palm includes three bases of palm, a thumb and four fingers; the thumb is connected to the base of hand through the base of palm; the index finger and the middle finger are directly connected to the base of hand; the ring finger and the little finger are respectively connected to the base of hand through the base of palm and the base of palm; the three bases of palm are firmly connected to the base of hand through positioning bolts.

[0018] Preferably, each finger of the bionic palm is provided with a wire slot for accommodating the output stranded wire, a wire shaft is installed in the wire slot, and both ends of the wire shaft are respectively fixed to the wire slot; the output stranded wire is transmitted through the space between the wire shaft and the wire slot.

[0019] Preferably, the base of the bionic palm is provided with a plurality of wire grooves for outputting twisted wires, wherein five micro-servos are evenly fixed to the wrist part in the base of the hand by bolts; a wire hole is provided on the shaft of each micro-servo, which is respectively connected to the output twisted wires of the five fingers.

[0020] (III) Beneficial effects of the present invention

[0021] The present invention proposes a bionic manipulator based on a redundant parallel mechanism. The forearm assembly adopts a redundant parallel mechanism design, which further enhances the working area and torsion angle range of the arm, while ensuring the rigidity and load capacity of the manipulator structure. This redundant design can not only improve the flexibility of the manipulator, but also speed up the motion response speed, and enhance the accuracy and reliability of the operation. While ensuring high load bearing capacity, the design can ensure that the manipulator can continue to operate efficiently in complex tasks, has stronger adaptability and operability, and is suitable for a variety of complex and dynamic working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of the bionic manipulator of the redundant parallel mechanism of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the upper arm component in the bionic manipulator of the redundant parallel mechanism of the present invention;

[0024] Figure 3 It is a schematic diagram of the elbow joint structure in the bionic manipulator of the redundant parallel mechanism of the present invention;

[0025] Figure 4 It is a schematic structural diagram of the forearm component of the bionic manipulator of the redundant parallel mechanism of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the screw rod module in the bionic manipulator forearm component of the redundant parallel mechanism of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of a bionic palm in a bionic manipulator of a redundant parallel mechanism of the present invention;

[0028] Figure 7 A schematic diagram of the distribution of micro-servos at the base of the hand in the bionic palm of the bionic manipulator with redundant parallel mechanism of the present invention; DETAILED DESCRIPTION

[0029] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0032] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0033] To better understand the above technical solution, the exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0034] The present invention provides a bionic manipulator based on a redundant parallel mechanism, aiming to overcome the limitations of existing manipulators in terms of flexibility, precision, adaptability, and power efficiency. The main innovative points of this design include: by adopting the ingenious design of a redundant parallel mechanism, the flexibility and working range of the manipulator can be improved, making the control strategy more flexible, better adapting to objects of different shapes, weights, and motion states, and effectively enhancing the stability and reaction speed during operation. In addition, by reasonably distributing the load of redundant drive points, the overloading of a single motor can be effectively avoided, thereby improving the overall working efficiency and long-term operation ability of the system.

[0035] As Figure 1 shown, a bionic manipulator based on a redundant parallel mechanism mainly consists of a large arm assembly 1, an elbow joint 2, a small arm assembly 3, and a bionic palm 4. The elbow joint 2 is composed of an elbow fixed mounting plate 2-1 and a servo drive assembly 2-4. Among them, the elbow fixed mounting plate 2-1 is connected to the large arm mobile end 1-5, and the servo drive assembly 2-4 is connected to the bottom of the small arm fixed support 3-1. The bionic palm 4 is connected to the small arm mobile end 3-6 through a wrist joint. Each component of this bionic manipulator can provide multiple degrees of freedom. Among them, the large arm assembly provides six degrees of freedom, the elbow joint provides one rotational degree of freedom, the small arm assembly provides six degrees of freedom, and the bionic palm has seventeen rotational degrees of freedom. This design with multiple degrees of freedom enables the manipulator to perform complex and delicate actions, thereby improving its flexibility and adaptability.

