Anthropomorphic dexterous hand based on double heart decoupling metamorphic palm and hybrid direct drive mechanical finger

Abstract

The present application relates to the technical field of robots, and provides a humanoid dexterous hand based on a double-center decoupling metamorphic palm and a hybrid direct-drive mechanical finger, which comprises a metamorphic palm and at least one mechanical finger. The metamorphic palm comprises eight connecting rods and eight rotating pairs which are arranged alternately and connected in sequence to form a closed loop, the axes of four adjacent rotating pairs intersect at a first spherical center to form a first spherical four-bar mechanism, the axes of the other four adjacent rotating pairs intersect at a second spherical center to form a second spherical four-bar mechanism, the eight rotating pairs are derived into different metamorphic bifurcations through coaxial axes and adjacent coplanar axes, when moving to a bifurcation point to perform bifurcation, different motion branches are entered to form different metamorphic configurations. The mechanical finger comprises a direct-drive driving mechanism which drives an MCP joint to perform pitching and yawing movements, and drives a PIP joint and a DIP joint to perform synchronous flexion and extension movements. The present application has stronger dexterity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and more particularly to a humanoid dexterous hand based on a dual-center decoupling metamorphic palm and a hybrid series-parallel direct-drive mechanical finger. BACKGROUND

[0002] A robot dexterous hand can replace a human hand to perform tasks in a complex and harsh environment, and is an important component for realizing local fine operation of a robot. Compared with an end effector with a single grasping object, a unique grasping action and a simple structure, a dexterous hand can realize interaction with various objects due to higher degrees of freedom and a structure simulating a human hand.

[0003] A robot dexterous hand has various structures. Generally, a robot dexterous hand includes a palm and fingers. The palm in the prior art is often designed as a rigid structure without degrees of freedom and motion capability, and has low dexterity. In the prior art, mechanical fingers are mainly created by mechanisms and structures based on two approaches of a tendon mechanism (tendon rope, rope transmission) and a linkage mechanism (including a four-bar mechanism, a gear, a belt wheel transmission, etc.). However, both approaches have the technical problem of low dexterity. SUMMARY

[0004] The present application relates to the technical field of robots, and more particularly to a humanoid dexterous hand based on a dual-center decoupling metamorphic palm and a hybrid series-parallel direct-drive mechanical finger.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0006] The present application provides a humanoid dexterous hand based on a dual-center decoupling metamorphic palm and a hybrid series-parallel direct-drive mechanical finger, which includes a metamorphic palm and at least one mechanical finger connected to the metamorphic palm.

[0007] The metamorphic palm includes eight links and eight revolute pairs. The eight links 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 a first spherical center to form a first spherical four-bar mechanism. The axes of the other four adjacent revolute pairs intersect at a second spherical center to form a second spherical four-bar mechanism.

[0008] The eight revolute pairs are derived into different metamorphic bifurcations through coaxial axes and coplanar adjacent axes. When moving to a bifurcation point for bifurcation, different motion branches are entered to form different metamorphic configurations.

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

[0010] Eight said 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] Eight said revolts include a first revolut, a second revolut, a third revolut, a fourth revolut, a fifth revolut, a sixth revolut, a seventh revolut, and an eighth revolut;

[0012] The first connecting rod, the first revolut, the second connecting rod, the second revolut, the third connecting rod, the third revolut, the fourth connecting rod, the fourth revolut, the fifth connecting rod, the fifth revolut, the sixth connecting rod, the sixth revolut, the seventh connecting rod, the seventh revolut, the eighth connecting rod, and the eighth revolut are sequentially connected, and the eighth revolut is connected with the first connecting rod;

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

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

[0015] According to the above-mentioned human-like dexterous hand based on double-center decoupling metamorphic palm and hybrid series direct-drive mechanical fingers, the sum of the first joint torsion angle corresponding to the third connecting rod and the second joint torsion angle corresponding to the fourth connecting rod 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 connecting rod and the fourth joint torsion angle corresponding to the seventh connecting rod 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-mentioned human-like dexterous hand based on double-center decoupling metamorphic palm and hybrid series direct-drive mechanical fingers, eight said revolts are derived through coaxial axes, adjacent coaxial planes, and different metamorphic bifurcations, when moving to the bifurcation point for bifurcation, into different motion branches, to form eight metamorphic configurations, that is, eight motion branches;

[0019] The eight said metamorphic configurations include: double-center decoupling 8R mechanism, continuous rotation around a 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 combination mechanism.

[0020] According to the anthropomorphic dexterous hand based on double-center decoupling metamorphic palm and mixed-serial direct-drive mechanical fingers described above, the direct-drive driving mechanism comprises a first direct-drive driving member, a second direct-drive driving member and a third direct-drive driving member arranged in parallel, and further comprises a universal joint, a MCP-PIP connecting rod and a PIP-DIP connecting rod;

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

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

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

[0024] According to the anthropomorphic dexterous hand based on double-center decoupling metamorphic palm and mixed-serial direct-drive mechanical fingers described above, the MCP-PIP connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod;

[0025] One end of the first connecting rod is connected with the first direct-drive driving member and the second direct-drive driving member;

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

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

[0028] According to the anthropomorphic dexterous hand based on double-center decoupling metamorphic palm and mixed-serial direct-drive mechanical fingers described above, the mechanical finger further comprises a base;

[0029] The first direct-drive driving member comprises a first bearing seat, a first linear motor and a first bearing connected in sequence, the first bearing seat is rotationally connected with the base, and the first bearing is rotationally connected with the MCP joint and the MCP-PIP connecting rod;

[0030] The second direct drive driving member comprises a second bearing seat, a second linear motor and a second bearing connected in sequence, the second bearing seat is rotationally connected with the base, and the second bearing is rotationally connected with the MCP joint and the MCP-PIP connecting rod;

[0031] The third direct drive driving member comprises a third bearing seat, a third linear motor and a third bearing connected in sequence, the third bearing seat is rotationally connected with the base, and the third bearing is rotationally connected with the second connecting rod.

