Humanoid dexterous hand based on double-center decoupling metamorphic palm and series-parallel direct-drive mechanical fingers

Abstract

The invention relates to the technical field of robots, and provides a humanoid dexterous hand based on a double-center decoupling metamorphic palm and series-parallel direct-drive mechanical fingers, which comprises a metamorphic palm and at least one mechanical finger. Eight connecting rods and eight revolute pairs of the metamorphic palm are alternately arranged and sequentially connected to form a closed loop, the axes of four adjacent revolute pairs intersect at a first sphere center to form a first spherical four-rod mechanism, and the axes of the other four adjacent revolute pairs intersect at a second sphere center to form a second spherical four-rod mechanism. Different metamorphic forks are derived from the eight revolute pairs through coaxial axes and coplanar adjacent axes, and when the eight revolute pairs move to forking points for forking, the eight revolute pairs enter different motion branches so as to form different metamorphic structures. A direct-drive type driving mechanism included in the mechanical finger drives an MCP joint to conduct pitching motion and side-sway motion, and the direct-drive type driving mechanism drives a PIP joint and a DIP joint to conduct synchronous flexion and extension motion. The clothes provided by the invention have stronger dexterity.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more particularly to a humanoid dexterous hand based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger. Background Art

[0002] The dexterous robot hand can replace human hands to perform tasks in complex and harsh environments. It is an important component for realizing local fine operation of robots. Compared with the end effector with a single grasping object, a unique grasping action and a simple structure, the dexterous hand can interact with a variety of objects with its higher degree of freedom and structure that imitates the human hand.

[0003] Dexterous robotic hands have diverse structures, typically consisting of a palm and fingers. Existing technologies often design the palm as a rigid structure, lacking degrees of freedom and movement, resulting in low dexterity. Existing mechanical fingers primarily rely on tendon mechanisms (tendon cords and rope transmissions) and linkage mechanisms (including four-bar linkages, gears, and pulley transmissions), both of which suffer from low dexterity. Summary of the Invention

[0004] The purpose of the present invention is to provide a humanoid dexterous hand based on a dual-center decoupled metacarpal palm and a hybrid direct-drive mechanical finger, so as to solve the technical problem of low dexterity of robot dexterous hands in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] The present invention provides a humanoid dexterous hand based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger, comprising a metamorphic palm and at least one mechanical finger connected to the metamorphic palm;

[0007] The metamorphic palm includes eight connecting rods and eight revolute pairs, which are alternately arranged and sequentially connected to form a closed loop. The axes of four adjacent revolute pairs intersect at the first sphere center to form a first spherical four-bar mechanism, and the axes of the other four adjacent revolute pairs intersect at the second sphere center to form a second spherical four-bar mechanism.

[0008] Different metamorphic bifurcations are derived between the eight revolute pairs through coaxial axes and coplanarity of adjacent axes. When bifurcating at a bifurcation point, different motion branches are entered to form different metamorphic configurations.

[0009] The mechanical finger includes a direct-drive mechanism and an MCP joint, a PIP joint, and a DIP joint connected in sequence. The direct-drive mechanism drives the MCP joint to perform pitch and roll movements, and the direct-drive mechanism drives the PIP joint and the DIP joint to perform synchronous flexion and extension movements.

[0010] According to the above-mentioned humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical finger, the eight connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, and an eighth connecting rod;

[0011] The eight rotation pairs include a first rotation pair, a second rotation pair, a third rotation pair, a fourth rotation pair, a fifth rotation pair, a sixth rotation pair, a seventh rotation pair, and an eighth rotation pair;

[0012] The first connecting rod, the first rotational pair, the second connecting rod, the second rotational pair, the third connecting rod, the third rotational pair, the fourth connecting rod, the fourth rotational pair, the fifth connecting rod, the fifth rotational pair, the sixth connecting rod, the sixth rotational pair, the seventh connecting rod, the seventh rotational pair, the eighth connecting rod, and the eighth rotational pair are connected in sequence, and the eighth rotational pair is connected to the first connecting rod;

[0013] The axes of the first rotational pair, the second rotational pair, the third rotational pair, and the fourth rotational pair intersect at the center of the first sphere, forming the first spherical four-bar mechanism;

[0014] The axes of the fifth rotational pair, the sixth rotational pair, the seventh rotational pair, and the eighth rotational pair intersect at the second spherical center, forming the second spherical four-bar mechanism.

[0015] According to the above-mentioned humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical finger, the sum of the first joint torsion angle corresponding to the third link and the second joint torsion angle corresponding to the fourth link is greater than 90°, and the first joint torsion angle is equal to the second joint torsion angle;

[0016] The sum of the third joint torsion angle corresponding to the sixth link and the fourth joint torsion angle corresponding to the seventh link is greater than 90°, and the third joint torsion angle is not equal to the fourth joint torsion angle;

[0017] The fifth joint torsion angle corresponding to the second connecting rod is 90°, and the sixth joint torsion angle corresponding to the eighth connecting rod is 90°.

[0018] According to the above-described humanoid dexterous hand based on the dual-center decoupled metamorphic palm and the hybrid direct-drive mechanical finger, the eight revolute pairs derive different metamorphic bifurcations through the coaxiality of the axes and the coplanarity of the adjacent axes. When the movement reaches the bifurcation point and bifurcates, it enters different motion branches to form eight metamorphic configurations, that is, eight motion branches.

[0019] The eight metamorphic configurations include: double-center decoupled 8R mechanism, continuous rotation around the real axis, double Miura 6R mechanism, Miura 4R mechanism, spherical 4R mechanism, spherical 5R mechanism, double-center 7R mechanism and a combination of spherical 4R and single-center fixed-axis rotation mechanism.

[0020] According to the above-mentioned humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical finger, the direct-drive drive mechanism includes a first direct-drive drive element, a second direct-drive drive element, and a third direct-drive drive element arranged in parallel, and also includes a universal joint, an MCP-PIP connecting rod, and a PIP-DIP connecting rod;

[0021] The first direct-drive driver and the second direct-drive driver are both connected to the MCP joint, and the MCP joint is connected to the universal joint;

[0022] The first direct-drive driver, the second direct-drive driver, and the third direct-drive driver are all connected to one end of the MCP-PIP connecting rod, and the other end of the MCP-PIP connecting rod is connected to the PIP joint;

[0023] One end of the PIP-DIP connecting rod is connected to the MCP joint, and the other end of the PIP-DIP connecting rod is connected to the DIP joint.

[0024] According to the above-mentioned humanoid dexterous hand based on dual-center decoupled metacarpal palm and hybrid direct-drive mechanical finger, the MCP-PIP connecting rod includes a first connecting rod, a second connecting rod and a third connecting rod;

[0025] One end of the first connecting rod is connected to both the first direct-drive driver and the second direct-drive driver;

[0026] One end of the second connecting rod is connected to the third direct-drive driving member, and the other end of the second connecting rod is fixedly connected to the first connecting rod;

[0027] The other end of the first connecting rod is rotatably connected to one end of the third connecting rod, and the other end of the third connecting rod is rotatably connected to the PIP joint.

