Differential planetary roller screw test experiment table for dexterous hand of humanoid robot

Abstract

The invention discloses a humanoid robot dexterous hand differential planetary roller screw test experiment table, which comprises an experiment table base, an experiment table box body I and an experiment table box body II are symmetrically and slidably arranged at two ends of the experiment table base, and a groove is formed in the middle of the experiment table base; a reverse side hollow cup motor support is arranged on one side of the outer portion of a middle groove of the experiment table base, and a reverse side servo hollow cup motor used for testing a reverse differential type planetary roller screw is fixedly arranged on the reverse side hollow cup motor support. A thrust plate is arranged in a middle groove of the experiment table base in a sliding mode, and a reverse side tool plate is fixed to the side, close to the reverse side hollow cup motor support, of the thrust plate. According to the invention, full-dimensional test support can be provided for high and low temperature working conditions, dynamic response and durability of the differential planetary roller screw of the dexterous hand of the humanoid robot, and the comprehensive performance test work of the differential planetary roller screw of the dexterous hand of the humanoid robot can be rapidly and effectively carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical performance testing, and in particular to a differential planetary roller screw testing platform for a dexterous humanoid robot hand. Background Art

[0002] Humanoid robots are intelligent robots with human-like body structures and movement patterns, capable of bipedal walking and bimanual collaboration. They are known as the "crown jewel of robotics." Dexterous hands, as the end effectors of humanoid robots, play a vital role in robotics. They can mimic the complex movements and manipulations of the human hand, enabling robots to possess a wider range of operational capabilities and greater operational flexibility. The Differential Planetary Roller Screw Mechanism (DPRSM), available in both standard (screw-driven) and reverse (nut-driven) versions, has become an indispensable component of dexterous humanoid robot hands due to its advantages such as small lead, impact resistance, compact structure, and ease of integration.

[0003] With the gradual development and maturity of the dexterous hand industry, the demand for miniature differential planetary roller screws is increasing. Differential planetary roller screws are characterized by compact structure, small size, low force, fast response speed, and high precision requirements. However, equipment suitable for comprehensive performance testing of these screws is still lacking.

[0004] Currently, comprehensive performance test benches for planetary roller screw testing are all medium-to-large test benches, unable to meet the requirements for testing the performance of micro-differential planetary roller screws. Furthermore, relevant domestic comprehensive performance test benches utilize only fixed loading structures or can only test a single type of product, making them incompatible with the rapid assembly and disassembly and switching of forward and reverse differential planetary roller screws. To address this critical industry need, the design of a comprehensive performance test bench capable of simultaneously accommodating forward and reverse micro-planetary roller screws, enabling rapid and precise clamping, and high-precision testing with low loads has significant engineering application value and significance. Summary of the Invention

[0005] The purpose of the present invention is to provide a differential planetary roller screw test bench for a dexterous humanoid robot hand to solve the technical problems mentioned in the above background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The present invention provides a differential planetary roller screw test bench for a humanoid robot dexterous hand, comprising a bench base, wherein a first bench box and a second bench box are symmetrically and slidably provided at both ends of the bench base, and a groove is provided in the middle of the bench base.

[0008] A reverse side hollow cup motor bracket is provided on one side outside the middle groove of the experimental platform base, and a reverse side servo hollow cup motor for testing the reverse differential planetary roller screw is fixedly provided on the reverse side hollow cup motor bracket.

[0009] A thrust plate is slidably arranged inside the central groove of the experimental bench base, and the side of the thrust plate close to the reverse side hollow cup motor bracket is fixed with a reverse side tooling plate through symmetrically arranged reverse side rigid force sensor 1 and reverse side rigid force sensor 2; the two ends of the other side of the thrust plate are connected to the guide plate through symmetrically arranged guide rod 1 and guide rod 2, and the side of the thrust plate facing the guide plate is fixed with a standard side tooling plate through standard side rigid force sensor 1 and standard side rigid force sensor 2; a nut flange quick-change interface is fixed on the standard side tooling plate, and a screw HSK-E40 quick-change interface is fixed on the reverse side tooling plate.

[0010] A standard side hollow cup motor bracket and an electric cylinder fixing bracket are sequentially arranged on the other side of the outside of the central groove of the experimental bench base. A standard side servo hollow cup motor for testing a standard differential planetary roller screw is fixed on the standard side hollow cup motor bracket; an electric cylinder is arranged on the electric cylinder fixing bracket, and the output end of the electric cylinder is connected to the guide plate.