[0032] According to the anthropomorphic dexterous hand based on the double-center decoupling metamorphic palm and the hybrid serial direct-drive mechanical finger, the other end of the first connecting rod is rotationally connected with one end of the third connecting rod through a first optical axis, and the other end of the third connecting rod is rotationally connected with the PIP joint through a second optical axis;

[0033] The MCP joint is rotationally connected with the PIP joint through a third optical axis;

[0034] The MCP joint is rotationally connected with one end of the PIP-DIP connecting rod through a fourth optical axis;

[0035] The other end of the PIP-DIP connecting rod is rotationally connected with the DIP joint through a fifth optical axis;

[0036] The PIP joint is rotationally connected with the DIP joint through a sixth optical axis;

[0037] The first bearing of the first direct drive driving member or the second bearing of the second direct drive driving member and the first optical axis, the second optical axis, the third optical axis form a first reverse quadrilateral mechanism;

[0038] The third optical axis, the fourth optical axis, the fifth optical axis and the sixth optical axis form a second reverse quadrilateral mechanism.

[0039] According to the anthropomorphic dexterous hand based on the double-center decoupling metamorphic palm and the hybrid serial direct-drive mechanical finger, the MCP joint comprises a first MCP connecting rod and a second MCP connecting rod, the first MCP connecting rod and the second MCP connecting rod are arranged in parallel, one end of the first MCP connecting rod and one end of the second MCP connecting rod are connected through the universal joint, the other end of the first MCP connecting rod and the other end of the second MCP connecting rod are connected through the fourth optical axis, the first MCP connecting rod is rotationally connected with the first bearing, and the second MCP connecting rod is rotationally connected with the second bearing;

[0040] The PIP joint comprises a first PIP connecting rod and a second PIP connecting rod, one end of the first MCP connecting rod is rotationally connected with one end of the first PIP connecting rod through the third optical axis, one end of the second MCP connecting rod is rotationally connected with one end of the second PIP connecting rod through the third optical axis, and the other end of the first PIP connecting rod and the other end of the second PIP connecting rod are connected through the sixth optical axis.

[0041] According to the anthropomorphic dexterous hand based on the double-center decoupling metamorphic palm and the hybrid series direct-drive mechanical finger, the pitch angle of the MCP joint is 0°-90°.

[0042] The roll angle of the MCP joint is -40°-40°.

[0043] The flexion-extension angle of the PIP joint and the DIP joint is 0°-90°.

[0044] The anthropomorphic dexterous hand based on the double-center decoupling metamorphic palm and the hybrid series direct-drive mechanical finger provided by the application has at least the following beneficial effects:

[0045] (1) The anthropomorphic dexterous hand based on the double-center decoupling metamorphic palm and the hybrid series direct-drive mechanical finger provided by the embodiment forms two spherical four-bar mechanisms through the metamorphic palm, different metamorphic bifurcations are derived through coaxial axes and coplanar adjacent axes, when moving to the bifurcation point for bifurcation, different motion branches are entered, different motion modes can be derived through the different motion branches, and different functions are realized. Meanwhile, a variety of forms of gripping gestures are realized through the metamorphic process of the metamorphic palm, the mechanism form and the reconstruction mechanism are obviously different from those of the traditional rigid palm, the dexterity is stronger, and the operation effect is closer to that of the human palm.

[0046] (2) The direct-drive driving mechanism realizes effective driving of the two degrees of freedom of the pitch movement and the roll movement of the MCP joint, realizes synchronous flexion-extension movement of the PIP joint and the DIP joint, realizes effective driving of the single-degree-of-freedom PIP-DIP coupling joint, has high dexterity, and the direct-drive driving mechanism has high load-carrying ratio, high energy density and high stiffness, the overall structure is compact and convenient for integration between multiple mechanical fingers, and the structure interchangeability is good. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1The structural schematic diagram of the human-like dexterous hand based on the double-heart decoupling metamorphic palm and the series-parallel direct-drive mechanical finger provided by the application is shown in the figure;

[0049] Figure 2 The structural schematic diagram of the metamorphic palm provided by the application is shown in the figure;

[0050] Figure 3 The structural schematic diagram of the mechanical finger provided by the application is shown in the figure;

[0051] Figure 4 The principle structural schematic diagram of the metamorphic palm provided by the application is shown in the figure;

[0052] Figure 5 The principle block diagram of eight metamorphic configurations of the metamorphic palm provided by the application is shown in the figure;

[0053] Figure 6 The principle structural schematic diagram of the double-heart decoupling 8R mechanism of the metamorphic palm provided by the application is shown in the figure;

[0054] Figure 7 The principle structural schematic diagram of the continuous rotation around the real axis of the metamorphic palm provided by the application is shown in the figure;

[0055] Figure 8 The principle structural schematic diagram of the double Miura 6R mechanism of the metamorphic palm provided by the application is shown in the figure;

[0056] Figure 9 The principle structural schematic diagram of the Miura 4R mechanism of the metamorphic palm provided by the application is shown in the figure;

[0057] Figure 10 The principle structural schematic diagram of the spherical 4R mechanism of the metamorphic palm provided by the application is shown in the figure;

[0058] Figure 11 The principle structural schematic diagram of the spherical 5R mechanism of the metamorphic palm provided by the application is shown in the figure;

[0059] Figure 12 The principle structural schematic diagram of the double-heart 7R mechanism of the metamorphic palm provided by the application is shown in the figure;

[0060] Figure 13 The principle structural schematic diagram of the spherical 4R mechanism + single-heart fixed-axis rotation mechanism of the metamorphic palm provided by the application is shown in the figure;

[0061] Figure 14 The schematic diagram of the MCP joint of the mechanical finger provided by the application performing the pitching motion is shown in the figure;

[0062] Figure 15 The schematic diagram of the MCP joint of the mechanical finger provided by the application performing the yawing motion is shown in the figure;

[0063] Figure 16 The schematic diagram of the PIP joint and the DIP joint of the mechanical finger provided by the application performing the pitching motion synchronously is shown in the figure;

[0064] Figure 17 A top view of the mechanical finger of the present application;

[0065] Figure 18 A side view of the mechanical finger of the present application Figure 1 ;

[0066] Figure 19 A side view of the mechanical finger of the present application Figure 2 ;

[0067] Figure 20 A side view of the mechanical finger of the present application Figure 3 .

