Anthropomorphic hand based on bricard-spherical metamorphic palm and series-parallel compliant actuated mechanical fingers

Abstract

This invention relates to the technical field of robotics, providing a humanoid dexterous hand based on a Bricard-spherical variable-cell palm and a hybrid compliant actuated mechanical finger, including a variable-cell palm and at least one mechanical finger; the variable-cell palm includes eight links and eight revolute joints arranged alternately and connected sequentially to form a closed loop, the eight revolute joints including the first, second, third, fourth, fifth, sixth, seventh and eighth revolute joints, the first, second, third, fifth, seventh and eighth revolute joints constitute a Bricard mechanism, the Bricard mechanism, the fourth revolute joint and the sixth revolute joint constitute an eight-bar linkage, the variable-cell palm derives different variable-cell bifurcations through the coaxiality of the revolute joint axes and the coplanarity of three or more axes to form three motion modes; the mechanical finger includes a drive mechanism and a mechanical finger joint, the drive mechanism is provided with an elastic component, the drive mechanism drives the mechanical finger joint to perform pitch, lateral and flexion-extension movements, with high dexterity.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers. Background Technology

[0002] Robotic dexterous hands can replace human hands in performing tasks in complex and harsh environments. They are an important component for achieving precise local operations in robots. Compared to end effectors that grasp only a single object, perform a single grasping action, and have a simple structure, dexterous hands, with their higher degree of freedom and structure that mimics the human hand, can interact with a variety of objects.

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

[0004] The purpose of this invention is to provide a humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, so as to solve the technical problem of low dexterity in existing mechanical dexterous hands.

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

[0006] The present invention provides a humanoid dexterous hand based on Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, including a variable cell palm and at least one mechanical finger disposed on the variable cell palm;

[0007] The variable cell palm includes eight connecting rods and eight rotating joints. The eight connecting rods and eight rotating joints are arranged alternately and connected in sequence to form a closed loop. The eight rotating joints are sequentially named as follows: first rotating joint, second rotating joint, third rotating joint, fourth rotating joint, fifth rotating joint, sixth rotating joint, seventh rotating joint, and eighth rotating joint.

[0008] The first revolute joint, the second revolute joint, the third revolute joint, the fifth revolute joint, the seventh revolute joint, and the eighth revolute joint constitute a Bricard mechanism, and the Bricard mechanism, the fourth revolute joint, and the sixth revolute joint constitute an eight-bar linkage.

[0009] The variable cell palm derives different variable cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. When it moves to the bifurcation point and bifurcates, it enters different motion branches to form different motion modes.

[0010] The mechanical finger includes a drive mechanism and a mechanical finger joint. The drive mechanism has an elastic component and drives the mechanical finger joint to perform pitching, lateral swinging, and flexion-extension movements.

[0011] According to the aforementioned humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, the eight links sequentially include a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link. The torsion angles of the first link, the second link, the third link, and the eighth link are all pi / 2, and the torsion angles of the fifth link and the sixth link are equal.

[0012] According to the aforementioned humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, the first revolute joint and the fifth revolute joint are always coplanar in the Bricard motion mode of the Bricard mechanism, the kinematic parameters of the first link and the second link are equal, and the kinematic parameters of the third link and the eighth link are equal.

[0013] According to the humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuation mechanical fingers described above, the third revolute joint, the fourth revolute joint, and the sixth revolute joint are drive shafts;

[0014] The variable cell palm derives different variable cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. When the movement reaches the bifurcation point, it enters different motion branches to form three motion modes, including a spherical five-bar mechanism, a Bricard mechanism, and a hybrid mechanism.

[0015] The hybrid mechanism is a combination of Bricard and spherical 8R mechanisms;

[0016] The spherical five-bar linkage includes a spherical 5R mechanism and a fixed-axis rotation mechanism;

[0017] The Bricard mechanism includes the Bricard 6R mechanism and the Bricard 6R combined with a fixed-axis rotation mechanism.

[0018] According to the aforementioned humanoid dexterous hand based on the Bricard-spherical variable palm and hybrid compliant actuated mechanical fingers, the mechanical finger joints include the MCP joint, the PIP joint, and the DIP joint. The drive mechanism drives the MCP joint to perform pitch and lateral movements, and the drive mechanism drives the PIP joint and the DIP joint to perform synchronous flexion and extension movements.

[0019] According to the aforementioned humanoid dexterous hand based on Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, the driving mechanism includes a first driving mechanism, a second driving mechanism, and a third driving mechanism arranged in parallel.

[0020] The first drive mechanism includes a first joint motor, a first rod, a first connecting rod, and a first joint bearing connected in sequence, and the first connecting rod is provided with a first elastic component.

[0021] The second drive mechanism includes a second joint motor, a second rod, a second connecting rod, and a second joint bearing connected in sequence, and the second connecting rod is provided with a second elastic component.

[0022] The third drive mechanism includes a third joint motor, a third rod, a third connecting rod, and a third joint bearing connected in sequence, and the second connecting rod is provided with a third elastic component.