[0011] Furthermore, an outer parallel slide rail 1 and an outer parallel slide rail 2 are symmetrically fixed on both sides of the upper part of the laboratory bench base, and the laboratory bench box 1 and the laboratory bench box 2 are slidably set on the outer parallel slide rail 1 and the outer parallel slide rail 2; two box sliders 1 and two box sliders 2 are symmetrically fixed on both sides of the bottom of the laboratory bench box 1, and the box slider 1 and the box slider 2 located on the same side respectively slide with the outer parallel slide rail 1 or the outer parallel slide rail 2 on the corresponding side; two box sliders 3 and two box sliders 4 are symmetrically fixed on both sides of the bottom of the laboratory bench box 2, and the box slider 3 and the box slider 4 located on the same side respectively slide with the outer parallel slide rail 1 or the outer parallel slide rail 2 on the corresponding side.

[0012] Furthermore, the experimental platform base is fixedly provided with an infrared temperature sensor on the outer side of the hollow cup motor bracket on the reverse side.

[0013] Furthermore, the reverse side coreless cup motor bracket is fixedly provided with a laser centering device right behind the reverse side servo coreless cup motor.

[0014] Furthermore, the output end of the reverse side servo hollow cup motor is connected to one end of a torque sensor 1 fixedly arranged on the reverse side hollow cup motor bracket through a coupling 1, and the other end of the torque sensor 1 is connected to the pneumatic three-jaw chuck through a connecting flange.

[0015] Furthermore, an inner parallel slide rail 1 and an inner parallel slide rail 2 are symmetrically fixedly provided in the central groove of the experimental bench base, and two thrust plate sliders that slide with the inner parallel slide rail 1 and the inner parallel slide rail 2 respectively are symmetrically fixedly provided at the bottom of the thrust plate, and magnetic scales are respectively provided on the outer sides of the two thrust plate sliders.

[0016] Furthermore, a second laser centering device is fixedly provided in the middle of the top of the thrust plate.

[0017] Furthermore, the standard side coreless cup motor bracket is fixedly provided with a laser centering device 3 right behind the standard side servo coreless cup motor.

[0018] Furthermore, the output end of the standard side servo hollow cup motor is connected to one end of the torque sensor 2 fixedly set on the standard side hollow cup motor bracket through the coupling 2, and the other end of the torque sensor 2 is connected to the screw fixing tooling, and the screw fixing tooling is symmetrically provided with a guide rod flange 1 and a guide rod flange 2 respectively adapted to the guide rod 1 and the guide rod 2.

[0019] Furthermore, the output end of the electric cylinder is connected to one end of the six-dimensional force sensor through a third coupling, and the other end of the six-dimensional force sensor is connected to the guide plate.

[0020] Compared with the prior art, the present invention has the following beneficial technical effects:

[0021] The present invention solves the core problems of humanoid robot differential planetary roller screw testing, such as assembly deviation, insufficient load simulation accuracy, and low replacement efficiency, through the modular settings of symmetrical double-station design, high-precision dynamic loading system and rapid tooling switching. The experimental platform adopts a centrally symmetrical layout of standard and reverse differential planetary roller screw test systems, integrates a laser centering instrument (±1μm positioning accuracy) and an infrared temperature sensor (±0.3μm repeatability control), and supports rapid replacement of differential planetary roller screws of different structures within 3 minutes. Through the linkage of the hollow cup motor and the six-dimensional force sensor, accurate loading of ±1kN axial alternating load (0-100Hz) is achieved, and multi-dimensional parameters such as torque, displacement, and temperature can be monitored synchronously, providing full-dimensional test support for the high and low temperature working conditions, dynamic response and durability of the differential planetary roller screw of the dexterous humanoid robot hand, and realizing the rapid and effective comprehensive performance test of the differential planetary roller screw of the dexterous humanoid robot hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 Schematic diagram of the standard differential planetary roller screw involved in the present invention;

[0024] Figure 2 Schematic diagram of the reverse differential planetary roller screw involved in the present invention;

[0025] Figure 3 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the test installation of the standard differential planetary roller screw of the present invention;

[0027] Figure 5 This is a schematic diagram of the test installation of the reverse differential planetary roller screw of the present invention;

[0028] Figure 6 It is a schematic diagram of the fixture of the present invention;