[0028] According to the above-mentioned humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical finger, the mechanical finger further includes a base;

[0029] The first direct-drive driver includes a first bearing seat, a first linear motor, and a first bearing connected in sequence, the first bearing seat being rotatably connected to the base, and the first bearing being rotatably connected to both the MCP joint and the MCP-PIP connecting rod;

[0030] The second direct-drive driver comprises a second bearing seat, a second linear motor, and a second bearing connected in sequence, the second bearing seat being rotatably connected to the base, and the second bearing being rotatably connected to both the MCP joint and the MCP-PIP connecting rod;

[0031] The third direct-drive driving component includes a third bearing seat, a third linear motor and a third bearing connected in sequence. The third bearing seat is rotatably connected to the base, and the third bearing is rotatably connected to the second connecting rod.

[0032] According to the above-mentioned humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical finger, the other end of the first connecting rod is rotatably connected to one end of the third connecting rod via a first optical axis, and the other end of the third connecting rod is rotatably connected to the PIP joint via a second optical axis;

[0033] The MCP joint and the PIP joint are rotationally connected via a third optical axis;

[0034] The MCP joint is rotatably connected to one end of the PIP-DIP connecting rod via a fourth optical axis;

[0035] The other end of the PIP-DIP connecting rod is rotatably connected to the DIP joint via a fifth optical axis;

[0036] The PIP joint and the DIP joint are rotationally connected via a sixth optical axis;

[0037] The first bearing of the first direct-drive driver or the second bearing of the second direct-drive driver forms a first inverted quadrilateral mechanism with the first optical axis, the second optical axis, and the third optical axis;

[0038] The third optical axis, the fourth optical axis, the fifth optical axis, and the sixth optical axis constitute a second inverse quadrilateral structure.

[0039] According to the above-mentioned humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical finger, the MCP joint includes a first MCP link and a second MCP link, the first MCP link and the second MCP link are arranged in parallel, and one end of the first MCP link and one end of the second MCP link are connected by the universal joint, the other end of the first MCP link and the other end of the second MCP link are connected by the fourth optical axis, the first MCP link is rotatably connected to the first bearing, and the second MCP link is rotatably connected to the second bearing;

[0040] The PIP joint includes a first PIP link and a second PIP link, the first MCP link is rotatably connected to one end of the first PIP link through the third optical axis, the second MCP link is rotatably connected to one end of the second PIP link through the third optical axis, and the other end of the first PIP link and the other end of the second PIP link are connected through the sixth optical axis.

[0041] According to the above-mentioned humanoid dexterous hand based on dual-center decoupled metacarpal palm and hybrid direct-drive mechanical finger, the pitch angle of the MCP joint is 0° to 90°;

[0042] The lateral swing angle of the MCP joint is -40° to 40°;

[0043] The flexion and extension angles of the PIP joint and the DIP joint are 0° to 90°.

[0044] The beneficial effects of the humanoid dexterous hand based on the dual-center decoupled metacarpal palm and the hybrid direct-drive mechanical fingers provided by the present invention are at least:

[0045] (1) This embodiment provides a humanoid dexterous hand based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger. The metamorphic palm forms two spherical four-bar mechanisms. Different metamorphic bifurcations are derived through the coaxiality of the axes and the coplanarity of the adjacent axes. When the movement reaches the bifurcation point and bifurcates, it enters different motion branches. Different motion modes can be derived through these different motion branches, thereby realizing different functions. At the same time, the metamorphic process of the metamorphic palm can realize various forms of grasping gestures. It has a significantly different mechanical form and reconstruction mechanism from the traditional rigid palm, has stronger dexterity, and is closer to the operation effect of the human palm.

[0046] (2) The direct-drive mechanism realizes the effective driving of the MCP joint in two degrees of freedom, namely pitch and roll motion, and also realizes the driving of the PIP joint and the DIP joint in synchronous flexion and extension motion, thereby realizing the effective driving of the single-degree-of-freedom PIP-DIP coupling joint. It has high dexterity, and the direct-drive mechanism has a high load-to-weight ratio, high energy density, and high stiffness. The overall structure is compact, which facilitates the integration of multiple mechanical fingers and has good structural interchangeability. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1A schematic diagram of the structure of the humanoid dexterous hand based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger provided by the invention;

[0049] Figure 2 A schematic diagram of the structure of the metamorphic palm provided by the invention;

[0050] Figure 3 A schematic diagram of the structure of the mechanical finger provided for the invention;

[0051] Figure 4 A schematic diagram of the principle structure of the metamorphic palm provided by the invention;

[0052] Figure 5 Schematic diagram of the eight metamorphic configurations of the metamorphic palm provided by the invention;

[0053] Figure 6 A schematic diagram of the principle structure of the double-center decoupling 8R mechanism of the metamorphic palm provided by the invention;

[0054] Figure 7 A schematic diagram of the principle structure of the metamorphic palm provided by the invention that continuously rotates around the real axis;

[0055] Figure 8 A schematic diagram of the principle structure of the double Miura 6R mechanism of the metamorphic palm provided by the invention;

[0056] Figure 9 A schematic diagram of the principle structure of the Miura 4R mechanism of the metamorphic palm provided by the invention;

[0057] Figure 10 A schematic diagram of the principle structure of the spherical 4R mechanism of the metamorphic palm provided by the invention;

[0058] Figure 11 A schematic diagram of the principle structure of the spherical 5R mechanism of the metamorphic palm provided by the invention;

[0059] Figure 12 A schematic diagram of the principle structure of the double-center 7R mechanism of the metamorphic palm provided by the invention;

[0060] Figure 13 Schematic diagram of the principle structure of the spherical 4R mechanism + single-center fixed-axis rotation mechanism of the metamorphic palm provided by the invention;

[0061] Figure 14 A schematic diagram of the pitching motion of the MCP joint of the mechanical finger provided by the invention;

[0062] Figure 15 A schematic diagram of the MCP joint of the mechanical finger provided by the invention performing lateral swing motion;

[0063] Figure 16 Schematic diagram of the synchronous pitching motion of the PIP joint and the DIP joint of the mechanical finger of the present invention;

[0064] Figure 17 Schematic diagram of the top view of the three-dimensional structure of the mechanical finger of the present invention;

[0065] Figure 18 The side view of the mechanical finger of the present invention Figure 1 ;

[0066] Figure 19 The side view of the mechanical finger of the present invention Figure 2 ;

[0067] Figure 20 The side view of the mechanical finger of the present invention Figure 3 .

[0068] Among them, the reference numerals in the figures are:

[0069] 100. Humanoid dexterous hand; 10. Mechanical finger; 110. Direct-drive mechanism; 111. First direct-drive driver; 1111. First bearing seat; 1112. First linear motor; 1113. First bearing; 112. Second direct-drive driver; 1121. Second bearing seat; 1122. Second linear motor; 1123. Second bearing; 113. Third direct-drive driver; 1131. Third bearing seat; 1132. Third linear motor; 1133. Third bearing; 114. Universal joint; 115. MCP-PIP connecting rod; 115 1. First connecting rod; 1152. Second connecting rod; 1153. Third connecting rod; 1154. First optical axis; 1155. Second optical axis; 116. PIP-DIP link; 120. MCP joint; 121. Third optical axis; 122. Fourth optical axis; 123. First MCP link; 124. Second MCP link; 130. PIP joint; 131. First PIP link; 132. Second PIP link; 140. DIP joint; 141. Fifth optical axis; 142. Sixth optical axis; 150. Base; 20. Metamorphosis palm;

[0070] O1, first ball center; O2, second ball center;

[0071] q1, first connecting rod; q2, second connecting rod; q3, third connecting rod; q4, fourth connecting rod; q5, fifth connecting rod; q6, sixth connecting rod; q7, seventh connecting rod; q8, eighth connecting rod;

[0072] S1, first rotation pair; S2, second rotation pair; S3, third rotation pair; S4, fourth rotation pair; S5, fifth rotation pair; S6, sixth rotation pair; S7, seventh rotation pair; S8, eighth rotation pair;

[0073] α1, first joint torsion angle; α2, second joint torsion angle; α3, third joint torsion angle; α4, fourth joint torsion angle; α5, fifth joint torsion angle; α6, sixth joint torsion angle. DETAILED DESCRIPTION

[0074] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0075] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0076] The main technical terms involved in the present invention are explained as follows:

[0077] Miura (full Chinese name: Miura Folding).