[0023] According to the humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers described above, the drive mechanism also includes a universal joint, an MCP-PIP link and a PIP-DIP link.

[0024] Both the first and second joint bearings are connected to the MCP joint, and the MCP joint is connected to the universal joint.

[0025] The first joint bearing, the second joint bearing, and the third joint bearing are all connected to one end of the MCP-PIP link, and the other end of the MCP-PIP link is connected to the PIP joint.

[0026] One end of the PIP-DIP link is connected to the MCP joint, and the other end of the PIP-DIP link is connected to the DIP joint.

[0027] According to the aforementioned humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, the MCP-PIP linkage includes a first connecting rod, a second connecting rod, and a third connecting rod.

[0028] One end of the first connecting rod is connected to both the first spherical bearing and the second spherical bearing;

[0029] One end of the second connecting rod is connected to the third joint bearing, and the other end of the second connecting rod is fixedly connected to the first connecting rod;

[0030] 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.

[0031] According to the humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuation mechanical fingers described above, the other end of the first connecting rod is rotatably connected to one end of the third connecting rod through a first optical axis, and the other end of the third connecting rod is rotatably connected to the PIP joint through a second optical axis.

[0032] The MCP joint and the PIP joint are rotatably connected via a third optical axis;

[0033] The MCP joint is rotatably connected to one end of the PIP-DIP link via a fourth optical axis.

[0034] The other end of the PIP-DIP link is rotatably connected to the DIP joint via the fifth optical axis;

[0035] The PIP joint and the DIP joint are rotatably connected via a sixth optical axis;

[0036] The first joint bearing or the second joint bearing, together with the first optical axis, the second optical axis and the third optical axis, form a first inverted quadrilateral mechanism;

[0037] The third optical axis, the fourth optical axis, the fifth optical axis, and the sixth optical axis constitute the second inverted quadrilateral mechanism.

[0038] According to the aforementioned humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers, 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 joint bearing, and the second MCP link is rotatably connected to the second joint bearing.

[0039] 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 via the third optical axis. The second MCP link is rotatably connected to one end of the second PIP link via the third optical axis. The other ends of the first PIP link and the other ends of the second PIP link are connected via the sixth optical axis.

[0040] The beneficial effects of the humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers provided by this invention are at least as follows:

[0041] (1) The present invention provides a humanoid dexterous hand based on a Bricard-spherical variable-cell palm and a hybrid compliant actuation mechanical finger. The first, second, third, fifth, seventh, and eighth revolute joints constitute a Bricard mechanism. The Bricard mechanism, the fourth revolute joint, and the sixth revolute joint constitute an eight-bar linkage. Different variable-cell bifurcations are derived from the coaxiality of the axes of the revolute joints and the coplanarity of three or more axes. When the movement reaches the bifurcation point, it enters different motion branches. Different motion modes can be derived through these different motion branches, thereby realizing different functions. The motion modes that can be formed in this embodiment include a spherical five-bar linkage, a Bricard mechanism, and a hybrid mechanism, which have a large folding-to-spread ratio and surpass the operation effect of the human hand. At the same time, the variable-cell palm process realizes a variety of grasping gestures, which have a mechanism form and reconstruction mechanism that are significantly different from the traditional rigid hand, and completely solve the problem of poor hand dexterity in the prior art.

[0042] (2) An elastic component is provided in the drive mechanism, which can realize the compliant actuation of the drive mechanical finger joint to perform pitching, lateral swinging and flexion-extension movements. The drive mechanism also has high dexterity, high load ratio, high normal stiffness, high lateral compliance, compact overall structure, easy integration between multiple mechanical fingers, and good structural interchangeability. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A structural schematic diagram of the mechanical dexterous hand provided for the invention;

[0045] Figure 2 A schematic diagram of the structure of the variable-cell palm provided for the invention;

[0046] Figure 3 A schematic diagram of the principle structure of the variable cell palm provided for the invention;

[0047] Figure 4 A block diagram illustrating the principles of the five kinematic branches of the variable palm provided for the invention;

[0048] Figure 5 A schematic diagram of the principle structure of the Bricard+ spherical 8R mechanism provided for the invention;

[0049] Figure 6A schematic diagram of the principle structure of the spherical 5R mechanism provided for the invention;

[0050] Figure 7 A schematic diagram of the principle structure of the Bricard 6R mechanism provided for the invention;

[0051] Figure 8 A schematic diagram of the principle structure of the Bricard 6R+ fixed-axis rotation mechanism provided for the invention;

[0052] Figure 9 A schematic diagram of the principle structure of the fixed-axis rotation mechanism provided for the invention;

[0053] Figure 10 Structural diagram of the mechanical finger provided for the invention Figure 1 ;

[0054] Figure 11 A schematic diagram of the exploded structure of the mechanical finger provided for the invention;

[0055] Figure 12 Structural diagram of the mechanical finger provided for the invention Figure 2 ;

[0056] Figure 13 A schematic diagram of the pitching motion of the MCP joint of the mechanical finger provided for the invention;

[0057] Figure 14 A schematic diagram of the lateral swing motion of the MCP joint of the mechanical finger provided for the invention;

[0058] Figure 15 This is a schematic diagram of the synchronous pitching motion of the PIP and DIP joints of the mechanical finger of the present invention.