[0029] Explanation of the reference numerals: 1. Long lead screw; 2. Nut; 3. Roller 1; 4. Cage 1; 5. Retaining ring 1; 6. Long nut; 7. Roller 2; 8. Lead screw; 9. Cage 2; 10. Retaining ring 2; 11. Laboratory box 1; 12. Laser alignment instrument 1; 13. Reverse side servo hollow cup motor; 14. Infrared temperature sensor; 15. Infrared temperature sensor bracket; 16. Pneumatic three-jaw chuck; 17. Reverse side hollow cup motor bracket 18. HSK-E40 quick-change interface; 19. Laser alignment device (II); 20. Thrust plate; 21. Standard side tooling plate; 22. Screw fixing tool; 23. Torque sensor (II); 24. Guide rod flange (I); 25. Laser alignment device (III); 26. External parallel guide rail (I); 27. Standard side servo hollow cup motor; 28. Standard side hollow cup motor bracket; 29. Guide rod (I); 30. Guide plate; 31. Electric cylinder; 32. Laboratory bench box (II) ; 33. Box slider three; 34. Box slider four; 35. Electric cylinder fixing bracket; 36. Coupling three; 37. Six-dimensional force sensor; 38. Guide rod two; 39. Coupling two; 40. Guide rod flange two; 41. Thrust plate slider; 42. Magnetic scale; 43. Inner parallel slide rail two; 44. Reverse side tooling plate; 45. Outer parallel slide rail two; 46. Torque sensor one; 47. Coupling one; 48. Laboratory bench base; 49. Box Body slider one; 50. Box slider two; 51. Connecting flange; 52. Standard lateral rigidity force sensor one; 53. Inner parallel slide rail two; 54. Standard differential planetary roller screw; 55. Standard differential planetary roller screw nut; 56. Standard lateral rigidity force sensor two; 57. Reverse differential planetary roller screw nut; 58. Reverse differential planetary roller screw; 59. Reverse lateral rigidity force sensor one; 60. Reverse lateral rigidity force sensor two. DETAILED DESCRIPTION

[0030] like Figure 1 As shown in the figure, the standard differential planetary roller screw tested by the present invention consists of a long screw 1, a nut 2, a roller 3, a retainer 4 and a retaining ring 5; the outer peripheral wall annular teeth of the roller 3 are engaged with the internal thread of the nut 2, and the inner peripheral wall annular teeth of the roller 3 are engaged with the zero lead annular teeth of the long screw 1. The long screw 1 of the standard differential planetary roller screw serves as an input active component, and the nut 2 serves as an output driven component.

[0031] like Figure 2 As shown, the reverse differential planetary roller screw tested using the present invention consists of a long nut 6, a roller 2 7, a screw 8, a retainer 2 9 and a retaining ring 2 10; the outer peripheral wall annular teeth of the roller 2 7 are engaged with the internal thread of the long nut 6, and the inner peripheral wall annular teeth of the roller 2 7 are engaged with the zero lead annular teeth of the screw 8. The long nut 6 of the reverse differential planetary roller screw serves as the input active component, and the screw 8 serves as the output driven component.

[0032] like Figure 3 As shown, the present invention discloses a differential planetary roller screw test bench for a dexterous humanoid robot hand, comprising a bench base 48, with bench housing 11 and bench housing 2 32 symmetrically slidably mounted at both ends of the bench base 48. A groove is defined in the center of the bench base 48, which is divided by steps into three working areas: a reverse differential planetary roller screw drive section, a passive force application fixture and rapid fixture switching section, and a standard differential planetary roller screw drive section and an external force application electric cylinder section.

[0033] In this embodiment, outer parallel rails 1 26 and 2 45 are symmetrically fixedly installed on both sides of the upper portion of the laboratory bench base. The laboratory bench box 1 11 and the laboratory bench box 2 32 are slidably mounted on the outer parallel rails 1 26 and 2 45. The opening and closing of the two laboratory boxes is achieved by the sliding cooperation between the laboratory bench box 1 11, the laboratory bench box 2 32 and the outer parallel rails 1 26 and 2 45. Two box sliders 1 49 and two box sliders 2 50 are symmetrically fixedly installed on both sides of the bottom of the laboratory bench box 1 11. The box slider 1 49 and the box slider 2 50 on the same side slide in cooperation with the outer parallel rail 1 26 or the outer parallel rail 2 45 on the corresponding side. Two box sliders 3 33 and two box sliders 4 34 are symmetrically fixed on both sides of the bottom of the experimental table box body 2 32. The box slider 3 33 and the box slider 4 34 located on the same side slide with the outer parallel slide rail 1 26 or the outer parallel slide rail 2 45 on the corresponding side respectively.