[0078] MCP joint (English full name: Metacarpo-phalangeal joints, one of the joints of human fingers, Chinese full name: metacarpophalangeal joint);

[0079] PIP joint (Proximal interphalangeal joint, one of the joints of the human finger, Chinese full name: proximal interphalangeal joint);

[0080] DIP joints (distal interphalangeal joints, one of the joints of the human fingers, distal interphalangeal joints in Chinese);

[0081] Universal joint (English full name: universal joint, also known as: U pair, abbreviated as: U, with two degrees of freedom);

[0082] Bearings and bearing seats (full name: spherical joint, also known as ball pair, abbreviated as S, with three degrees of freedom);

[0083] Linear motor (English full name: prismatic joint, also known as: moving pair, abbreviated as: P, with one degree of freedom);

[0084] Optical axis (full name: rotational joint, also known as revolute pair, abbreviated as R, with one degree of freedom);

[0085] Cylindrical joint (English full name: cylindrical joint, also known as: cylindrical pair, abbreviated as: C, two-degree-of-freedom motion pair).

[0086] The present invention relates to some connecting rods named in the above-mentioned letter combination, which represents a connecting rod mechanism composed of the kinematic pairs represented by the letters connected in sequence in a front-to-back order.

[0087] For example: SPS connecting rod mechanism (English full name: spherical joint--prismatic joint--spherical joint, a series connecting rod mechanism composed of bearing seat-moving pair-bearing).

[0088] And so on.

[0089] See also Figure 1 This embodiment provides a humanoid dexterous hand 100 based on a dual-center decoupled metacarpal palm and hybrid direct-drive mechanical fingers, comprising a metacarpal palm 20 and at least one mechanical finger 10 connected to the metacarpal palm 20. This embodiment includes four mechanical fingers 10. It should be understood that the number of mechanical fingers 10 is not limited to the four described above, and other numbers of mechanical fingers 10 may also be included, which is not a limitation herein.

[0090] See also Figure 2 The metamorphic palm 20 includes eight connecting rods and eight revolute pairs. The eight connecting rods and the eight revolute pairs are alternately arranged and connected in sequence to form a closed loop. The axes of four adjacent revolute pairs intersect at the first sphere center O1, forming a first spherical four-bar mechanism. The axes of the other four adjacent revolute pairs intersect at the second sphere center O2, forming a second spherical four-bar mechanism. Different metamorphic bifurcations are derived between the eight revolute pairs through the coaxiality of the axes and the coplanarity of the adjacent axes. When the movement reaches the bifurcation point and bifurcates, it enters different movement branches to form different metamorphic configurations.

[0091] See also Figure 3The mechanical finger 10 includes a direct-drive mechanism 110 and a sequentially connected MCP joint 120, PIP joint 130, and DIP joint 140. The direct-drive mechanism 110 drives the MCP joint 120 to perform pitch and roll motions, and the direct-drive mechanism 110 drives the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension motions. Optionally, both the PIP joint and the DIP joint are provided with anti-slip features to prevent slipping when the mechanical finger 10 grasps an object.

[0092] The working principle of the humanoid dexterous hand 100 based on the dual-center decoupled metacarpal palm and hybrid direct-drive mechanical fingers provided in this embodiment is as follows:

[0093] The humanoid dexterous hand 100 based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger provided in this embodiment has, with respect to the metamorphic palm 20, the axes of four adjacent revolving pairs intersecting at a first spherical center O1, forming a first spherical four-bar linkage, while the axes of another four adjacent revolving pairs intersecting at a second spherical center O2, forming a second spherical four-bar linkage. Furthermore, in a general motion mode, the axes intersecting at the same spherical center are continuous. When different metamorphic configurations are required, different metamorphic bifurcations can be derived by coaxial axes and coplanarity of adjacent axes. When movement bifurcates at a bifurcation point, different motion branches are entered. These different motion branches can be used to derive different motion modes, thereby achieving different functions. Furthermore, the metamorphic palm's metamorphic process enables the realization of various forms of grasping gestures, exhibiting a significantly different structural form and reconstruction mechanism from a traditional rigid palm, resulting in enhanced dexterity and an operation effect closer to that of a human hand.

[0094] Regarding the mechanical finger 10, under the drive of the direct-drive drive mechanism 110, the MCP joint 120 can be driven to perform pitch and roll motions, realizing effective drive of two degrees of freedom. The PIP joint 130 and the DIP joint 140 can also be driven to perform synchronous flexion and extension motions, realizing effective drive of the single-degree-of-freedom PIP-DIP coupling joint. The mechanical finger 10 of this embodiment realizes three degrees of freedom and has high dexterity. The direct-drive drive mechanism 110 has a high load-to-weight ratio, high energy density, and high rigidity. The overall structure is compact, which facilitates the integration of multiple mechanical fingers 10 and has good structural interchangeability.

[0095] The beneficial effects of the humanoid dexterous hand 100 based on the dual-center decoupled metacarpal palm and hybrid direct-drive mechanical fingers provided in this embodiment are as follows:

[0096] (1) The present embodiment provides a humanoid dexterous hand 100 based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger. The metamorphic palm 20 forms two spherical four-bar mechanisms. Different metamorphic bifurcations are derived through the coaxiality of the axes and the coplanarity of the adjacent axes. When the movement bifurcates at the bifurcation point, it enters different motion branches. Different motion modes can be derived through these different motion branches, thereby realizing different functions. At the same time, the metamorphic process of the metamorphic palm realizes various forms of grasping gestures. The metamorphic palm has a significantly different mechanism form and reconstruction mechanism from the traditional rigid palm, has stronger dexterity, and is closer to the operation effect of the human palm.

[0097] (2) The direct-drive drive mechanism 110 realizes the effective driving of the MCP joint 120 in two degrees of freedom, namely pitch and roll motion, and also realizes the driving of the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension motion, thereby realizing the effective driving of the single-degree-of-freedom PIP-DIP coupling joint. The direct-drive drive mechanism 110 has high dexterity, high load-to-weight ratio, high energy density, and high rigidity. The overall structure is compact, which facilitates the integration of multiple mechanical fingers 10 and has good structural interchangeability.