[0036] As Figure 2As shown, the boom assembly 1 adopts a 3-UPU parallel mechanism structure as a whole, and each UPU branch chain is composed of a symmetrical Hooke's joint 1-2, a telescopic electric cylinder 1-3 and an asymmetrical Hooke's joint 1-4. Specifically, the symmetrical Hooke's joint 1-2 connects the boom base 1-1 and the bottom of the telescopic electric cylinder 1-3, while the asymmetrical Hooke's joint 1-4 connects the boom moving end 1-5 and the top of the telescopic electric cylinder 1-3 push rod. By adopting the 3-UPU parallel mechanism, the boom assembly can provide six degrees of freedom, so that the manipulator has high flexibility when performing tasks and can complete complex movements. The telescopic electric cylinder 1-3 provides precise force control, making the rotation and telescopic movement of the boom more stable and controllable, and can be precisely adjusted according to different work requirements. The three groups of telescopic electric cylinders 1-3 work in coordination to simulate the movement of human muscles, have efficient motion control capabilities, can achieve smooth telescopic and rotation, and can enhance the biosimulation effect of the manipulator. This design enables the boom to withstand large loads and maintain high durability.

[0037] like Figure 3 As shown, the elbow joint 2 as a whole adopts a steering gear motion mechanism design, which is mainly composed of a fixed mounting plate 2-1, a driving steering gear 2-2, a steering gear housing 2-3 and a steering gear drive assembly 2-4. In this design, the driving steering gear 2-2 is fixed to the steering gear housing 2-3 by bolts, the bottom groove of the housing is docked and positioned with the fixed mounting plate 2-1, the steering gear drive assembly 2-4 is fixed to the base of the forearm by bolts, and the bottom groove of the fixed mounting plate 2-1 is positioned with the protrusion of the movable end 1-5 of the large arm and connected by bolts. The elbow joint 2 as a whole provides a rotational freedom. Through the steering gear drive mechanism, the elbow joint can accurately perform movements such as bending and stretching, providing good motion control capabilities, ensuring that the manipulator can complete precise movements when performing tasks. The power provided by the driving steering gear enables the elbow joint to move flexibly within a specified rotation range, adapt to different operation scenarios, and improve the adaptability of the manipulator.

[0038] like Figure 4 , Figure 5As shown, the forearm assembly 3 adopts a redundant parallel mechanism design, which mainly includes a forearm fixed support frame 3-1, a screw module 3-2, a micro electric cylinder 3-3 and a forearm moving end 3-6. Among them, the screw module 3-2 is provided with rotational power by a drive motor 3-2-1, and the motor transmits power to the transmission screw 3-2-3 through a coupling 3-2-9. The drive motor 3-2-1 is fixed to the motor seat 3-2-2 by bolt connection, and the two ball joint connecting shafts 3-2-6 fixed on the slider 3-2-4 are used to connect the ball joints at the bottom of the micro electric cylinder 3-3. The bearing seat 3-2-3, the bearing seat 3-2-5 and the motor seat 3-2-2 are bolted and assembled on the forearm fixed support frame 3-1. The slider is engaged with the transmission screw 3-2-3 and maintains linear motion under the guidance of the support shaft 3-2-8. Three groups of lead screw modules 3-2 are evenly distributed and fixed on the forearm fixed support 3-1, providing three sliding redundant degrees of freedom for the forearm assembly 3. Each group of lead screw module sliders is connected to two micro electric cylinders 3-3 through a ball joint 3-4, and six groups of micro electric cylinders 3-3 are evenly distributed and connected to the forearm moving end 3-6 through a micro Hooke's joint 3-5. The forearm moving end 3-6 is fixed to the bottom of the wrist at the root of the hand 4-1 by bolts. The forearm assembly 3 realizes the bionic movement of the forearm through the coordination of six micro electric cylinders 3-3 and three lead screw modules 3-3. The introduction of redundant degrees of freedom can be used to provide higher control accuracy in specific circumstances, especially when the load changes or error corrections, the workload can be shared by the redundant lead screw modules 3-2 to avoid overloading the original drive, thereby improving the reliability and durability of the system. Through the coordinated work of the screw module 3-2 and the micro electric cylinder 3-3, in addition to the original six degrees of freedom, the motion range and angular amplitude of the forearm assembly have been significantly expanded, providing higher flexibility and being able to surpass the motion capabilities of an ordinary human forearm. At the same time, it can ensure the stability and efficiency of the forearm assembly during movement, avoid instability and errors during movement, and improve the accuracy of operation.