[0068] In the drawings, reference numerals:

[0069] 100, anthropomorphic hand; 10, mechanical finger; 110, direct drive driving mechanism; 111, first direct drive driving member; 1111, first bearing seat; 1112, first linear motor; 1113, first bearing; 112, second direct drive driving member; 1121, second bearing seat; 1122, second linear motor; 1123, second bearing; 113, third direct drive driving member; 1131, third bearing seat; 1132, third linear motor; 1133, third bearing; 114, universal joint; 115, MCP-PIP connecting rod; 1151, first connecting rod; 1152, second connecting rod; 1153, third connecting rod; 1154, first optical axis; 1155, second optical axis; 116, PIP-DIP connecting rod; 120, MCP joint; 121, third optical axis; 122, fourth optical axis; 123, first MCP connecting rod; 124, second MCP connecting rod; 130, PIP joint; 131, first PIP connecting rod; 132, second PIP connecting rod; 140, DIP joint; 141, fifth optical axis; 142, sixth optical axis; 150, base; 20, metamorphic palm;

[0070] O1, first spherical center; O2, second spherical 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 revolute pair; S2, second revolute pair; S3, third revolute pair; S4, fourth revolute pair; S5, fifth revolute pair; S6, sixth revolute pair; S7, seventh revolute pair; S8, eighth revolute pair;

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

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

[0075] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or position based on the orientation or position shown in the drawings, and are only for the convenience of description, and cannot be understood as a limitation on the technical solutions. The terms "first", "second" are only for the purpose of convenient description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

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

[0077] Miura (Chinese full 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 (English full name: Proximal interphalangeal joints, one of the joints of human fingers, Chinese full name: proximal interphalangeal joint);

[0080] DIP joint (English full name: Distal interphalangeal joints, one of the joints of human fingers, Chinese full name: distal interphalangeal joint);

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

[0082] Bearing, bearing seat (English full name: spherical joint, also known as: S pair, abbreviated as: S, having three degrees of freedom);

[0083] Prismatic joint (P, one degree of freedom)

[0084] Rotational joint (R, one degree of freedom)

[0085] Cylindrical joint (C, two degrees of freedom)

[0086] The present application relates to some naming method of connecting rod is the above-mentioned letter combination, which represents the meaning of the motion pair represented by the letter is connected in turn according to the order of a connecting rod mechanism.

[0087] For example: SPS connecting rod mechanism (spherical joint-prismatic joint-spherical joint, bearing seat-moving pair-axle bearing constitutes a series connecting rod mechanism).

[0088] By analogy.

[0089] Please refer to Figure 1 The embodiment provides a humanoid dexterous hand 100 based on double-center decoupling metamorphic palm and hybrid series-parallel direct-drive mechanical finger, comprising a metamorphic palm 20 and at least one mechanical finger 10 connected with the metamorphic palm 20. The embodiment comprises four mechanical fingers 10. It should be understood that the number of mechanical fingers 10 is not limited to the above-mentioned four mechanical fingers 10, and also includes other numbers of mechanical fingers 10, which are not limited here.

[0090] Please refer to Figure 2 The metamorphic palm 20 comprises eight connecting rods and eight rotational joints, the eight connecting rods and the eight rotational joints are arranged alternately and connected in turn to form a closed loop, the axes of four adjacent rotational joints intersect at a first spherical center O1 to form a first spherical four-bar mechanism, and the axes of the other four adjacent rotational joints intersect at a second spherical center O2 to form a second spherical four-bar mechanism; the eight rotational joints are derived into different metamorphic bifurcations through coaxial axes and coplanar adjacent axes, when moving to the bifurcation point to bifurcate, different motion branches are entered to form different metamorphic configurations.

[0091] Please refer to Figure 3The mechanical finger 10 comprises a direct drive mechanism 110 and MCP joint 120, PIP joint 130 and DIP joint 140 connected in sequence, the direct drive mechanism 110 drives the MCP joint 120 to perform pitching and yawing movements, and the direct drive mechanism 110 drives the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension movements. Optionally, the PIP joint and the DIP joint are both provided with anti-skid parts, which play an anti-skid effect when the mechanical finger 10 grasps an object.

[0092] The working principle of the humanoid dexterous hand 100 based on the double-center decoupling metamorphic palm and the hybrid direct-drive mechanical finger according to the embodiment is as follows:

[0093] The humanoid dexterous hand 100 based on the double-center decoupling metamorphic palm and the hybrid direct-drive mechanical finger according to the embodiment is about the metamorphic palm 20, the axes of four adjacent rotating pairs intersect at the first spherical center O1 to form a first spherical four-bar mechanism, and the axes of the other four adjacent rotating pairs intersect at the second spherical center O2 to form a second spherical four-bar mechanism, and in a general motion mode, the axes intersecting at the same spherical center are continuous, and when different metamorphic configurations are needed to be formed, different metamorphic bifurcations can be derived through coaxial axes and coplanar adjacent axes, when moving to the bifurcation point for bifurcation, different motion branches are entered, and different motion modes can be derived through the different motion branches, and different functions are realized. At the same time, a variety of forms of grasping gestures are realized through the metamorphic process of the metamorphic palm, the mechanism form and the reconstruction mechanism are obviously different from those of the traditional rigid palm, the dexterity is stronger, and the operation effect is closer to that of the human palm.

[0094] About the mechanical finger 10, under the driving of the direct drive mechanism 110, the MCP joint 120 can be driven to perform pitching and yawing movements, and two degrees of freedom are effectively driven, and the PIP joint 130 and the DIP joint 140 can be driven to perform synchronous flexion and extension movements, and the single-degree-of-freedom PIP-DIP coupling joint is effectively driven, the mechanical finger 10 according to the embodiment realizes three degrees of freedom, has high dexterity, and the direct drive mechanism 110 has high load ratio, high energy density and high stiffness, the overall structure is compact and convenient for integration between multiple mechanical fingers 10, and the structure interchangeability is good.

[0095] The humanoid dexterous hand 100 based on the double-center decoupling metamorphic palm and the hybrid direct-drive mechanical finger according to the embodiment has the following beneficial effects:

[0096] (1) The human-like dexterous hand 100 provided by the embodiment is based on a double-center decoupling 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 coaxial axes and coplanar adjacent axes. When moving to the bifurcation point for bifurcation, different motion branches are entered, different motion modes can be derived through the different motion branches, and different functions are realized. At the same time, a variety of forms of gripping gestures are realized through the metamorphic process of the metamorphic palm, which has a mechanism form and reconstruction mechanism obviously different from the traditional rigid palm, stronger dexterity, and closer operation effect to the human palm.

