Six-degree-of-freedom dexterous manipulator based on slider-crank mechanism

Abstract

The invention relates to a six-degree-of-freedom dexterous manipulator based on a crank-slider mechanism, comprising: a simulated palm plate, which comprises a simulated palm center surface, a turntable and a support extending forward from the simulated palm plate, the turntable being rotatably mounted on the simulated palm center surface; the turntable limiting plate is fixedly mounted on the turntable; the bracket limiting plates are distributed at one end, far away from the simulated palm plate, of the bracket at intervals; the simulated thumb assembly is mounted on the turntable, at least one part of the simulated thumb assembly extends outwards from the simulated palm center surface, and the simulated thumb assembly comprises a plurality of simulated thumb sections which can pivot relative to one another; the number of the simulated finger assemblies is consistent with that of the support limiting plates, each simulated finger assembly is installed on the simulated palm plate through the corresponding support limiting plate, each simulated finger assembly comprises a plurality of simulated finger sections, and the simulated finger sections can pivot relative to one another. The manipulator has the characteristics of light weight, low power consumption, high robustness and the like.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a six-degree-of-freedom dexterous manipulator based on a crank slider mechanism. Background Art

[0002] Manipulators are core components of robots that perform delicate operations. Applications such as precision assembly, medical surgery, and hazardous environment operations all rely on their high degrees of freedom, high precision, and adaptability. These characteristics also enable manipulators to adapt to a wide range of complex operational requirements and complete a wide range of tasks. However, traditional manipulator designs have long been limited by bottlenecks such as redundant drives, bulky structures, and low energy efficiency. Furthermore, they suffer from poor dynamic grasping stability. Because manipulators' motion requires the coordination of multiple joints, they typically adopt a modular design, with each finger integrating a motor, reduction gear, and transmission structure. While these manipulators can move independently and mimic human hand movements, independently driving each joint results in high overall mass and power consumption. Furthermore, the complexity of multi-motor coordinated control significantly increases the system's failure rate. Furthermore, there is a conflict between the manipulator's grasping range and its storage volume. While the high degrees of freedom design enables complex gestures, the collapsed size makes it difficult to deploy in confined spaces.

[0003] Existing bionic manipulators are difficult to widely use in production and life for several key reasons. First, the anti-shake mechanism of a bionic manipulator typically relies on the coordinated operation of multiple components, including springs, telescopic buffer columns, and hydraulic buffer rods. These components are prone to wear and fatigue failure over long-term use, requiring frequent maintenance. Furthermore, the hydraulic buffer rods require regular inspection for sealing and hydraulic fluid condition, increasing maintenance complexity and cost. Second, the mechanical linkage structures of mainstream bionic manipulators on the market are complex. The excessive number of components leads to wear due to friction during the coordination process, thus affecting motion precision. For example, when a flexible joint bionic manipulator moves its flexor tendons, it must overcome not only its own elastic work but also the resistance of energy storage components such as springs, significantly reducing the manipulator's strength and motion precision. Third, while the multi-joint independent design of the finger mechanism improves flexibility, it also results in excessive finger mass, affecting movement speed and energy efficiency. The high degree of freedom of the design increases the complexity of the control system, further limiting its widespread adoption. Finally, the palm mechanism is bulky and has a limited functionality, making it difficult to adapt to diverse needs. Furthermore, its lack of aesthetic appeal limits its application in areas such as home services. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a six-degree-of-freedom dexterous manipulator based on a crank slider mechanism, comprising:

[0005] A simulated palm board, comprising a simulated palm surface, a turntable, and a bracket extending forward from the simulated palm board, wherein the turntable is rotatably mounted on the simulated palm surface;

[0006] The turntable limit plate is fixedly installed on the turntable;

[0007] A plurality of bracket limiting plates are spaced apart from each other and distributed at an end of the bracket away from the simulated palm plate;

[0008] A pseudo-thumb assembly is mounted on the turntable and at least a portion of the pseudo-thumb assembly extends outward from the pseudo-palm surface and includes a plurality of pseudo-thumb segments, wherein the plurality of pseudo-thumb segments are pivotable relative to each other;

[0009] There are several pseudo-finger assemblies, the number of which is consistent with the number of the bracket limiting plates. Each pseudo-finger assembly is installed to the pseudo-palm plate through the corresponding bracket limiting plate. Each pseudo-finger assembly includes several pseudo-finger segments, and the several pseudo-finger segments are pivotable relative to each other.