[0098] In one embodiment, see Figure 4 The eight connecting rods include a first connecting rod q1, a second connecting rod q2, a third connecting rod q3, a fourth connecting rod q4, a fifth connecting rod q5, a sixth connecting rod q6, a seventh connecting rod q7, and an eighth connecting rod q8. The eight revolute pairs include a first revolute pair S1, a second revolute pair S2, a third revolute pair S3, a fourth revolute pair S4, a fifth revolute pair S5, a sixth revolute pair S6, a seventh revolute pair S7, and an eighth revolute pair S8. The first connecting rod q1, the first revolute pair S1, the second connecting rod q2, the second revolute pair S2, the third connecting rod q3, the third revolute pair S3, the fourth connecting rod q4, the fourth revolute pair S4, the fifth connecting rod q5, the fifth revolute pair S5, the sixth connecting rod q6, the sixth revolute pair S6, the seventh connecting rod q7, the seventh revolute pair S7, the eighth connecting rod q8, and the eighth revolute pair S8 are connected in sequence, and the eighth revolute pair S8 is connected to the first connecting rod q1.

[0099] The axes of the first rotational pair S1, the second rotational pair S2, the third rotational pair S3, and the fourth rotational pair S4 intersect at the first spherical center O1, forming the first spherical four-bar mechanism; the axes of the fifth rotational pair S5, the sixth rotational pair S6, the seventh rotational pair S7, and the eighth rotational pair S8 intersect at the second spherical center O2, forming the second spherical four-bar mechanism.

[0100] The axes of the adjacent first rotational pair S1, second rotational pair S2, third rotational pair S3, and fourth rotational pair S4 intersect at the first sphere center O1, and the axes of the adjacent fifth rotational pair S5, sixth rotational pair S6, seventh rotational pair S7, and eighth rotational pair S8 intersect at the second sphere center O2. In a general motion mode, the axes intersecting at the same sphere center are continuous. The double-center decoupling mechanism formed by the first spherical four-bar mechanism and the second spherical four-bar mechanism has the corresponding metamorphic properties of a spherical double-center mechanism. Based on this structure, a humanoid dexterous palm is realized, which can realize various forms of grasping gestures through the metamorphic process of the mechanism. It has a significantly different mechanism form and reconstruction mechanism from the traditional rigid palm, has stronger dexterity, and is closer to the operation effect of the human palm.

[0101] In one embodiment, please refer to Figure 4 , the sum of the first joint torsion angle α1 corresponding to the third link q3 and the second joint torsion angle α2 corresponding to the fourth link q4 is greater than 90°, and the first joint torsion angle α1 is equal to the second joint torsion angle α2;

[0102] The sum of the third joint torsion angle α3 corresponding to the sixth link q6 and the fourth joint torsion angle α4 corresponding to the seventh link q7 is greater than 90°, and the third joint torsion angle α3 is not equal to the fourth joint torsion angle α4;

[0103] The fifth joint torsion angle α5 corresponding to the second link q2 is 90°, and the sixth joint torsion angle α6 corresponding to the eighth link q8 is 90°.

[0104] In one embodiment, see Figure 5 The eight rotating pairs derive different metamorphic bifurcations through coaxial axes and coplanar adjacent axes. When the movement bifurcates at the bifurcation point, it enters different motion branches to form eight metamorphic configurations, that is, eight motion branches.

[0105] The eight metamorphic configurations include: double-center decoupled 8R mechanism, continuous rotation around the real axis, double Miura 6R mechanism, Miura 4R mechanism, spherical 4R mechanism, spherical 5R mechanism, double-center 7R mechanism and a combination of spherical 4R mechanism and single-center fixed-axis rotation mechanism.

[0106] The following eight metamorphic configurations use the first link q1 as the frame in all motion branches.

[0107] In one embodiment, see Figure 6, motion branch 1 is: a dual-center decoupling 8R mechanism or a dual-center decoupling 8R three-degree-of-freedom mechanism. The eight revolute pairs under the dual-center decoupling 8R mechanism can move simultaneously. The first revolute pair S1, the second revolute pair S2, the third revolute pair S3, and the fourth revolute pair S4 of this motion branch 1 always converge at the first spherical center O1, and the fifth revolute pair S5, the sixth revolute pair S6, the seventh revolute pair S7, and the eighth revolute pair S8 always converge at the second spherical center O2. The two sides are respectively regarded as the first spherical four-bar mechanism and the second spherical four-bar mechanism, that is, the axes of the four adjacent revolute pairs intersect at the first spherical center O1 and form a first spherical four-bar mechanism with the corresponding four connecting rods. The axes of the other four adjacent revolute pairs intersect at the second spherical center O2 and form a second spherical four-bar mechanism with the corresponding other four connecting rods. The driving joints are the first revolute pair S1, the second revolute pair S2, and the eighth revolute pair S8. Each connecting rod under this motion branch 1 has a large range of motion, which is suitable for high-contact richness scenarios such as those requiring multi-finger coordinated dexterous grasping.

[0108] In one embodiment, see Figure 7 Motion branch 2 is continuous rotation about the real axis, which is formed when the angle between the first link q1, the second link q2, and the eighth link q8 is 0°, that is, the first revolving pair S1, the second revolving pair S2, the seventh revolving pair S7, and the eighth revolving pair S8 are coplanar. At this time, the second revolving pair S2 and the seventh revolving pair S7 can move; the first revolving pair S1 and the eighth revolving pair S8 do not rotate, and the first link q1, the second link q2, and the eighth link q8 act as a whole. The third revolving pair S3, the fourth revolving pair S4, the fifth revolving pair S5, and the sixth revolving pair S6 are constrained by geometric parameters, and the joint angles remain unchanged. The third link q3, the fourth link q4, the fifth link q5, the sixth link q6, and the seventh link q7 are rigidified as a whole. In this motion branch 2, the third, fourth, fifth, sixth, and seventh links q3, q4, q5, q6, and q7 of the linkage group rotate continuously around a fixed axis relative to the first, second, and eighth links q1, q2, and q8 of the linkage group. The axis of rotation is formed by the second revolute pair S2, line segment O1O2, and seventh revolute pair S7, all of which coincide on the same axis. The driving joint is the second revolute pair S2. This motion branch 2 is particularly suitable for applications requiring large-scale wrist pitch motion, with a positive and negative pitch range of nearly 360°.

[0109] In one embodiment, see Figure 8Motion branch 3 is a dual Miura 6R mechanism or a dual Miura 6R single-degree-of-freedom mechanism, constructed with the angle between the fourth link q4, the fifth link q5, and the sixth link q6 being 0°, i.e., the second rotational pair S2, the third rotational pair S3, the fourth rotational pair S4, and the fifth rotational pair S5 being coplanar. At this point, the first rotational pair S1, the second rotational pair S2, the third rotational pair S3, the sixth rotational pair S6, the seventh rotational pair S7, and the eighth rotational pair S8 can move; the fourth rotational pair S4 and the fifth rotational pair S5 do not rotate, and the fourth link q4, the fifth link q5, and the sixth link q6 are rigidly integrated. In this motion branch 3, the first rotational pair S1, the second rotational pair S2, and the third rotational pair S3 intersect at the first spherical center O1, and the sixth rotational pair S6, the seventh rotational pair S7, and the eighth rotational pair S8 intersect at the second spherical center O2. The fourth link q4, the fifth link q5, and the sixth link q6 are equivalent to rotating relative to the first link q1 about the line segment O1O2. Therefore, the mechanism under this motion branch 3 is equivalent to two spherical four-bar linkages sharing a common rotation axis O1O2. The driven joint is the first revolute pair S1. This motion branch 3 allows for relative motion between the mechanical fingers 10 during pitch motion without changing the pitch angle.