[0097] (2) The direct-drive driving mechanism 110 realizes effective driving of the MCP joint 120 to perform pitch and roll motions with two degrees of freedom, and also realizes synchronous flexion and extension motions of the PIP joint 130 and the DIP joint 140, thereby realizing effective driving of the single-degree-of-freedom PIP-DIP coupled joint. The direct-drive driving mechanism 110 has high dexterity, high load ratio, high energy density, and high stiffness, and the overall structure is compact and convenient for integration between multiple mechanical fingers 10, and has good structure interchangeability.

[0098] In one embodiment, referring to 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 rotating pairs include a first rotating pair S1, a second rotating pair S2, a third rotating pair S3, a fourth rotating pair S4, a fifth rotating pair S5, a sixth rotating pair S6, a seventh rotating pair S7, and an eighth rotating pair S8. The first connecting rod q1, the first rotating pair S1, the second connecting rod q2, the second rotating pair S2, the third connecting rod q3, the third rotating pair S3, the fourth connecting rod q4, the fourth rotating pair S4, the fifth connecting rod q5, the fifth rotating pair S5, the sixth connecting rod q6, the sixth rotating pair S6, the seventh connecting rod q7, the seventh rotating pair S7, the eighth connecting rod q8, and the eighth rotating pair S8 are sequentially connected, and the eighth rotating pair S8 is connected with the first connecting rod q1.

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

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

[0101] In one embodiment, please refer to Figure 4 The sum of the first joint torsion angle α1 corresponding to the third connecting rod q3 and the second joint torsion angle α2 corresponding to the fourth connecting rod 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 connecting rod q6 and the fourth joint torsion angle α4 corresponding to the seventh connecting rod 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 connecting rod q2 is 90°, and the sixth joint torsion angle α6 corresponding to the eighth connecting rod q8 is 90°.

[0104] In one embodiment, please refer to Figure 5 The eight revolute pairs are derived into different metamorphic bifurcations through coaxial axes and coplanar adjacent axes, when moving to the bifurcation point for bifurcation, into different motion branches, to form eight metamorphic configurations, that is, eight motion branches.

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

[0106] The following eight metamorphic configurations are all with the first connecting rod q1 as the rack under all motion branches.

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

[0108] In one embodiment, please refer to Figure 7 , the motion branch 2 is continuous rotation around a real axis, and the constituting condition is that the included angle between the first connecting rod q1, the second connecting rod q2, and the eighth connecting rod q8 is 0°, that is, the rotation axes of the first rotating pair S1, the second rotating pair S2, the seventh rotating pair S7, and the eighth rotating pair S8 are coplanar. At this time, the second rotating pair S2 and the seventh rotating pair S7 can move; the first rotating pair S1 and the eighth rotating pair S8 do not rotate, and the first connecting rod q1, the second connecting rod q2, and the eighth connecting rod q8 are regarded as a whole; the third rotating pair S3, the fourth rotating pair S4, the fifth rotating pair S5, and the sixth rotating pair S6 are always unchanged in joint angle due to geometric parameter constraints, and the third connecting rod q3, the fourth connecting rod q4, the fifth connecting rod q5, the sixth connecting rod q6, and the seventh connecting rod q7 are rigidified as a whole. Under the motion branch 2, the connecting rod group of the third connecting rod q3, the fourth connecting rod q4, the fifth connecting rod q5, the sixth connecting rod q6, and the seventh connecting rod q7 rotates as a whole relative to the connecting rod group of the first connecting rod q1, the second connecting rod q2, and the eighth connecting rod q8, the rotation axis is composed of the second rotating pair S2, the line segment O1O2, and the seventh rotating pair S7, and the three are coincident as the same axis, and the driving joint is the second rotating pair S2. The motion branch 2 is especially suitable for occasions requiring large-amplitude pitch motion of the wrist, and the positive and negative pitch motion range of the motion branch 2 is close to 360°.

[0109] In one embodiment, please refer to Figure 8, the motion branch 3 is: double Miura 6R mechanism or double Miura 6R single degree of freedom mechanism, the constituting condition is that the included angle between the fourth connecting rod q4, the fifth connecting rod q5 and the sixth connecting rod q6 is 0°, that is, the second rotary pair S2, the third rotary pair S3, the fourth rotary pair S4, the fifth rotary pair S5 are coplanar. At this time, the first rotary pair S1, the second rotary pair S2, the third rotary pair S3, the sixth rotary pair S6, the seventh rotary pair S7, the eighth rotary pair S8 can move; the fourth rotary pair S4, the fifth rotary pair S5 do not rotate, and the fourth connecting rod q4, the fifth connecting rod q5 and the sixth connecting rod q6 are rigidized as a whole. Under the motion branch 3, the first rotary pair S1, the second rotary pair S2, the third rotary pair S3 intersect at the first ball center O1, and the sixth rotary pair S6, the seventh rotary pair S7, the eighth rotary pair S8 intersect at the second ball center O2. The fourth connecting rod q4, the fifth connecting rod q5 and the sixth connecting rod q6 are equivalent to rotating relative to the first connecting rod q1 around the line segment O1O2 as a whole. Therefore, the mechanism under the motion branch 3 is equivalent to a two-spherical four-bar mechanism sharing a rotary shaft O1O2. The driving joint is the first rotary pair S1. The motion branch 3 can introduce relative motion between the mechanical fingers 10 in the pitch motion without changing the pitch angle.

[0110] In one embodiment, referring to Figure 9, the motion branch 4 is: Miura 4R single degree of freedom mechanism or Miura 4R mechanism, the constituting condition is that the included angle between the fourth connecting rod q4, the fifth q5 and the sixth connecting rod q6 is 0°, the included angle between the first connecting rod q1 and the second connecting rod q2 or the eighth connecting rod q8 is 0°, that is, the second rotary pair S2, the third rotary pair S3, the fourth rotary pair S4, the fifth rotary pair S5 are coplanar, the first rotary pair S1, the seventh rotary pair S7, the eighth rotary pair S8 are coplanar or the first rotary pair S1, the second rotary pair S2, the eighth rotary pair S8 are coplanar. At this time, the first rotary pair S1, the second rotary pair S2, the third rotary pair S3, the seventh rotary pair S7 or the second rotary pair S2, the sixth rotary pair S6, the seventh rotary pair S7, the eighth rotary pair S8 can move; Because the Muira mechanism generated at both sides of the ball center is equivalent, the mechanism at the first ball center O1 side is taken as an example to illustrate. At this time, the fourth rotary pair S4, the fifth rotary pair S5 do not rotate, the sixth rotary pair S6 is constrained by the geometric parameters to keep the angle unchanged, and the fourth connecting rod q4, the fifth connecting rod q5, the sixth connecting rod q6 and the seventh connecting rod q7 are as a whole; The eighth rotary pair S8 does not rotate, and the first connecting rod q1 and the eighth connecting rod q8 are as a whole. The first connecting rod q1, the eighth connecting rod q8, the second connecting rod q2, the third connecting rod q3 and the fourth connecting rod q4, the fifth connecting rod q5, the sixth connecting rod q6 and the seventh connecting rod q7 constitute a Muira spherical four-bar mechanism. The driving joint is the first rotary pair S1. Under the motion branch 4, the relative motion between the mechanical fingers 10 can be introduced in the pitch motion without changing the pitch angle, especially the movement of the thumb.