[0034] The reverse differential planetary roller screw drive part includes a reverse side hollow cup motor bracket 17 arranged on the outer side of the central groove of the experimental bench base 48, and the reverse side hollow cup motor bracket 17 is fixedly installed with a reverse side servo hollow cup motor 13 for testing the reverse differential planetary roller screw, and the reverse side hollow cup motor bracket 17 is fixedly installed with a laser centering instrument 12 directly behind the reverse side servo hollow cup motor 13.

[0035] The output end of the reverse side servo hollow cup motor 13 is connected to one end of a torque sensor 46 fixedly mounted on the reverse side hollow cup motor bracket 17 through a coupling 47, and the other end of the torque sensor 46 is connected to the pneumatic three-jaw chuck 16 through a connecting flange 51.

[0036] In addition, the experimental platform base 48 is fixedly mounted with an infrared temperature sensor 14 on the outer side of the reverse side hollow cup motor bracket 17 through an infrared temperature sensor bracket 15. The infrared temperature sensor 14 can monitor the temperature of the entire system in real time.

[0037] The passive force applying fixture and quick fixture switching part include a thrust plate 20 slidably mounted inside the middle groove of the test bench base 48. Specifically: an inner parallel slide rail 1 43 and an inner parallel slide rail 2 53 are symmetrically fixedly mounted in the middle groove of the test bench base 48, and two thrust plate sliders 41 are symmetrically fixedly mounted on the bottom of the thrust plate 20, which are respectively slidably matched with the inner parallel slide rail 1 43 and the inner parallel slide rail 2 53. The stability of the linear motion of the thrust plate 20 is ensured by the sliding match between the two thrust plate sliders 41 and the inner parallel slide rail 1 43 and the inner parallel slide rail 2 53. In addition, magnetic scales 42 are respectively mounted on the outer sides of the two thrust plate sliders 43, and the high-precision displacement of the thrust plate 20 can be monitored by the magnetic scales.

[0038] A laser centering instrument 19 is fixedly installed in the middle of the top of the thrust plate 20.

[0039] The thrust plate 20 is fixedly connected to the reverse side tooling plate 44 on one side close to the reverse side hollow cup motor bracket 17 through a symmetrically arranged reverse side rigid force sensor 1 59 and a reverse side rigid force sensor 2 60, and the reverse side tooling plate 44 is fixed with a lead screw HSK-E40 quick change interface 18.

[0040] The other two ends of the thrust plate 20 are connected to the guide plate 30 through symmetrically arranged guide rods 1 29 and 2 38, and the side of the thrust plate 20 facing the guide plate 30 is fixed with a standard side tooling plate 21 through standard side rigidity force sensor 1 52 and standard side rigidity force sensor 2 56, and a nut flange quick-change interface is fixed on the standard side tooling plate 21.

[0041] The screw HSK-E40 quick-change interface 18 and the nut flange quick-change interface can respectively realize the rapid disassembly and assembly of different forms of differential planetary roller screws.

[0042] The standard differential planetary roller screw drive and external force application electric cylinder part includes a standard side hollow cup motor bracket 28 and an electric cylinder fixing bracket 35 which are sequentially arranged on the other side of the outer side of the central groove of the test bench base 48.

[0043] A standard-side servo coreless motor 27 for testing standard differential planetary roller screws is fixedly mounted on the standard-side coreless motor bracket 28. A laser alignment tool 3 25 is also fixedly mounted directly behind the standard-side servo coreless motor 27. The output end of the standard-side servo coreless motor 27 is connected to one end of a torque sensor 23 fixed to the standard-side coreless motor bracket 28 via a coupling 2 39. The other end of the torque sensor 23 is connected to the screw fixture 22. The screw fixture 22 is symmetrically mounted with guide rod flange 1 24 and guide rod flange 2 40, respectively compatible with guide rod 1 29 and guide rod 2 38, for supporting guide rod 1 29 and guide rod 2 38.

[0044] An electric cylinder 31 is fixedly mounted on the electric cylinder fixing bracket 35 , and the output end of the electric cylinder 31 is connected to the guide plate 30 . Specifically, the output end of the electric cylinder 31 is connected to one end of a six-dimensional force sensor 37 through a coupling 36 , and the other end of the six-dimensional force sensor 37 is connected to the guide plate 30 .