[0110] In one embodiment, see Figure 9Motion branch 4 is a Miura 4R single-degree-of-freedom mechanism or Miura 4R mechanism. Its construction conditions are that the angles between the fourth link q4, the fifth link q5, and the sixth link q6 are 0°, and the angle between the first link q1 and the second link q2 or the eighth link q8 is 0°. That is, the second rotational pair S2, the third rotational pair S3, the fourth rotational pair S4, and the fifth rotational pair S5 are coplanar, and the first rotational pair S1, the seventh rotational pair S7, and the eighth rotational pair S8 are coplanar, or the first rotational pair S1, the second rotational pair S2, the eighth rotational pair S8 are coplanar. At this point, the first rotational pair S1, the second rotational pair S2, the third rotational pair S3, and the seventh rotational pair S7, or the second rotational pair S2, the sixth rotational pair S6, the seventh rotational pair S7, and the eighth rotational pair S8 can move. Since the Muira mechanisms generated at the two spherical centers are equivalent, the mechanism at the first spherical center O1 is used as an example. At this time, the fourth and fifth rotational pairs S4 and S5 do not rotate, and the sixth rotational pair S6 maintains a constant angle due to geometric parameter constraints. The fourth, fifth, sixth, and seventh links q4, q5, q6, and q7 act as a whole. The eighth rotational pair S8 does not rotate, and the first and eighth links q1 and q8 act as a whole. The first and eighth links q1, q8, q2, and q3 of the linkage group, together with the fourth, fifth, sixth, and seventh links q4, q5, q6, and q7 of the linkage group, form a Muira spherical four-bar mechanism. The driving joint is the first rotational pair S1. This motion branch 4 can introduce relative motion between the mechanical fingers 10, particularly the thumb, during pitch motion without changing the pitch angle.

[0111] In one embodiment, see Figure 10 Motion branch 5 is a spherical 4R mechanism or a single-degree-of-freedom spherical 4R mechanism. Its construction requires fixing the four joint angles of the sphere center on either side, while the other sphere center forms a spherical four-bar linkage. Taking the first sphere center O1 as an example, in this case, the first revolute pair S1, the second revolute pair S2, the third revolute pair S3, and the fourth revolute pair S4 can move; the joint angles of the fifth revolute pair S5, the sixth revolute pair S6, the seventh revolute pair S7, and the eighth revolute pair S8 remain fixed, and the first link q1, the fifth link q5, the sixth link q6, the seventh link q7, and the eighth link q8 are rigidly integrated. In this motion branch 5, the linkage assembly's first link q1, fifth link q5, sixth link q6, seventh link q7, and eighth link q8, together with the second link q2, third link q3, and fourth link q4, form a spherical four-bar linkage. During motion, the first revolute pair S1, second revolute pair S2, third revolute pair S3, and fourth revolute pair S4 always converge at the first sphere center O1. The driving joint is the first revolute pair S1. In this motion branch 5, the movement of one side of the spherical four-bar linkage does not affect the movement of the other side, allowing for large interdigital movements between the thumb and index finger or the ring finger, which is beneficial for gestures requiring complex finger coordination.

[0112] In one embodiment, see Figure 11 Motion branch 6 is a two-degree-of-freedom spherical 5R mechanism or a spherical 5R mechanism, whose construction condition is that the angle between the eighth link q8 and the first link q1 is 180° or 0°, that is, the first revolute pair S1, the seventh revolute pair S7, and the eighth revolute pair S8 are coplanar. The first revolute pair S1, the second revolute pair S2, the third revolute pair S3, the fourth revolute pair S4, and the seventh revolute pair S7 can move; the eighth revolute pair S8 does not rotate, and the first link q1 and the eighth link q8 act as a whole. The fifth revolute pair S5 and the sixth revolute pair S6 maintain a constant joint angle under the constraints of geometric parameters, and the fifth link q5, the sixth link q6, and the seventh link q7 act as a whole. Under this motion branch 6, the first link q1 of the linkage group, the eighth link q8 as a whole, the fifth link q5, the sixth link q6, the seventh link q7 as a whole, and the second link q2, the third link q3, and the fourth link q4 form a spherical five-bar mechanism. During motion, the first revolving pair S1, the second revolving pair S2, the third revolving pair S3, the fourth revolving pair S4, and the fifth revolving pair S5 always converge at the first sphere center O1. The driving joints are the first revolving pair S1 and the second revolving pair S2. This motion branch 6 is particularly suitable for situations requiring large-scale inter-finger motion. It can produce large-scale inter-finger motion between the thumb and index finger and pitch motion of the palm, which is beneficial for gestures requiring complex finger coordination.

[0113] In one embodiment, see Figure 12 , motion branch 7 is a double-center 7R mechanism, which is constructed under the following conditions: the angle between the sixth link q6 and the seventh link q7 is 0°, or the angle between the seventh link q7 and the eighth link q8 is 0°, that is, the fifth rotational pair S5, the sixth rotational pair S6, and the seventh rotational pair S7 are coplanar, or the sixth rotational pair S6, the seventh rotational pair S7, and the eighth rotational pair S8 are coplanar. Taking the mechanism that meets the former condition as an example, the first rotational pair S1, the second rotational pair S2, the third rotational pair S3, the fourth rotational pair S4, the fifth rotational pair S5, the seventh rotational pair S7, and the eighth rotational pair S8 can move; the sixth rotational pair S6 does not rotate. At this time, the sixth link q6 and the seventh link q7 are essentially combined into one rod. In this motion branch 7, during movement, the first, second, third, and fourth rotational pairs S1, S2, S3, and S4 always converge at the first sphere center O1. The fifth, seventh, and eighth rotational pairs S5, S7, and S8 always converge at the second sphere center O2. The driving joints are the first and eighth rotational pairs S1 and S8. Each link in this motion branch 7 has a large range of motion, making it suitable for multi-finger gripping scenarios.

[0114] In one embodiment, see Figure 13, motion branch 8 is: a spherical surface 4R and a single-center fixed-axis rotation combined mechanism (i.e., a spherical surface 4R mechanism + a single-center fixed-axis rotation mechanism), whose construction condition is that the angle between the third link q3 and the fourth link q4 is 180°, that is, the second rotation pair S2, the third rotation pair S3, and the fourth rotation pair S4 are coplanar. When the first joint torsion angle α1 of the third link q3 is equal to the second joint torsion angle α2 of the fourth link q4, the second rotation pair S2 and the fourth rotation pair S4 of the rotating shaft are collinear. The fifth rotation pair S5, the sixth rotation pair S6, the seventh rotation pair S7, the eighth rotation pair S8, and the second rotation pair S2 (fourth rotation pair S4) of the fixed-axis rotation can move; the first rotation pair S1 and the third rotation pair S3 are constrained by geometric parameters to maintain the same joint angle. The first link q1 and the second link q2 are rigidified into a whole, and the third link q3 and the fourth link q4 are rigidified into a whole. Under this motion branch 8, the third link q3 and the fourth link q4 of the linkage group rotate continuously along a fixed axis relative to the first link q1 and the second link q2 of the linkage group. The rotation axis is generated by the colinear axes of the second rotational pair S2 and the fourth rotational pair S4. In addition, the first link q1, the second link q2, the third link q3, the fourth link q4, and the fifth link q5 of the linkage group, together with the sixth link q6, the seventh link q7, and the eighth link q8, form the four rods of the spherical four-bar mechanism. During the motion, the fifth rotational pair S5, the sixth rotational pair S6, the seventh rotational pair S7, and the eighth rotational pair S8 always converge at the second sphere center O2. The driving joints are the second rotational pair S2 and the eighth rotational pair S8. The third rotational pair S3 or the fourth rotational pair S4 needs to be driven to leave this motion branch 8. This motion branch 8 has a local full-circle rotational range of motion, allowing the thumb to produce large movements independent of the other fingers. It has similar characteristics to the human hand and is particularly suitable for scenarios where the thumb needs to move alone.