[0111] In one embodiment, referring to Figure 10 , the motion branch 5 is: spherical 4R mechanism or single degree of freedom spherical 4R mechanism, the constituting condition is that the four joint angles of any side ball center are fixed, and the other side ball center constitutes a spherical four-bar mechanism. Take the first ball center O1 side as an example to illustrate, at this time, the first rotary pair S1, the second rotary pair S2, the third rotary pair S3, the fourth rotary pair S4 can move; The fifth rotary pair S5, the sixth rotary pair S6, the seventh rotary pair S7, the eighth rotary pair S8 joint angle is fixed and does not change, and the first connecting rod q1, the fifth connecting rod q5, the sixth connecting rod q6, the seventh connecting rod q7 and the eighth connecting rod q8 are rigidified as a whole. Under the motion branch 5, the first connecting rod q1, the fifth connecting rod q5, the sixth connecting rod q6, the seventh connecting rod q7 and the eighth connecting rod q8, the second connecting rod q2, the third connecting rod q3 and the fourth connecting rod q4 constitute a spherical four-bar mechanism, and the first rotary pair S1, the second rotary pair S2, the third rotary pair S3 and the fourth rotary pair S4 always converge at the first ball center O1 during the movement. The driving joint is the first rotary pair S1. Under the motion branch 5, the movement of one side spherical four-bar mechanism does not affect the movement of the other side mechanism, which can produce large amplitude of thumb and index finger interdigital motion or ring finger motion, which is beneficial to gestures requiring complex finger coordination.

[0112] In one embodiment, referring to Figure 11 , the motion branch 6 is a two-degree-of-freedom spherical 5R mechanism or a spherical 5R mechanism, and the constituting condition is that the angle between the eighth connecting rod q8 and the first connecting rod 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 connecting rod q1 and the eighth connecting rod q8 are integrated as a whole; the fifth revolute pair S5 and the sixth revolute pair S6 remain unchanged in joint angle under the constraint of geometric parameters, and the fifth connecting rod q5, the sixth connecting rod q6, and the seventh connecting rod q7 are integrated as a whole. Under this motion branch 6, the connecting rod group first connecting rod q1, the eighth connecting rod q8 as a whole, the connecting rod group fifth connecting rod q5, sixth connecting rod q6, seventh connecting rod q7 as a whole, and the second connecting rod q2, the third connecting rod q3, and the fourth connecting rod q4 constitute a spherical five-bar mechanism, and the first revolute pair S1, the second revolute pair S2, the third revolute pair S3, the fourth revolute pair S4, and the fifth revolute pair S5 always converge at the first spherical center O1 during the motion process. The driving joints are the first revolute pair S1 and the second revolute pair S2. This motion branch 6 is especially suitable for occasions that require large-amplitude inter-finger movement, can produce large-amplitude inter-finger movement of the thumb and the index finger and the pitch movement of the palm, and is conducive to gestures that require complex finger coordination.

[0113] In one embodiment, referring to Figure 12 , the motion branch 7 is a double-center 7R mechanism, and the constituting condition is that the angle between the sixth connecting rod q6 and the seventh connecting rod q7 is 0°, or the angle between the seventh connecting rod q7 and the eighth connecting rod q8 is 0°, that is, the fifth revolute pair S5, the sixth revolute pair S6, and the seventh revolute pair S7 are coplanar, or the axes of the sixth revolute pair S6, the seventh revolute pair S7, and the eighth revolute pair S8 are coplanar. Taking the mechanism satisfying the former condition as an example, the first revolute pair S1, the second revolute pair S2, the third revolute pair S3, the fourth revolute pair S4, the fifth revolute pair S5, the seventh revolute pair S7, and the eighth revolute pair S8 can move; the sixth revolute pair S6 does not rotate, and at this time the sixth connecting rod q6 and the seventh connecting rod q7 are essentially combined into one rod. Under this motion branch 7, the first revolute pair S1, the second revolute pair S2, the third revolute pair S3, and the fourth revolute pair S4 always converge at the first spherical center O1 during the motion process, and the fifth revolute pair S5, the seventh revolute pair S7, and the eighth revolute pair S8 always converge at the second spherical center O2. The driving joints are the first revolute pair S1 and the eighth revolute pair S8. Under this motion branch 7, each connecting rod has a larger movement amplitude, which is suitable for gripping scenes that require multi-finger coordination.

[0114] In one embodiment, referring to Figure 13, the motion branch 8 is: spherical surface 4R and single center fixed axis rotating combination mechanism (i.e. spherical surface 4R mechanism + single center fixed axis rotating mechanism), its constituting condition is that the included angle between the third connecting rod q3 and the fourth connecting rod q4 is 180°, i.e. the second rotating pair S2, the third rotating pair S3 and the fourth rotating pair S4 are coplanar, in the case that the first joint torsion angle α1 of the third connecting rod q3 is equal to the second joint torsion angle α2 of the fourth connecting rod q4, the rotating shafts of the second rotating pair S2 and the fourth rotating pair S4 are collinear. The fifth rotating pair S5, the sixth rotating pair S6, the seventh rotating pair S7, the eighth rotating pair S8 and the second rotating pair S2 (the fourth rotating pair S4) of the fixed axis rotation can move; the first rotating pair S1 and the third rotating pair S3 are constrained by geometric parameters to keep the joint angle unchanged, the first connecting rod q1 and the second connecting rod q2 are rigidified as a whole, and the third connecting rod q3 and the fourth connecting rod q4 are rigidified as a whole. Under the motion branch 8, the connecting rod group of the third connecting rod q3 and the fourth connecting rod q4 rotates continuously relative to the connecting rod group of the first connecting rod q1 and the second connecting rod q2 as a whole, and the rotation axis is generated by the axis of the second rotating pair S2 and the fourth rotating pair S4. In addition, the connecting rod group of the first connecting rod q1, the second connecting rod q2, the third connecting rod q3, the fourth connecting rod q4 and the fifth connecting rod q5 as a whole and the sixth connecting rod q6, the seventh connecting rod q7 and the eighth connecting rod q8 form four rods of the spherical four-bar mechanism, and the fifth rotating pair S5, the sixth rotating pair S6, the seventh rotating pair S7 and the eighth rotating pair S8 always converge at the second ball center O2 during the motion. The driving joint is the second rotating pair S2 and the eighth rotating pair S8, and the third rotating pair S3 or the fourth rotating pair S4 needs to be driven to leave the motion branch 8. The motion branch 8 has a local whole rotation activity degree, so that the thumb can produce a large motion independent of other fingers, has similar characteristics to human hands, and is especially suitable for scenes requiring independent activity of the thumb.