[0010] Preferably, each of the turntable limiting plate and the plurality of bracket limiting plates includes an axial hole and an arc-shaped guide rail with the axial hole as the center.

[0011] Preferably, the thumb-like assembly includes a screw slider mechanism, a first connecting rod, a first triangular arm, a second connecting rod, a third connecting rod, a second triangular arm, a fourth connecting rod and a fingertip block, wherein

[0012] The screw rod is rotatably mounted on the turntable limit plate;

[0013] The slider is linearly movable along the screw rod;

[0014] A first end of the first link is pivotally connected to the slider, and a second end of the first link is pivotally connected to the first end of the first triangular arm;

[0015] The middle end of the first triangular arm is pivotally connected to the shaft hole, and the second end of the first triangular arm is pivotally connected to the first end of the third link;

[0016] The middle end of the second link is pivotally connected to the shaft hole, the first end of the second link is slidable along the arc guide rail, and the second end of the second link is pivotally connected to the first end of the second triangular arm and the first end of the fourth link respectively;

[0017] The second end of the third link is pivotally connected to the middle end of the second triangular arm;

[0018] The second end of the second triangular arm is fixedly connected to the first connection portion of the pseudo-finger tip block, and the second end of the fourth connecting rod is fixedly connected to the second connection portion of the pseudo-finger tip block.

[0019] Preferably, each pseudo-finger assembly includes a screw slider mechanism, a first connecting rod, a first triangular arm, a second connecting rod, a third connecting rod, a third triangular arm, a fifth connecting rod, a second triangular arm, a fourth connecting rod and a pseudo-finger tip block, wherein

[0020] The screw rod is rotatably mounted on the bracket limit plate;

[0021] The slider is linearly movable along the screw rod;

[0022] A first end of the first link is pivotally connected to the slider, and a second end of the first link is pivotally connected to the first end of the first triangular arm;

[0023] The middle end of the first triangular arm is pivotally connected to the shaft hole, and the second end of the first triangular arm is pivotally connected to the first end of the third link;

[0024] The middle end of the second link is pivotally connected to the shaft hole, the first end of the second link is slidable along the arc-shaped guide rail, and the second end of the second link is pivotally connected to the first end of the third triangular arm and the first end of the fifth link respectively;

[0025] The second end of the third link is pivotally connected to the middle end of the third triangular arm;

[0026] The second end of the third triangular arm is pivotally connected to the middle end of the second triangular arm;

[0027] The second end of the fifth link is pivotally connected to the first end of the second triangular arm and the first end of the fourth link, respectively;

[0028] The second end of the second triangular arm is fixedly connected to the first connection portion of the pseudo-finger tip block, and the second end of the fourth connecting rod is fixedly connected to the second connection portion of the pseudo-finger tip block.

[0029] Preferably, the radian of the arc-shaped guide rail is π / 4rad.

[0030] Preferably, the pivot angle of the fourth link or the fifth link relative to the second link is in the range of 0 to 90 degrees.

[0031] Preferably, a recessed portion is provided on the surface of the simulated palm, and the turntable is rotatably mounted to the recessed portion; a limiting groove is provided on the side of the recessed portion away from the protruding portion of the simulated thumb assembly, and the side of the turntable limiting plate away from the protruding portion of the simulated thumb assembly is located in the limiting groove.

[0032] Preferably, the radian of the limiting groove is π / 4rad.

[0033] Preferably, the pseudo-thumb assembly and each of the plurality of pseudo-finger assemblies are driven independently of each other.

[0034] Preferably, the linear movement of the screw-slider mechanism and the pivotal movement of the second connecting rod of the simulated thumb assembly and each of the plurality of simulated finger assemblies are independent of each other.