[0115] In this embodiment, the angle between the connecting rods on the fixed side of the first spherical center O1 is 0° or 180° to achieve mechanism derivation. Bifurcation configuration 1: All rotating axes are coplanar. Bifurcation configuration 2: The second revolute pair S2, the third revolute pair S3, and the fourth revolute pair S4 of the rotating axes are coplanar. When the first joint torsion angle α1 of the third link q3 and the second joint torsion angle α2 of the fourth link q4 are equal, the second revolute pair S2 and the fourth revolute pair S4 are collinear.

[0116] In order to control all the above eight motion branches, this example requires four motors to drive the motors of the first rotation pair S1, the second rotation pair S2, the third rotation pair S3, and the eighth rotation pair S8 respectively.

[0117] In one embodiment, see Figure 3The direct-drive drive mechanism 110 includes a first direct-drive drive element 111, a second direct-drive drive element 112, and a third direct-drive drive element 113 arranged in parallel. The three parallel-arranged first direct-drive drive elements 111, the second direct-drive drive element 112, and the third direct-drive drive element 113 have a high load-to-weight ratio and high energy density, good branched chain structure interchangeability, and a compact overall structure that facilitates the integration of multiple mechanical fingers 10 of the dexterous hand. The direct-drive drive mechanism 110 also includes a universal joint 114, an MCP-PIP link 115, and a PIP-DIP link 116. The first direct-drive drive element 111 and the second direct-drive drive element 112 are both connected to the MCP joint 120, and the MCP joint 120 is connected to the universal joint 114. The arrangement of the universal joint 114 facilitates the roll and pitch motions of the MCP joint 120. The first direct-drive driver 111, the second direct-drive driver 112, and the third direct-drive driver 113 are all connected to one end of the MCP-PIP link 115, the other end of which is connected to the PIP joint 130. One end of the PIP-DIP link 116 is connected to the MCP joint 120, and the other end of the PIP-DIP link 116 is connected to the DIP joint 140. The direct-drive mechanism 110 has strong linkage and a simple overall structure.

[0118] See also Figure 14 , Figure 14 (a) Figure 14 (b) Figure 14 (c) represent the pitch motion process of the MCP joint 120 respectively. When the third direct-drive driver 113 is stationary, it drives the first direct-drive driver 111 and the second direct-drive driver 112, and through the cooperation of the universal joint 114, drives the first direct-drive driver 111 and the second direct-drive driver 112 to move up and down in the same direction and with the same step length, thereby realizing the single-freedom pitch motion of the MCP joint 120 of the mechanical finger 10.

[0119] See also Figure 15 , Figure 15 (a) Figure 15 (b) Figure 15 (c) represent the side-swing motion process of the MCP joint 120. When the third direct-drive driver 113 is stationary, it drives the first direct-drive driver 111 and the second direct-drive driver 112, and through the cooperation of the universal joint 114, drives the first direct-drive driver 111 and the second direct-drive driver 112 to move up and down in opposite directions and with the same step length, thereby realizing the single-free side-swing motion of the MCP joint 120 of the mechanical finger 10.

[0120] Please refer to Figure 14 and Figure 15 When the third direct-drive driver 113 is stationary, it drives the first direct-drive driver 111 and the second direct-drive driver 112, and through the cooperation of the universal joint 114, drives the first direct-drive driver 111 and the second direct-drive driver 112 to move in the same direction and different step lengths, and can simultaneously drive the MCP joint 120 of the mechanical finger 10 to perform two-degree-of-freedom pitch and roll motions.

[0121] See also Figure 16 , Figure 16 (a) Figure 16 (b) Figure 16 (c) represents the flexion and extension movement process of the PIP joint 130 and the DIP joint 140 respectively. When the first direct-drive driver 111 and the second direct-drive driver 112 are stationary, the third direct-drive driver 113 is driven to move up and down, thereby driving the PIP joint 130 and the DIP joint 140 of the mechanical finger 10 to perform synchronous flexion and extension movement, that is, realizing the flexion and extension movement of the single-degree-of-freedom PIP-DIP coupling joint.

[0122] In one embodiment, see Figure 17 The MCP-PIP link 115 includes a first connecting rod 1151, a second connecting rod 1152, and a third connecting rod 1153. One end of the first connecting rod 1151 is connected to both the first direct-drive driver 111 and the second direct-drive driver 112; one end of the second connecting rod 1152 is connected to the third direct-drive driver 113, and the other end of the second connecting rod 1152 is fixedly connected to the first connecting rod 1151; the other end of the first connecting rod 1151 is rotatably connected to one end of the third connecting rod 1153, and the other end of the third connecting rod 1153 is rotatably connected to the PIP joint 130.

[0123] The MCP-PIP link 115 provided above has strong linkage, and the cooperation between the MCP-PIP link 115 and the PIP-DIP link 116 better links the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension movements, thereby achieving effective driving of the single-degree-of-freedom PIP-DIP coupled joint.

[0124] In one embodiment, see Figure 3 The mechanical finger 10 further includes a base 150 , and the universal joint 114 is connected to the base 150 .

[0125] See also Figure 18The first direct-drive driver 111 includes a first bearing seat 1111, a first linear motor 1112 and a first bearing 1113 connected in sequence. The first bearing seat 1111 is rotatably connected to the base 150, and the first bearing 1113 is rotatably connected to both the MCP joint 120 and the MCP-PIP connecting rod 115.

[0126] See also Figure 19 The second direct-drive driver 112 includes a second bearing seat 1121, a second linear motor 1122 and a second bearing 1123 connected in sequence. The second bearing seat 1121 is rotatably connected to the base 150, and the second bearing 1123 is rotatably connected to both the MCP joint 120 and the MCP-PIP connecting rod 115.

[0127] See also Figure 18 and Figure 19 The third direct-drive driving component 113 includes a third bearing seat 1131, a third linear motor 1132 and a third bearing 1133 connected in sequence. The third bearing seat 1131 is rotatably connected to the base 150, and the third bearing 1133 is rotatably connected to the second connecting rod 1152.

[0128] The first linear motor 1112, the second linear motor 1122 and the third linear motor 1132 all adopt a direct drive mode and have only one degree of freedom in one direction. The first bearing seat 1111, the second bearing seat 1121, the third bearing seat 1131, the first bearing 1113, the second bearing 1123 and the third bearing 1133 all have three degrees of freedom, which makes the first direct-drive driver 111 and the second direct-drive driver 112 more flexible in driving the MCP joint 120 to perform pitch and roll movements, and the third direct-drive driver 113 more flexible in driving the PIP joint 130 and the DIP joint 140 to perform flexion and extension movements.