[0115] In the embodiment, the fixed first ball center O1 side connecting rod angle is 0° or 180° to realize mechanism derivation. The configuration of all rotating shafts of the bifurcation configuration 1 is coplanar. The bifurcation configuration 2 rotating shafts of the second rotating pair S2, the third rotating pair S3 and the fourth rotating pair S4 are coplanar, and in the case that the first joint torsion angle α1 of the third connecting rod q3 is equal to the second joint torsion angle α2 of the fourth connecting rod q4, the second rotating pair S2 and the fourth rotating pair S4 are collinear.

[0116] The above eight kinds of motion branches need four motors to drive in order to be controllable under all motion branches, and the motors are respectively driven by the first rotating pair S1, the second rotating pair S2, the third rotating pair S3 and the eighth rotating pair S8.

[0117] In one embodiment, please refer to Figure 3The direct drive mechanism 110 includes a first direct drive 111, a second direct drive 112 and a third direct drive 113 arranged in parallel, the three direct drives 111, 112 and 113 have high load ratio and high energy density, good interchangeability of branched chain structure, and compact overall structure, which is convenient for integration of multiple mechanical fingers 10 of the dexterous hand. The direct drive mechanism 110 further includes a universal joint 114, a MCP-PIP connecting rod 115 and a PIP-DIP connecting rod 116. The first direct drive 111 and the second direct drive 112 are connected with the MCP joint 120, and the universal joint 114 is connected with the MCP joint 120, which facilitates side swing movement and pitch movement of the MCP joint 120. The first direct drive 111, the second direct drive 112 and the third direct drive 113 are connected with one end of the MCP-PIP connecting rod 115, and the other end of the MCP-PIP connecting rod 115 is connected with the PIP joint 130. One end of the PIP-DIP connecting rod 116 is connected with the MCP joint 120, and the other end of the PIP-DIP connecting rod 116 is connected with the DIP joint 140. The above-mentioned direct drive mechanism 110 has strong linkage and simple overall structure.

[0118] Please refer to Figure 14 , Figure 14 (a), Figure 14 (b), Figure 14 (c) respectively represent the pitch movement process of the MCP joint 120, when the third direct drive 113 is stationary, the first direct drive 111 and the second direct drive 112 are driven, and through the cooperation of the universal joint 114, the first direct drive 111 and the second direct drive 112 are driven to move up and down in the same direction and at the same length, thereby realizing single-freedom pitch movement of the MCP joint 120 of the mechanical finger 10.

[0119] Please refer to Figure 15 , Figure 15 (a), Figure 15 (b), Figure 15 (c) respectively represent the side swing movement process of the MCP joint 120, when the third direct drive 113 is stationary, the first direct drive 111 and the second direct drive 112 are driven, and through the cooperation of the universal joint 114, the first direct drive 111 and the second direct drive 112 are driven to move up and down in opposite directions and at the same length, thereby realizing single-freedom side swing movement of the MCP joint 120 of the mechanical finger 10.

[0120] Please refer to Figure 14 andFigure 15 When the third direct drive 113 is stationary, the first and second direct drives 111 and 112 are driven to move in the same direction with different step lengths, and through the cooperation of the universal joint 114, the MCP joint 120 of the mechanical finger 10 can be simultaneously driven to perform two-degree-of-freedom pitching and yawing movements.

[0121] Referring to Figure 16 , Figure 16 (a), Figure 16 (b), Figure 16 (c) respectively represent the flexion and extension movements of the PIP joint 130 and the DIP joint 140. When the first and second direct drives 111 and 112 are stationary, the third direct drive 113 is driven to move up and down, thereby realizing the synchronous flexion and extension movements of the PIP joint 130 and the DIP joint 140 of the mechanical finger 10, i.e., realizing the flexion and extension movements of the single-degree-of-freedom PIP-DIP coupled joint.

[0122] In one embodiment, referring to Figure 17 , the MCP-PIP linkage 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 the first and second direct drives 111 and 112. One end of the second connecting rod 1152 is connected to the third direct drive 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 above-mentioned MCP-PIP linkage 115 has strong linkage, and the cooperation of the MCP-PIP linkage 115 and the PIP-DIP linkage 116 better links the synchronous flexion and extension movements of the PIP joint 130 and the DIP joint 140, i.e., realizing the effective driving of the single-degree-of-freedom PIP-DIP coupled joint.

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

[0125] Referring to Figure 18The first direct drive 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 rotationally connected with the base 150, and the first bearing 1113 is rotationally connected with the MCP joint 120 and the MCP-PIP connecting rod 115.

[0126] Referring to Figure 19 The second direct drive 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 rotationally connected with the base 150, and the second bearing 1123 is rotationally connected with the MCP joint 120 and the MCP-PIP connecting rod 115.

[0127] Referring to Figure 18 and Figure 19 The third direct drive 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 rotationally connected with the base 150, and the third bearing 1133 is rotationally connected with 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 only have one degree of freedom, 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, so that the first direct drive 111 and the second direct drive 112 are more flexible in driving the MCP joint 120 to perform pitching and yawing movements, and the third direct drive 113 is more flexible in driving the PIP joint 130 and the DIP joint 140 to perform flexion and extension movements.