[0035] Compared with the existing technology, the six-degree-of-freedom dexterous manipulator based on the crank slider mechanism provided by the present invention has the following advantages:

[0036] The present invention provides a robot with strong grasping adaptability and each pseudo-thumb / pseudo-finger component has a single-degree-of-freedom drive characteristic, with a total of six degrees of freedom. The design is based on a screw-slider mechanism, and the motion transmission path is reconstructed through bionic design, coupling design and mechanism innovation. Each pseudo-thumb / pseudo-finger component forms a collaborative motion chain driven by a single motor. While ensuring the operability of six degrees of freedom, it cleverly solves the traditional technical dilemma of high complexity that is likely to be associated with high degrees of freedom of the robot, and provides a solution for the robot to have the characteristics of lightweight, low power consumption, strong robustness, etc.

[0037] The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism of the present invention is based on a double-link mechanism. Through the double-link motion chain, the structural rigidity is effectively enhanced, the contact area between the manipulator and the grasped object is increased, and the grasping process has greater friction, which has important application value for meeting the dynamic stability of the manipulator.

[0038] The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism of the present invention has a greatly reduced mass of its drive system. Each pseudo-thumb / pseudo-finger assembly contains only one degree of freedom, and only a single drive is required to drive the bending of the corresponding pseudo-thumb / pseudo-finger assembly. The driving process is more stable, which greatly solves various problems such as stress concentration and improves service life.

[0039] The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism of the present invention has good environmental adaptability through the inertial damping characteristics of the screw slider mechanism and the connecting rod mechanism, and can suppress most high-frequency vibrations without the need for additional sensors, thereby ensuring that the manipulator is suitable for a variety of grasping tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, in which:

[0041] Figure 1 A perspective view of a six-degree-of-freedom dexterous manipulator based on a crank slider mechanism according to an embodiment of the present invention is shown.

[0042] Figure 2 A perspective view of a simulated palm plate according to an embodiment of the present invention is shown.

[0043] Figure 3a-c respectively show a perspective view and a front view of a simulated thumb assembly according to an embodiment of the present invention.

[0044] Figure 4a -c respectively show a perspective view and a front view of the proposed component according to an embodiment of the present invention.

[0045] Figure 5a -b shows the Figure 1 A perspective view of a six-DOF dexterous manipulator based on a slider-crank mechanism is shown, with the pseudo-thumb assembly and pseudo-finger assembly in different postures. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0047] like Figure 1 As shown in FIG, the six-DOF dexterous manipulator based on the crank slider mechanism of the present invention comprises a simulated palm plate 1, a simulated thumb assembly 2, and a plurality of simulated finger assemblies 3. Specifically, the simulated palm plate 1 comprises a simulated palm surface, a turntable 11, and a bracket 12 extending forward from the simulated palm plate 1. The turntable 11 is rotatably mounted on the simulated palm surface. Figure 5a-5b The manipulator further includes a turntable limiting plate 111 and a plurality of bracket limiting plates 121. The turntable limiting plate 111 is fixedly mounted on the turntable 11, while the bracket limiting plates 121 are spaced apart and distributed on the end of the bracket 12 away from the artificial palm plate 1. In this embodiment, the bracket 11 includes cantilevers 124 extending forward from both sides of the artificial palm plate 1 and a crossbeam connecting the two cantilevers 124 at their distal ends. The bracket limiting plates 121 are spaced apart and distributed on the crossbeam.

[0048] The simulated thumb assembly 2 is mounted on the turntable 11, in particular, it is partially mounted on the turntable 11 through the turntable limit plate 111; the rest of the simulated thumb assembly 2, such as the simulated thumb segment, extends outward from the surface of the simulated palm. The simulated thumb assembly 2 includes a number of simulated thumb segments, and the several simulated thumb segments are pivotable relative to each other, whereby the simulated thumb assembly 2 appears to be bendable. Similarly, each simulated finger assembly 3 is mounted to the simulated palm plate 1 through the corresponding bracket limit plate 121. Each simulated finger assembly 3 includes a number of simulated finger segments, and the several simulated finger segments extend outward from the bracket 12, and the several simulated finger segments are pivotable relative to each other, whereby each simulated finger assembly 3 appears to be bendable. For clarity of display, Figure 5a-5b Only a portion of the bracket limiting plate 121 is shown.