[0129] The first direct drive member 111 includes a first bearing seat 1111 (S), a first linear motor 1112 (P) and a first bearing 1113 (S) connected in sequence, forming a first SPS branch drive, a series mechanism. The second direct drive member 112 includes a second bearing seat 1121 (S), a second linear motor 1122 (P) and a second bearing 1123 (S) connected in sequence, forming a second SPS branch drive, a series mechanism. The third direct drive member 113 includes a third bearing seat 1131 (S), a third linear motor (P) and a third bearing 1133 (S) connected in sequence, forming a third SPS branch drive, a series mechanism.

[0130] In one embodiment, see Figure 20The other end of the first connecting rod 1151 is rotatably connected to one end of the third connecting rod 1153 via a first optical axis 1154 , and the other end of the third connecting rod 1153 is rotatably connected to the PIP joint 130 via a second optical axis 1155 ;

[0131] The MCP joint 120 is rotatably connected to the PIP joint 130 via a third optical axis 121; the MCP joint 120 is rotatably connected to one end of the PIP-DIP link 116 via a fourth optical axis 122; the other end of the PIP-DIP link 116 is rotatably connected to the DIP joint 140 via a fifth optical axis 141; the PIP joint 130 is rotatably connected to the DIP joint 140 via a sixth optical axis 142;

[0132] The first bearing 1113 of the first direct-drive driver 111 or the second bearing 1123 of the second direct-drive driver 112 and the first optical axis 1154, the second optical axis 1155, and the third optical axis 121 form a first inverted quadrilateral mechanism (see Figure 20 The third optical axis 121, the fourth optical axis 122, the fifth optical axis 141 and the sixth optical axis 142 constitute a second inverse quadrilateral structure (see Figure 20 Part B of the .

[0133] The arrangement of the first inverse quadrilateral mechanism and the second inverse quadrilateral mechanism enables the first direct drive element 111 to more effectively achieve flexion and extension single degree of freedom control when driving the PIP-DIP coupling joint composed of the PIP joint 130 and the DIP joint 140.

[0134] As can be seen, the mechanical finger 10 in this embodiment is composed of three identical SPS branch drives connected in parallel. The first SPS branch drive, the second SPS branch drive, the universal joint 114 (U), the third SPS branch drive, the first optical axis 1154 (R), the first inverted quadrilateral mechanism, and the second inverted quadrilateral mechanism form a 2SPS & U & SPSR - double inverted quadrilateral hybrid mechanism.

[0135] In one embodiment, see Figure 17The MCP joint 120 includes a first MCP link 123 and a second MCP link 124. The first MCP link 123 and the second MCP link 124 are arranged in parallel, and one end of the first MCP link 123 and one end of the second MCP link 124 are connected via the universal joint 114. The other ends of the first MCP link 123 and the other ends of the second MCP link 124 are connected via the fourth optical axis 122. The first MCP link 123 is rotatably connected to the first bearing 1113, and the second MCP link 124 is rotatably connected to the second bearing 1123. In other words, the first direct-drive driver 111 drives the first MCP link 123, and the second direct-drive driver 112 drives the second MCP link 124.

[0136] The PIP joint 130 includes a first PIP link 131 and a second PIP link 132, the first MCP link 123 is rotatably connected to one end of the first PIP link 131 through the third optical axis 121, the second MCP link 124 is rotatably connected to one end of the second PIP link 132 through the third optical axis 121, and the other end of the first PIP link 131 and the other end of the second PIP link 132 are connected through the sixth optical axis 142.

[0137] In one embodiment, the pitch angle of the MCP joint 120 is 0° to 90°. The roll angle of the MCP joint 120 is -40° to 40°. The flexion and extension angles of the PIP joint 130 and the DIP joint 140 are 0° to 90°. The range of motion of the MCP joint 120, PIP joint 130, and DIP joint 140 in this embodiment is similar to that of a human finger, providing high dexterity.

[0138] In summary, the complete mechanism of the mechanical finger 10 provided in the embodiment of the present application is a 2SPS&U&SPSR-double-inverted quadrilateral hybrid mechanism, in which multiple component sub-mechanisms can be equivalently replaced as follows, all of which are protected by this patent.

[0139] (1) The 2SPS&U component sub-organization can be replaced by:

[0140] 2UPS&U parallel mechanism;

[0141] 3PUS&U parallel mechanism;

[0142] SPS&PUS&U parallel mechanism;

[0143] SPS&UPS&U parallel mechanism;

[0144] PUS&SPS&U parallel mechanism;

[0145] PUS&UPS&U parallel mechanism;

[0146] wait.

[0147] (2) The SPSR component sub-organization can be replaced by:

[0148] UPSR; SPUR; PSSP; PSSR; RSSP, etc.

[0149] (3) The double-reverse quadrilateral component sub-mechanism can be replaced by:

[0150] Double regular quadrilateral mechanism, regular quadrilateral-anti-quadrilateral mechanism, any other single degree of freedom mechanism (including six-bar mechanism, eight-bar mechanism, etc.), etc.

[0151] In summary, this embodiment provides a humanoid dexterous hand 100 based on a dual-center decoupled metamorphic palm and a hybrid direct-drive mechanical finger, comprising a metamorphic palm 20 and at least one mechanical finger 10 connected to the metamorphic palm 20. This embodiment includes four mechanical fingers 10. Figure 2 The metamorphic palm 20 includes eight connecting rods and eight revolute pairs. The eight connecting rods and the eight revolute pairs are arranged alternately and connected in sequence to form a closed loop. The axes of four adjacent revolute pairs intersect at the first sphere center, forming a first spherical four-bar mechanism. The axes of the other four adjacent revolute pairs intersect at the second sphere center, forming a second spherical four-bar mechanism. Different metamorphic bifurcations are derived between the eight revolute pairs through the coaxiality of the axes and the coplanarity of the adjacent axes. When the movement bifurcates at the bifurcation point, it enters different motion branches to form different metamorphic configurations. Please refer to Figure 3The mechanical finger 10 includes a direct drive mechanism 110 and an MCP joint 120, a PIP joint 130, and a DIP joint 140 connected in sequence. The direct drive mechanism 110 drives the MCP joint 120 to perform pitch and roll motions, and the direct drive mechanism 110 drives the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension motions. (1) The humanoid dexterous hand 100 based on a dual-center decoupled metamorphic palm and a hybrid direct drive mechanical finger provided in this embodiment, wherein the metamorphic palm 20 forms two spherical four-bar mechanisms, and different metamorphic bifurcations are derived through the coaxiality of the axes and the coplanarity of the adjacent axes. When the movement bifurcates at the bifurcation point, different movement branches are entered. Different movement modes can be derived through these different movement branches, thereby realizing different functions. At the same time, various forms of grasping gestures can be realized through the metamorphic process of the metamorphic palm, which has a significantly different mechanism form and reconstruction mechanism from the traditional rigid palm, has stronger dexterity, and is closer to the operation effect of the human palm. (2) The direct-drive drive mechanism 110 realizes the effective driving of the MCP joint 120 in two degrees of freedom, namely pitch and roll motion, and also realizes the driving of the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension motion, thereby realizing the effective driving of the single-degree-of-freedom PIP-DIP coupling joint. The direct-drive drive mechanism 110 has high dexterity, high load-to-weight ratio, high energy density, and high rigidity. The overall structure is compact, which facilitates the integration of multiple mechanical fingers 10 and has good structural interchangeability.