[0045] The present invention completes the load application of the differential planetary roller screw to be tested by the experimental bench through the electric cylinder 31-guide plate 30-two guide rods-thrust plate 20-corresponding rigid force sensor-tooling plate-fixed tooling-differential planetary roller screw / nut.

[0046] In this embodiment, the reverse side servo coreless motor 13 and the standard side servo coreless motor 27 use an integrated FOC algorithm, an angle sensor and a driver to achieve precise control and output.

[0047] The entire test structure adopts a symmetrical double-station architecture, with a centrally symmetrical layout of the standard side and reverse side differential planetary roller screw test units. ±1μm coaxial positioning is achieved through the inner parallel slide 1 43, the inner parallel slide 2 53 and the magnetic scale 42 on the outside of the two thrust plate sliders 43. The tooling plate integrates the HSK-E40 quick-change interface 18, the pneumatic three-jaw chuck 16, the nut flange quick interface and the screw fixing tooling 22, realizing rapid replacement of standard / reverse screws within 3 minutes.

[0048] The electric cylinder 31 is linked to the guide rod 1 29 and the guide rod 2 38 through the six-dimensional force sensor 37, and combined with the feedforward PID control algorithm of the reverse side servo hollow cup motor 13 and the standard side servo hollow cup motor 27 to achieve precise loading of ±1kN axial alternating load (0-100Hz); at the same time, the reverse side servo hollow cup motor 13 and the standard side servo hollow cup motor 27 drive the screw through the coupling 1 47 and the coupling 2 39 respectively, and each rigid force sensor monitors the load fluctuation in real time.

[0049] Laser Alignment Instruments 12, 2, and 3 all use a 632.8nm helium-neon light source, coupled with a pneumatic locking device with a 50N·m locking torque to eliminate assembly deflection. An infrared temperature sensor 14 monitors system temperature in real time, ensuring a test repeatability of ±0.3μm under both high and low temperature conditions.

[0050] like Figure 4 As shown, when testing the comprehensive performance of a standard differential planetary roller screw, the present invention first adjusts the position of the thrust plate 20 on the test bench base 48 according to the screw length, bringing the entire test system within the range of the standard differential planetary roller screw's comprehensive performance. The reverse side fixture plate 44 on the thrust plate is then directly removed. The standard differential planetary roller screw 54 is secured via the screw fixing fixture 22, and the standard differential planetary roller screw nut 55 is bolted to the standard side fixture plate 21, completing the installation. By setting the alternating load parameters: F = 1 kN, f = 50 Hz, and speed n = 1500 rpm, the electric cylinder 31 pushes the thrust plate 20, and the six-dimensional force sensor 37 provides real-time feedback of the axial force, synchronizing the torque output of the standard side servo hollow cup motor 27, to perform a performance test of the standard differential planetary roller screw.

[0051] like Figure 5 As shown, when testing the comprehensive performance of a reverse differential planetary roller screw, the present invention first adjusts the position of the thrust plate 20 on the test bench base 48 according to the length of the screw, bringing the entire test system within the measurement range of the reverse differential planetary roller screw's comprehensive performance. The standard side fixture plate 21 on the thrust plate is then removed, and the reverse differential planetary roller screw 58 is mounted on the reverse side fixture plate 44 and secured via the HSK-E40 interface 18. The reverse differential planetary roller screw nut 57 is then tightened via the pneumatic three-jaw chuck 16, completing the installation. By setting the alternating load parameters to: F = 1 kN, f = 50 Hz, and speed n = 1500 rpm, the electric cylinder 31 pushes the thrust plate 20, the six-axis force sensor 37 provides real-time feedback on the axial force, and the torque output of the reverse side servo coreless cup motor 13 is synchronously adjusted to perform a performance test of the reverse differential planetary roller screw.

[0052] like Figure 6As shown, when installing a standard or reverse differential planetary roller screw, adjust the position of the thrust plate 20, activate the laser alignment tool 12, laser alignment tool 2 19, and laser alignment tool 3 25, and adjust the axis coincidence between the guide rods 2 38 and 29 and the inner parallel guide rails 1 43 and 2 53 to ±1μm. Remove the standard-side fixture plate 21 or the reverse-side fixture plate 44, slide the thrust plate along the parallel guide rails to the measuring range position, and after installing the standard or reverse differential planetary roller screw, use the laser alignment tool 12, laser alignment tool 2 19, and laser alignment tool 3 25 to automatically calibrate the standard or reverse screw installation angle. Installation and calibration takes ≤3 minutes.