[0049] Reference Figures 3a-3cThe simulated thumb assembly 2 includes a screw rod 201, a slider 202 mechanism, a first connecting rod 203, a first triangular arm 204, a second connecting rod 205, a third connecting rod 206, a second triangular arm 207, a fourth connecting rod 208 and a simulated fingertip block 209. Among them. The turntable limit plate 111 includes an axial hole 112 and an arc-shaped guide rail 113 with the axial hole 112 as the center of the circle. In particular, the radian of the arc-shaped guide rail 113 is π / 4rad. The screw rod 201 is rotatably mounted on the turntable limit plate 111, and the slider 202 is linearly movable along the screw rod 201. The first end of the first connecting rod 203 is pivotally connected to the slider 202, and the second end of the first connecting rod 203 is pivotally connected to the first end of the first triangular arm 204. The middle end of the first triangular arm 204 is pivotally connected to the axial hole 112, and the second end of the first triangular arm 204 is pivotally connected to the first end of the third connecting rod 206. The middle end of the second link 205 is pivotally connected to the shaft hole 112. The first end of the second link 205 is slidable along the arcuate guide rail 113. The second end of the second link 205 is pivotally connected to the first end of the second triangular arm 207 and the first end of the fourth link 208, respectively. The second end of the third link 206 is pivotally connected to the middle end of the second triangular arm 207. The second end of the second triangular arm 207 is fixedly connected to the first connection point of the pseudo fingertip block 209, and the second end of the fourth link 208 is fixedly connected to the second connection point of the pseudo fingertip block 209. Thus, the pseudo thumb assembly 2 appears to have two joints.

[0050] Reference Figure 2 The simulated palm surface of the simulated palm plate 1 is provided with a recessed portion, into which the turntable 11 is rotatably mounted. A limit slot 14 is provided on the side of the recessed portion away from the protruding portion of the simulated thumb assembly 2. The side of the turntable limit plate 111 away from the protruding portion of the simulated thumb assembly 2 is located within the limit slot 14. The arc of the limit slot 14 is π / 4 rad. Due to the restriction / constraint imposed by the limit slot 14 on the turntable limit plate 111, the simulated thumb assembly 2 can only rotate an arc of π / 4 rad within the plane of the simulated palm surface.

[0051] Reference Figures 4a-4cEach pseudo-finger assembly 3 includes a screw rod 301, a slider 302 mechanism, a first connecting rod 303, a first triangular arm 304, a second connecting rod 305, a third connecting rod 306, a third triangular arm 310, a fifth connecting rod 311, a second triangular arm 307, a fourth connecting rod 308 and a pseudo-finger tip block 309. Among them, each corresponding bracket limit plate 121 includes an axial hole 122 and an arc-shaped guide rail 123 with the axial hole 122 as the center of the circle. In particular, the radian of the arc-shaped guide rail 123 is π / 4rad. The screw rod 301 is rotatably mounted on the bracket limit plate 121, and the slider 302 is linearly movable along the screw rod 301. The first end of the first connecting rod 303 is pivotally connected to the slider 302, and the second end of the first connecting rod 303 is pivotally connected to the first end of the first triangular arm 304. The middle end of the first triangular arm 304 is pivotally connected to the shaft hole 122, and the second end of the first triangular arm 304 is pivotally connected to the first end of the third link 306. The middle end of the second link 305 is pivotally connected to the shaft hole 122. The first end of the second link 305 is slidable along the arcuate guide rail 123, and the second end of the second link 305 is pivotally connected to the first end of the third triangular arm 310 and the first end of the fifth link 311, respectively. The second end of the third link 306 is pivotally connected to the middle end of the third triangular arm 310. The second end of the third triangular arm 310 is pivotally connected to the middle end of the second triangular arm 307. The second end of the fifth link 311 is pivotally connected to the first end of the second triangular arm 307 and the first end of the fourth link 308, respectively. The second end of the second triangular arm 307 is fixedly connected to the first connection portion of the pseudo-finger tip block 309, and the second end of the fourth link 308 is fixedly connected to the second connection portion of the pseudo-finger tip block 309. Thus, the pseudo-finger component 3 appears to have three joints.