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

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

[0131] The MCP joint 120 is rotationally connected with the PIP joint 130 through a third optical axis 121, the MCP joint 120 is rotationally connected with one end of the PIP-DIP connecting rod 116 through a fourth optical axis 122, the other end of the PIP-DIP connecting rod 116 is rotationally connected with the DIP joint 140 through a fifth optical axis 141, and the PIP joint 130 is rotationally connected with the DIP joint 140 through a sixth optical axis 142;

[0132] The first bearing 1113 of the first direct drive 111 or the second bearing 1123 of the second direct drive 112 and the first optical axis 1154, the second optical axis 1155 and the third optical axis 121 constitute a first reverse quadrilateral mechanism (see Part A in Figure 20 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 reverse quadrilateral mechanism (see Part B in

[0133] The first reverse quadrilateral mechanism and the second reverse quadrilateral mechanism are arranged so that the first direct drive 111 can more effectively realize the flexion and extension single degree of freedom control when driving the PIP-DIP coupled joint composed of the PIP joint 130 and the DIP joint 140.

[0134] It can be seen that the mechanical finger 10 in the embodiment is composed of three identical SPS branch chains in parallel. The first SPS branch chain drive, the second SPS branch chain drive, the universal joint 114 (U), the third SPS branch chain drive, the first optical axis 1154 (R), the first reverse quadrilateral mechanism and the second reverse quadrilateral mechanism constitute a 2SPS&U&SPSR-double reverse quadrilateral hybrid mechanism.

[0135] In one embodiment, please refer to Figure 17 ​The MCP joint 120 comprises a first MCP connecting rod 123 and a second MCP connecting rod 124, the first MCP connecting rod 123 and the second MCP connecting rod 124 are arranged in parallel, one end of the first MCP connecting rod 123 and one end of the second MCP connecting rod 124 are connected through the universal joint 114, the other end of the first MCP connecting rod 123 and the other end of the second MCP connecting rod 124 are connected through the fourth optical axis 122, the first MCP connecting rod 123 is rotationally connected with the first bearing 1113, and the second MCP connecting rod 124 is rotationally connected with the second bearing 1123. That is, the first direct drive driving member 111 drives the first MCP connecting rod 123, and the second direct drive driving member 112 drives the second MCP connecting rod 124.

[0136] The PIP joint 130 comprises a first PIP connecting rod 131 and a second PIP connecting rod 132, the first MCP connecting rod 123 is rotationally connected with one end of the first PIP connecting rod 131 through the third optical axis 121, the second MCP connecting rod 124 is rotationally connected with one end of the second PIP connecting rod 132 through the third optical axis 121, and the other end of the first PIP connecting rod 131 and the other end of the second PIP connecting rod 132 are connected through the sixth optical axis 142.

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

[0138] In summary, the complete mechanism of the mechanical finger 10 provided in the embodiment of the application is a 2SPS&U&SPSR-double-reverse-quadrilateral hybrid mechanism, wherein a plurality of component sub-mechanisms can be equivalently replaced as follows, and all are within the protection of the patent.

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

[0140] a 2UPS&U parallel mechanism;

[0141] a 3PUS&U parallel mechanism;

[0142] an SPS&PUS&U parallel mechanism;

[0143] an SPS&UPS&U parallel mechanism;

[0144] a PUS&SPS&U parallel mechanism;

[0145] PUS&UPS&U parallel mechanism;

[0146] etc.

[0147] (2) The SPSR assembly sub-mechanism can be replaced by:

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

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

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

[0151] In summary, the embodiment provides a humanoid dexterous hand 100 based on a double-center decoupling metamorphic palm and a hybrid direct-drive mechanical finger, which includes a metamorphic palm 20 and at least one mechanical finger 10 connected to the metamorphic palm 20. The embodiment includes four mechanical fingers 10. Please refer to Figure 2 The metamorphic palm 20 includes eight connecting rods and eight rotating pairs. The eight connecting rods and the eight rotating pairs are arranged alternately and connected in sequence to form a closed loop. The axes of four adjacent rotating pairs intersect at a first spherical center, forming a first spherical four-bar mechanism. The axes of the other four adjacent rotating pairs intersect at a second spherical center, forming a second spherical four-bar mechanism. The eight rotating pairs are derived into different metamorphic bifurcations through coaxial axes and adjacent coplanar axes. When moving to the bifurcation point and bifurcating, different motion branches are entered to form different metamorphic configurations. Please refer to Figure 3, the mechanical finger 10 comprises a direct drive mechanism 110 and MCP joint 120, PIP joint 130 and DIP joint 140 connected in turn, the direct drive mechanism 110 drives the MCP joint 120 to perform pitching and yawing motion, the direct drive mechanism 110 drives the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension motion.(1) The human-like dexterous hand 100 based on the double-center decoupling metamorphic palm and the hybrid serial-parallel direct drive mechanical finger provided in the embodiment, the metamorphic palm 20 forms two spherical four-bar mechanisms, different metamorphic bifurcations are derived through coaxial axis and coplanar adjacent axis, when moving to the bifurcation point to perform bifurcation, different motion branches are entered, different motion modes can be derived through the different motion branches, and different functions are realized. At the same time, a variety of forms of gripping gestures are realized through the metamorphic process of the metamorphic palm, the mechanism form and the reconstruction mechanism are obviously different from those of the traditional rigid palm, the dexterity is stronger, and the operation effect is closer to that of the human palm.(2) The direct drive mechanism 110 realizes effective driving of the two degrees of freedom of the pitching and yawing motion of the MCP joint 120, also realizes synchronous flexion and extension motion of the PIP joint 130 and the DIP joint 140, realizes effective driving of the single degree of freedom PIP-DIP coupling joint, has high dexterity, and the direct drive mechanism 110 has high load ratio, high energy density and high stiffness, the overall structure is compact and convenient for integration between multiple mechanical fingers 10, and has good structure interchangeability.