[0053] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A differential planetary roller screw test bench for a dexterous humanoid robot hand, characterized by: The test bench comprises a base, two ends of which are symmetrically slidably provided with a first test bench box and a second test bench box, and a groove is provided in the middle of the base. A reverse side hollow cup motor bracket is provided on one side of the outer side of the middle groove of the experimental platform base, and a reverse side servo hollow cup motor for testing the reverse differential planetary roller screw is fixedly provided on the reverse side hollow cup motor bracket; A thrust plate is slidably arranged inside the middle groove of the experimental bench base, and a reverse side tooling plate is fixed to the side of the thrust plate close to the reverse side hollow cup motor bracket through a symmetrically arranged reverse side rigid force sensor 1 and a reverse side rigid force sensor 2; the other two ends of the thrust plate are connected to the guide plate through a symmetrically arranged guide rod 1 and a guide rod 2, and a standard side tooling plate is fixed to the side of the thrust plate facing the guide plate through a standard side rigid force sensor 1 and a standard side rigid force sensor 2; a nut flange quick-change interface is fixed to the standard side tooling plate, and a lead screw HSK-E40 quick-change interface is fixed to the reverse side tooling plate; A standard side hollow cup motor bracket and an electric cylinder fixing bracket are sequentially arranged on the other side of the outside of the central groove of the experimental bench base. A standard side servo hollow cup motor for testing a standard differential planetary roller screw is fixed on the standard side hollow cup motor bracket; an electric cylinder is arranged on the electric cylinder fixing bracket, and the output end of the electric cylinder is connected to the guide plate.

2. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 1, characterized in that: An outer parallel slide rail 1 and an outer parallel slide rail 2 are symmetrically fixed on both sides of the upper part of the experimental bench base, and the experimental bench box 1 and the experimental bench box 2 are slidably set on the outer parallel slide rail 1 and the outer parallel slide rail 2; two box sliders 1 and two box sliders 2 are symmetrically fixed on both sides of the bottom of the experimental bench box 1, and the box slider 1 and the box slider 2 located on the same side respectively slide with the outer parallel slide rail 1 or the outer parallel slide rail 2 on the corresponding side; two box sliders 3 and two box sliders 4 are symmetrically fixed on both sides of the bottom of the experimental bench box 2, and the box slider 3 and the box slider 4 located on the same side respectively slide with the outer parallel slide rail 1 or the outer parallel slide rail 2 on the corresponding side.

3. The differential planetary roller screw test bench for the humanoid robot dexterous hand according to claim 1 is characterized by: The experimental platform base is fixedly provided with an infrared temperature sensor on the outer side of the hollow cup motor bracket on the reverse side.

4. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 3, characterized in that: The reverse side coreless cup motor bracket is fixedly provided with a laser centering device 1 just behind the reverse side servo coreless cup motor.

5. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 4, characterized in that: The output end of the reverse side servo hollow cup motor is connected to one end of a torque sensor 1 fixedly arranged on the reverse side hollow cup motor bracket through a coupling 1, and the other end of the torque sensor 1 is connected to a pneumatic three-jaw chuck through a connecting flange.

6. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 1, characterized in that: An inner parallel slide rail 1 and an inner parallel slide rail 2 are symmetrically fixed in the central groove of the experimental bench base, and two thrust plate sliders that slide with the inner parallel slide rail 1 and the inner parallel slide rail 2 are symmetrically fixed at the bottom of the thrust plate, and magnetic scales are respectively provided on the outer sides of the two thrust plate sliders.

7. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 6, characterized in that: A second laser centering instrument is fixedly arranged in the middle of the top of the thrust plate.

8. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 1, characterized in that: The standard side coreless cup motor bracket is fixedly provided with a laser centering device 3 just behind the standard side servo coreless cup motor.

9. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 8, characterized in that: The output end of the standard side servo hollow cup motor is connected to one end of the torque sensor 2 fixedly set on the standard side hollow cup motor bracket through the coupling 2, and the other end of the torque sensor 2 is connected to the screw fixing tool, and the screw fixing tool is symmetrically provided with a guide rod flange 1 and a guide rod flange 2 respectively adapted to the guide rod 1 and the guide rod 2.

10. The differential planetary roller screw test bench for the dexterous humanoid robot hand according to claim 9, characterized in that: The output end of the electric cylinder is connected to one end of a six-dimensional force sensor through a coupling 3, and the other end of the six-dimensional force sensor is connected to the guide plate.

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