[0052] When the robot arm of the present invention is used to grasp an object, it is required to bend the fingers to grasp it like a human hand. The screw rod 201, 301 slider 202, 302 mechanism, the first connecting rod 203, 303 and the first triangular arm 204, 304 (the section between the first end and the middle end) constitute a crank connecting rod mechanism, so that the linear motion of the slider 202, 302 is converted into the swinging motion of the first triangular arm 204, 304. On the other hand, the first triangular arm 204, 304 and the second connecting rod 205, 305 pivot about the shaft hole 112, 122 respectively. However, it should be noted that the pivoting motion of the two is independent of each other, because the linear motion of the screw rod 201, 301 slider 202, 302 mechanism and the pivoting motion of the second connecting rod 205, 305 are independent of each other. Thus, the second link 205, 305 (the section between the middle end and the second end), the first triangular arm 204, 304 (the section between the middle end and the second end), the third link 206, 306, and the second triangular arm 207 or the third triangular arm 310 (the section between the first end and the middle end) constitute a link mechanism. Figure 3c and 4c It can be seen that the leftward linear movement of the slider 202, 302 can cause the virtual thumb assembly 2 / virtual finger assembly 3 to bend, and the clockwise sliding of the first end of the second link 205, 305 on the arcuate guide rail 113, 123 can cause the virtual thumb assembly 2 / virtual finger assembly 3 to further bend.

[0053] As described above, the arcuate guide rails 113 and 123 have an arc of π / 4 rad, meaning that the second connecting rods 205 and 305 can pivot about the axial holes 112 and 122 within an arcuate range of π / 4 rad. Furthermore, driven by the linkage mechanism consisting of the second connecting rods 205 and 305, the first triangular arm 204 and 304, the third connecting rod 206 and 306, and the second triangular arm 207 or the third triangular arm 310, the fourth connecting rod 308 or the fifth connecting rod 311 pivots relative to the second connecting rod 205 and 305 within a range of 0 to 90°. Therefore, the simulated fingertip blocks 209 and 309 are bent a total of 135° relative to the plane of the simulated palm plate 1 (i.e., relative to the lead screws 201 and 301), sufficient to enable the robotic hand to grasp an object.

[0054] In order to ensure the stable operation of the simulated thumb assembly 2 / each simulated finger assembly 3, the first connecting rod 203, 303, the first triangular arm 204, 304, the second connecting rod 205, 305, the third triangular arm 310, the fifth connecting rod 311, the second triangular arm 207, 307, and the fourth connecting rod 208, 308 are all distributed in pairs and symmetrically on both sides of the turntable limit plate 111 / bracket limit member 121, and the third connecting rod 206, 306 is a single rod, which is arranged coplanar with the turntable limit plate 111 / bracket limit member 121.

[0055] To enable the simulated thumb assembly 2 and each simulated finger assembly 3 of the present invention to bend independently, each is driven independently of the others. This means that the simulated thumb assembly 2 and each simulated finger assembly 3 can bend to varying degrees relative to each other, thereby biomimetically simulating the movements and gestures of a human hand.

[0056] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A six-degree-of-freedom dexterous manipulator based on a crank slider mechanism, characterized in that: include: A simulated palm plate, comprising a simulated palm surface, a turntable, and a bracket extending forward from the simulated palm plate, wherein the turntable is rotatably mounted on the simulated palm surface; A turntable limiting plate, fixedly mounted on the turntable; A plurality of bracket limiting plates are spaced apart from each other and distributed at an end of the bracket away from the simulated palm plate; a simulated thumb assembly, the simulated thumb assembly being mounted on the turntable and having at least a portion thereof extending outward from the simulated palm surface and comprising a plurality of simulated thumb segments, wherein the plurality of simulated thumb segments are pivotable relative to each other; A plurality of simulated finger assemblies, the number of which is consistent with the number of the bracket limiting plates, each of the simulated finger assemblies is mounted to the simulated palm plate through the corresponding bracket limiting plate, each of the simulated finger assemblies includes a plurality of simulated finger segments, and the plurality of simulated finger segments are pivotable relative to each other.

2. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 1 is characterized in that: Each of the turntable limiting plate and the bracket limiting plates includes an axial hole and an arc-shaped guide rail with the axial hole as the center of the circle.

3. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 2, characterized in that: The thumb-like assembly includes a screw slider mechanism, a first connecting rod, a first triangular arm, a second connecting rod, a third connecting rod, a second triangular arm, a fourth connecting rod and a fingertip block, wherein The screw rod is rotatably mounted on the turntable limiting plate; The slider is linearly movable along the screw rod; The first end of the first link is pivotally connected to the slider, and the second end of the first link is pivotally connected to the first end of the first triangular arm; The middle end of the first triangular arm is pivotally connected to the shaft hole, and the second end of the first triangular arm is pivotally connected to the first end of the third link; The middle end of the second link is pivotally connected to the shaft hole, the first end of the second link is slidable along the arc-shaped guide rail, and the second end of the second link is pivotally connected to the first end of the second triangular arm and the first end of the fourth link respectively; The second end of the third link is pivotally connected to the middle end of the second triangular arm; The second end of the second triangular arm is fixedly connected to the first connection portion of the quasi-finger tip block, and the second end of the fourth connecting rod is fixedly connected to the second connection portion of the quasi-finger tip block.

4. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 2, characterized in that: Each of the pseudo-finger components includes a screw slider mechanism, a first connecting rod, a first triangular arm, a second connecting rod, a third connecting rod, a third triangular arm, a fifth connecting rod, a second triangular arm, a fourth connecting rod and a pseudo-finger tip block, wherein The screw rod is rotatably mounted on the bracket limiting plate; The slider is linearly movable along the screw rod; The first end of the first link is pivotally connected to the slider, and the second end of the first link is pivotally connected to the first end of the first triangular arm; The middle end of the first triangular arm is pivotally connected to the shaft hole, and the second end of the first triangular arm is pivotally connected to the first end of the third link; The middle end of the second link is pivotally connected to the shaft hole, the first end of the second link is slidable along the arc-shaped guide rail, and the second end of the second link is pivotally connected to the first end of the third triangular arm and the first end of the fifth link respectively; The second end of the third link is pivotally connected to the middle end of the third triangular arm; The second end of the third triangular arm is pivotally connected to the middle end of the second triangular arm; The second end of the fifth link is pivotally connected to the first end of the second triangular arm and the first end of the fourth link respectively; The second end of the second triangular arm is fixedly connected to the first connection portion of the quasi-finger tip block, and the second end of the fourth connecting rod is fixedly connected to the second connection portion of the quasi-finger tip block.

5. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 3 or 4, characterized in that: The radian of the arc-shaped guide rail is π / 4rad.

6. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 3 or 4, characterized in that: The fourth link or the fifth link has a pivot angle relative to the second link in a range of 0 to 90 degrees.

7. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 1, characterized in that: A recessed portion is provided on the surface of the simulated palm, and the turntable is rotatably mounted to the recessed portion; a limiting groove is provided on the side of the recessed portion away from the protruding portion of the simulated thumb assembly, and the side of the turntable limiting plate away from the protruding portion of the simulated thumb assembly is located in the limiting groove.

8. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 7, characterized in that: The radian of the limiting groove is π / 4rad.

9. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 1, characterized in that: The pseudo-thumb component and each of the plurality of pseudo-finger components are driven independently of each other.

10. The six-degree-of-freedom dexterous manipulator based on the crank slider mechanism according to claim 3 or 4, characterized in that: In the simulated thumb assembly and each of the plurality of simulated finger assemblies, the linear movement of the screw-slider mechanism and the pivotal movement of the second connecting rod are independent of each other.

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