[0152] The above only describes the preferred embodiments of the present application and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A humanoid dexterous hand based on dual heart decoupled metamorphic palm and hybrid direct drive mechanical fingers, characterized in that, The variable palm comprises eight connecting rods and eight rotary pairs, eight connecting rods and eight rotary pairs are arranged alternately and sequentially connected to form a closed loop, the axes of four adjacent rotary pairs intersect at a first spherical center, forming a first spherical four-bar mechanism, the axes of the other four adjacent rotary pairs intersect at a second spherical center, forming a second spherical four-bar mechanism. The eight rotary pairs derive different variable cell bifurcations through axis coaxial and adjacent axis coplanar, when moving to the bifurcation point, enter different motion branches to form different variable cell configurations. The mechanical finger comprises a direct drive mechanism and sequentially connected MCP joint, PIP joint and DIP joint, the direct drive mechanism drives the MCP joint to perform pitch and roll motion, the direct drive mechanism drives the PIP joint and the DIP joint to perform synchronous flexion and extension motion. The eight connecting rods include first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod, seventh connecting rod and eighth connecting rod. The eight rotary pairs include first rotary pair, second rotary pair, third rotary pair, fourth rotary pair, fifth rotary pair, sixth rotary pair, seventh rotary pair and eighth rotary pair. The first connecting rod, the first rotary pair, the second connecting rod, the second rotary pair, the third connecting rod, the third rotary pair, the fourth connecting rod, the fourth rotary pair, the fifth connecting rod, the fifth rotary pair, the sixth connecting rod, the sixth rotary pair, the seventh connecting rod, the seventh rotary pair, the eighth connecting rod and the eighth rotary pair are sequentially connected, and the eighth rotary pair is connected with the first connecting rod. The axes of the first rotary pair, the second rotary pair, the third rotary pair and the fourth rotary pair intersect at the first spherical center, forming the first spherical four-bar mechanism. The axes of the fifth rotary pair, the sixth rotary pair, the seventh rotary pair and the eighth rotary pair intersect at the second spherical center, forming the second spherical four-bar mechanism. The sum of the first joint torsion angle corresponding to the third connecting rod and the second joint torsion angle corresponding to the fourth connecting rod 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 connecting rod and the fourth joint torsion angle corresponding to the seventh connecting rod 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°. The eight rotary pairs derive different variable cell bifurcations through axis coaxial and adjacent axis coplanar, when moving to the bifurcation point, enter different motion branches to form eight variable cell configurations, that is, eight motion branches.

2. The anthropomorphic dexterous hand based on dual heart decoupled metamorphic palm and hybrid direct drive mechanical fingers according to claim 1, characterized in that, The eight variable cell configurations include double-center decoupling 8R mechanism, continuous rotation around 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 combination mechanism. ​ 3. The anthropomorphic dexterous hand based on dual heart decoupled variant palms and hybridally connected direct drive mechanical fingers according to claim 1, characterized in that, The direct drive mechanism comprises a first direct drive, a second direct drive and a third direct drive arranged in parallel, a universal joint, a MCP-PIP connecting rod and a PIP-DIP connecting rod; The first direct drive and the second direct drive are connected with the MCP joint, and the MCP joint is connected with the universal joint; The first direct drive, the second direct drive and the third direct drive are connected with one end of the MCP-PIP connecting rod, and the other end of the MCP-PIP connecting rod is connected with the PIP joint; One end of the PIP-DIP connecting rod is connected with the MCP joint, and the other end of the PIP-DIP connecting rod is connected with the DIP joint.

4. The anthropomorphic dexterous hand based on double heart decoupling cellular palm and hybrid direct drive mechanical fingers according to claim 3, characterized in that, The MCP-PIP connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod; One end of the first connecting rod is connected with the first direct drive and the second direct drive; One end of the second connecting rod is connected with the third direct drive, and the other end of the second connecting rod is fixedly connected with the first connecting rod; The other end of the first connecting rod is rotatably connected with one end of the third connecting rod, and the other end of the third connecting rod is rotatably connected with the PIP joint.

5. The anthropomorphic dexterous hand based on double heart decoupling cellular palm and hybrid direct drive mechanical fingers according to claim 4, characterized in that, The mechanical finger further comprises a base; The first direct drive comprises a first bearing seat, a first linear motor and a first bearing connected in sequence, the first bearing seat is rotatably connected with the base, and the first bearing is rotatably connected with the MCP joint and the MCP-PIP connecting rod; The second direct drive comprises a second bearing seat, a second linear motor and a second bearing connected in sequence, the second bearing seat is rotatably connected with the base, and the second bearing is rotatably connected with the MCP joint and the MCP-PIP connecting rod; The third direct drive comprises a third bearing seat, a third linear motor and a third bearing connected in sequence, the third bearing seat is rotatably connected with the base, and the third bearing is rotatably connected with the second connecting rod.

6. The anthropomorphic dexterous hand based on double heart decoupling cellular palm and hybrid direct drive mechanical fingers according to claim 5, characterized in that, The other end of the first connecting rod is rotatably connected with one end of the third connecting rod through a first optical axis, and the other end of the third connecting rod is rotatably connected with the PIP joint through a second optical axis; The MCP joint is rotatably connected with the PIP joint through a third optical axis; The MCP joint is rotatably connected with one end of the PIP-DIP connecting rod through a fourth optical axis; The other end of the PIP-DIP connecting rod is rotatably connected with the DIP joint through a fifth optical axis; The PIP joint is rotatably connected with the DIP joint through a sixth optical axis; The first bearing of the first direct drive or the second bearing of the second direct drive and the first optical axis, the second optical axis and the third optical axis form a first reverse quadrilateral mechanism; The third optical axis, the fourth optical axis, the fifth optical axis and the sixth optical axis form a second reverse quadrilateral mechanism.

7. The anthropomorphic dexterous hand based on double heart decoupling cellular palm and hybrid direct drive mechanical fingers according to claim 6, characterized in that, The MCP joint comprises a first MCP connecting rod and a second MCP connecting rod, the first MCP connecting rod and the second MCP connecting rod are arranged in parallel, one end of the first MCP connecting rod and one end of the second MCP connecting rod are connected through the universal joint, the other end of the first MCP connecting rod and the other end of the second MCP connecting rod are connected through the fourth optical axis, the first MCP connecting rod is rotationally connected with the first bearing, and the second MCP connecting rod is rotationally connected with the second bearing; The PIP joint comprises a first PIP connecting rod and a second PIP connecting rod, the first MCP connecting rod is rotationally connected with one end of the first PIP connecting rod through the third optical axis, the second MCP connecting rod is rotationally connected with one end of the second PIP connecting rod through the third optical axis, and the other end of the first PIP connecting rod and the other end of the second PIP connecting rod are connected through the sixth optical axis.

8. The anthropomorphic dexterous hand based on dual heart decoupled metamorphic palm and hybrid direct drive mechanical fingers of claim 1, wherein, The pitch angle of the MCP joint is 0°-90°; The roll angle of the MCP joint is -40°-40°; The flexion and extension angle of the PIP joint and the DIP joint is 0°-90°.

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