[0039] like Figure 6 , Figure 7As shown, the bionic palm 4 has the base 4-1 as the main component, wherein the wrist and the palm together form the base 4-1 as an integral component. The palm structure includes the base, a thumb 4-3 with two degrees of freedom, and four fingers with three degrees of freedom. The thumb 4-3 is connected to the base 4-1 through the base 4-2, which can provide three degrees of rotational freedom. The index finger 4-4 and the middle finger 4-5 are directly connected to the base 4-1, each providing three degrees of rotational freedom. The ring finger 4-6 and the little finger 4-7 are connected to the base 4-1 through the base 4-8 and the base 4-9, respectively, each providing four degrees of rotational freedom. The three bases are fixedly connected to the base 4-1 through the positioning bolts 4-10. The bionic mechanical palm 4 has a highly flexible design, so that the thumb 4-3, the index finger 4-4, the middle finger 4-5, the ring finger 4-6 and the little finger 4-7 have the ability to move with multiple degrees of freedom. Each finger of the bionic palm 4 is provided with a wire slot for accommodating the output stranded wire, and a wire shaft is installed in the wire slot, and the two ends of the wire shaft are fixed to the wire slot respectively. The output stranded wire is transmitted through the space between the wire shaft and the wire slot. A plurality of wire slots for the output stranded wire are provided in the base of the hand 4-1, and five micro-servos 4-11 are evenly fixed by bolts in the wrist area of ​​the base of the hand. Each micro-servo 4-11 is provided with a wire hole on the shaft, which is connected to the output stranded wire of the five fingers respectively, so that the movement of each finger can be accurately controlled. The ingenious connection between the fingers and the base of the palm, and the stable fixation of the positioning bolt 4-10, enable the entire palm to be operated with high precision and high flexibility. Through the fine design of the thumb, index finger, middle finger, ring finger and little finger, the bionic palm can achieve multi-degree-of-freedom movement, enabling it to complete a variety of complex hand movements and simulate the flexibility and precision of the human hand. The structural design of each finger supports high-precision control, combined with the precise drive of the micro-servo, it can perform delicate operations, and is suitable for complex grasping, operation and handling tasks.

[0040] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A bionic manipulator based on a redundant parallel mechanism, characterized in that: The invention comprises an upper arm component (1), an elbow joint (2), a lower arm component (3) and a bionic palm (4); wherein the elbow joint (2) is composed of an elbow fixing mounting plate (2-1) and a steering gear drive component (2-4); the elbow fixing platform (2-1) is connected to the upper arm movable end (1-5); the steering gear drive component (2-4) is connected to the bottom of the lower arm fixing support (3-1); and the wrist joint of the bionic palm (4) is connected to the lower arm movable end (3-6).

2. The bionic manipulator based on redundant parallel mechanism according to claim 1, characterized in that: The boom assembly (1) is composed of a 3-UPU parallel mechanism as a whole, and each UPU branch chain is connected by a symmetrical Hooke's joint (1-2), a telescopic electric cylinder (1-3) and an asymmetrical Hooke's joint (1-4); wherein the symmetrical Hooke's joint (1-2) is used to connect the boom base (1-1) and the bottom of the telescopic electric cylinder (1-3), and the asymmetrical Hooke's joint (1-4) is used to connect the boom moving end (1-5) and the top of the telescopic electric cylinder (1-3) push rod; the telescopic electric cylinder (1-3) can provide precise force control, and is used to drive the boom to rotate or extend, simulating the movement of human muscles.