[0152] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger, characterized by: comprising a metamorphic palm and at least one mechanical finger connected to the metamorphic palm; The metamorphic palm includes eight connecting rods and eight revolute pairs, which are alternately arranged and sequentially connected to form a closed loop. The axes of four adjacent revolute pairs intersect at the first sphere center to form a first spherical four-bar mechanism, and the axes of the other four adjacent revolute pairs intersect at the second sphere center to form a second spherical four-bar mechanism. Different metamorphic bifurcations are derived between the eight revolute pairs through coaxial axes and coplanarity of adjacent axes. When bifurcating at a bifurcation point, different motion branches are entered to form different metamorphic configurations. The mechanical finger includes a direct-drive mechanism and an MCP joint, a PIP joint, and a DIP joint connected in sequence. The direct-drive mechanism drives the MCP joint to perform pitch and roll movements, and the direct-drive mechanism drives the PIP joint and the DIP joint to perform synchronous flexion and extension movements.

2. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 1 is characterized in that: The eight connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, and an eighth connecting rod; The eight rotation pairs include a first rotation pair, a second rotation pair, a third rotation pair, a fourth rotation pair, a fifth rotation pair, a sixth rotation pair, a seventh rotation pair, and an eighth rotation pair; The first connecting rod, the first rotational pair, the second connecting rod, the second rotational pair, the third connecting rod, the third rotational pair, the fourth connecting rod, the fourth rotational pair, the fifth connecting rod, the fifth rotational pair, the sixth connecting rod, the sixth rotational pair, the seventh connecting rod, the seventh rotational pair, the eighth connecting rod, and the eighth rotational pair are connected in sequence, and the eighth rotational pair is connected to the first connecting rod; The axes of the first rotational pair, the second rotational pair, the third rotational pair, and the fourth rotational pair intersect at the center of the first sphere, forming the first spherical four-bar mechanism; The axes of the fifth rotational pair, the sixth rotational pair, the seventh rotational pair, and the eighth rotational pair intersect at the second spherical center, forming the second spherical four-bar mechanism.

3. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 2, characterized in that: The sum of the first joint torsion angle corresponding to the third link and the second joint torsion angle corresponding to the fourth link is greater than 90°, and the first joint torsion angle is equal to the second joint torsion angle; The sum of the third joint torsion angle corresponding to the sixth link and the fourth joint torsion angle corresponding to the seventh link is greater than 90°, and the third joint torsion angle is not equal to the fourth joint torsion angle; The fifth joint torsion angle corresponding to the second connecting rod is 90°, and the sixth joint torsion angle corresponding to the eighth connecting rod is 90°.

4. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 1, characterized in that: The eight revolute pairs derive different metamorphic bifurcations through coaxial axes and coplanarity of adjacent axes. When bifurcating at a bifurcation point, the eight revolute pairs enter different motion branches to form eight metamorphic configurations, i.e., eight motion branches. The eight metamorphic configurations include: double-center decoupled 8R mechanism, continuous rotation around the real axis, double Miura 6R mechanism, Miura 4R mechanism, spherical 4R mechanism, spherical 5R mechanism, double-center 7R mechanism and spherical 4R and single-center fixed-axis rotation combined mechanism.

5. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 1, characterized in that: The direct drive mechanism includes a first direct drive member, a second direct drive member, and a third direct drive member arranged in parallel, and also includes a universal joint, an MCP-PIP connecting rod, and a PIP-DIP connecting rod; The first direct-drive driver and the second direct-drive driver are both connected to the MCP joint, and the MCP joint is connected to the universal joint; The first direct-drive driver, the second direct-drive driver, and the third direct-drive driver are all connected to one end of the MCP-PIP connecting rod, and the other end of the MCP-PIP connecting rod is connected to the PIP joint; One end of the PIP-DIP connecting rod is connected to the MCP joint, and the other end of the PIP-DIP connecting rod is connected to the DIP joint.

6. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 5, characterized in that: The MCP-PIP connecting rod includes a first connecting rod, a second connecting rod and a third connecting rod; One end of the first connecting rod is connected to both the first direct-drive driver and the second direct-drive driver; One end of the second connecting rod is connected to the third direct-drive driving member, and the other end of the second connecting rod is fixedly connected to the first connecting rod; The other end of the first connecting rod is rotatably connected to one end of the third connecting rod, and the other end of the third connecting rod is rotatably connected to the PIP joint.

7. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 6, characterized in that: The mechanical finger further includes a base; The first direct-drive driver includes a first bearing seat, a first linear motor, and a first bearing connected in sequence, the first bearing seat being rotatably connected to the base, and the first bearing being rotatably connected to both the MCP joint and the MCP-PIP connecting rod; The second direct-drive driver comprises a second bearing seat, a second linear motor, and a second bearing connected in sequence, the second bearing seat being rotatably connected to the base, and the second bearing being rotatably connected to both the MCP joint and the MCP-PIP connecting rod; The third direct-drive driving component includes a third bearing seat, a third linear motor and a third bearing connected in sequence. The third bearing seat is rotatably connected to the base, and the third bearing is rotatably connected to the second connecting rod.

8. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 7, characterized in that: The other end of the first connecting rod is rotatably connected to one end of the third connecting rod via a first optical axis, and the other end of the third connecting rod is rotatably connected to the PIP joint via a second optical axis; The MCP joint and the PIP joint are rotationally connected via a third optical axis; The MCP joint is rotatably connected to one end of the PIP-DIP connecting rod via a fourth optical axis; The other end of the PIP-DIP connecting rod is rotatably connected to the DIP joint via a fifth optical axis; The PIP joint and the DIP joint are rotationally connected via a sixth optical axis; The first bearing of the first direct-drive driver or the second bearing of the second direct-drive driver forms a first inverted quadrilateral mechanism with the first optical axis, the second optical axis, and the third optical axis; The third optical axis, the fourth optical axis, the fifth optical axis, and the sixth optical axis constitute a second inverse quadrilateral structure.

9. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 8, characterized in that: The MCP joint includes a first MCP link and a second MCP link, the first MCP link and the second MCP link are arranged in parallel, and one end of the first MCP link and one end of the second MCP link are connected through the universal joint, the other end of the first MCP link and the other end of the second MCP link are connected through the fourth optical axis, the first MCP link is rotatably connected to the first bearing, and the second MCP link is rotatably connected to the second bearing; The PIP joint includes a first PIP link and a second PIP link, the first MCP link is rotatably connected to one end of the first PIP link through the third optical axis, the second MCP link is rotatably connected to one end of the second PIP link through the third optical axis, and the other end of the first PIP link and the other end of the second PIP link are connected through the sixth optical axis.

10. The humanoid dexterous hand based on a dual-core decoupled metacarpal palm and a hybrid direct-drive mechanical finger according to claim 1, characterized in that: The pitch angle of the MCP joint is 0° to 90°; The lateral swing angle of the MCP joint is -40° to 40°; The flexion and extension angles of the PIP joint and the DIP joint are 0° to 90°.

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