3. The bionic manipulator based on redundant parallel mechanism according to claim 1, characterized in that: The elbow joint (2) as a whole adopts a steering gear movement mechanism, which is mainly composed of a fixed mounting plate (2-1), a driving steering gear (2-2), a steering gear housing (2-3) and a steering gear drive assembly (2-4); wherein the driving steering gear (2-2) is fixed to the steering gear housing (2-3) by bolts, the groove at the bottom of the housing is docked and positioned with the fixed mounting plate (2-1), the steering gear drive assembly (2-4) is fixed to the forearm base by bolts, the groove at the bottom of the fixed mounting plate (2-1) is docked with the protrusion of the upper arm movable end (1-5) and connected by bolts; the elbow joint (2) provides a rotational freedom, which can realize movements such as bending and stretching, and the power provided by the driving steering gear (2-2) enables the joint to rotate within a specified range, simulating the movement of a human elbow.

4. The bionic manipulator based on redundant parallel mechanism according to claim 1, characterized in that: The forearm assembly (3) as a whole adopts a redundant parallel mechanism design, and is mainly composed of a forearm fixed support frame (3-1), a lead screw module (3-2), a micro electric cylinder (3-3) and a forearm movable end (3-6); wherein three groups of lead screw modules (3-2) are symmetrically distributed and fixed on the forearm fixed support frame (3-1); the slider of each group of lead screw modules is connected to the bottom of two micro electric cylinders (3-3) through a ball joint (3-4); six groups of micro electric cylinders (3-3) are evenly distributed and connected through a micro Hooke's joint (3-4). 5) is connected to the movable end of the forearm (3-6); the movable end of the forearm (3-6) is positioned and fixed with the bottom of the wrist at the base of the hand (4-1) by means of bolts; the forearm assembly (3) realizes the movement of the forearm mechanism through the joint action of six micro-electric cylinders (3-3) and three screw modules (3-2); the forearm component (3) adopts a redundant parallel mechanism design, which expands the movement range and rotation angle of the forearm mechanism while maintaining six degrees of freedom, thereby achieving the movement flexibility requirements that exceed those of ordinary human forearms.

5. The bionic manipulator based on redundant parallel mechanism according to claim 4, characterized in that: The screw module (3-2) is mainly provided with rotational power by a driving motor (3-2-1), and the driving motor (3-2-1) transmits power to the transmission screw (3-2-3) through a coupling (3-2-9); the driving motor (3-2-1) is fixed to the motor seat (3-2-2) by bolts, and the ball joint connecting shaft (3-2-6) is connected to the bottom ball joint of the micro electric cylinder (3-3) through a slider (3-2-4); the bearing seat (3-2-3), the bearing seat (3-2-5) and the motor seat (3-2-2) are fixed by bolts and assembled on the forearm fixed support frame (3-1); the slider is engaged with the transmission screw (3-2-3) and maintains linear motion under the guidance of the support shaft (3-2-8); the three sets of screw modules (3-2) provide three sliding redundant degrees of freedom for the forearm assembly (3).

6. The bionic manipulator based on redundant parallel mechanism according to claim 1, characterized in that: The bionic palm (4) is composed of a base of hand (4-1), which is composed of a wrist and a palm. The structure of the palm includes three bases of palm, a thumb (4-3) and four fingers; the thumb (4-3) is connected to the base of hand (4-1) through a base of palm (4-2); the index finger (4-4) and the middle finger (4-5) are directly connected to the base of hand (4-1); the ring finger (4-6) and the little finger (4-7) are respectively connected to the base of hand (4-1) through a base of palm (4-8) and a base of palm (4-9); the three bases of palm are firmly connected to the base of hand (4-1) through positioning bolts (4-10).

7. The bionic manipulator based on redundant parallel mechanism according to claim 6, characterized in that: Each finger of the bionic palm (4) is provided with a wire slot for accommodating the output twisted wire, a wire shaft is installed in the wire slot, and both ends of the wire shaft are respectively fixed to the wire slot; the output twisted wire is transmitted through the space between the wire shaft and the wire slot.

8. The bionic manipulator based on redundant parallel mechanism according to claim 6, characterized in that: The base (4-1) of the bionic palm (4) is provided with a plurality of wire grooves for outputting twisted wires, wherein five micro-servos (4-11) are evenly fixed to the wrist portion in the base (4-1) by bolts; and a wire hole is provided on the shaft of each micro-servo (4-11) and is respectively connected to the output twisted wires of five fingers.

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