[0059] Figure 16 Structural diagram of the mechanical finger provided for the invention Figure 3 .

[0060] The following are the labeling elements in the figure:

[0061] 100. Mechanical dexterous hand; 10. Mechanical finger; 110. Drive mechanism; 111. First drive mechanism; 1111. First joint motor; 1112. First link; 1113. First connecting link; 1114. First joint bearing; 112. Second drive mechanism; 1121. Second joint motor; 1122. Second link; 1123. Second connecting link; 1124. Second joint bearing; 113. Third drive mechanism; 1131. Third joint motor; 1132. Third link; 1133. Third connecting link; 1134. Third joint bearing; 114. Universal joint; 115. MCP-PIP Linkages; 1151, First connecting rod; 1152, Second connecting rod; 1153, Third connecting rod; 1154, First optical axis; 1155, Second optical axis; 116, PIP-DIP link; 120, Mechanical knuckle; 121, MCP joint; 1211, Third optical axis; 1212, Fourth optical axis; 1213, First MCP link; 1214, Second MCP link; 122, PIP joint; 1221, First PIP link; 1222, Second PIP link; 123, DIP joint; 1231, Fifth optical axis; 1232, Sixth optical axis; 130, Base; 20, Variable palm;

[0062] O1, center of the ball; S1, first revolute joint; S2, second revolute joint; S3, third revolute joint; S4, fourth revolute joint; S5, fifth revolute joint; S6, sixth revolute joint; S7, seventh revolute joint; S8, eighth revolute joint; q1, first link; q2, second link; q3, third link; q4, fourth link; q5, fifth link; q6, sixth link; q7, seventh link; q8, eighth link; α1, torsion angle of the first link; α2, torsion angle of the second link; α3, torsion angle of the third link; α4, torsion angle of the fourth link; α5, torsion angle of the fifth link; α6, torsion angle of the sixth link; α7, torsion angle of the seventh link; α8, torsion angle of the eighth link. Detailed Implementation

[0063] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be 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.

[0064] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0065] MCP joints (full English name: Metacarpo-phalangeal joints, one of the joints of the human finger, full Chinese name: metacarpophalangeal joints);

[0066] PIP joint (full English name: Proximal interphalangeal joints, one of the joints of the human finger, full Chinese name: proximal interphalangeal joints);

[0067] DIP joint (full English name: Distal interphalangeal joints, one of the joints of the human finger, full Chinese name: distal interphalangeal joints);

[0068] Universal joint (also known as U-joint, or simply U, which has two degrees of freedom);

[0069] Spherical joint (also known as ball joint, abbreviated as S, has three degrees of freedom);

[0070] Linear motor (full English name: prismatic joint, also known as: sliding pair, abbreviated as: P, has one degree of freedom);

[0071] Optical axis (full English name: rotational joint, also known as: revolute joint, abbreviated as: R, has one degree of freedom);

[0072] Cylindrical joint (also known as cylindrical joint, abbreviated as C, a two-degree-of-freedom kinematic pair).

[0073] This invention relates to a naming convention for some links using the aforementioned letter combination, which represents a linkage mechanism formed by sequentially connecting the kinematic pairs represented by the letters.

[0074] For example: RSS linkage (full English name: rotational joint--spherical joint--spherical joint, a series linkage mechanism consisting of a rotating joint-spherical bearing-spherical bearing).

[0075] And so on.

[0076] Please see Figure 1 This embodiment provides a humanoid dexterous hand 100 based on a Bricard-spherical variable palm and a hybrid compliant actuated mechanical finger, including a variable palm 20 and at least one mechanical finger 10 disposed on the variable palm 20. Optionally, the mechanical dexterous hand 100 includes five mechanical fingers 10. It should be understood that the number of mechanical fingers 10 is not limited to the above-described case, and may include other cases, which are not limited here.

[0077] Please see Figure 2 and Figure 3 The variable-cell palm 20 includes eight connecting rods and eight revolute joints. The eight connecting rods and eight revolute joints are arranged alternately and connected sequentially to form a closed loop. The eight revolute joints are sequentially named as follows: first revolute joint S1, second revolute joint S2, third revolute joint S3, fourth revolute joint S4, fifth revolute joint S5, sixth revolute joint S6, seventh revolute joint S7, and eighth revolute joint S8. The first revolute joint S1, second revolute joint S2, third revolute joint S3, fifth revolute joint S5, seventh revolute joint S7, and eighth revolute joint S8 constitute a Bricard mechanism. The Bricard mechanism, the fourth revolute joint, and the sixth revolute joint constitute an eight-bar linkage. The variable-cell palm 20 derives different variable-cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. When it moves to the bifurcation point, it enters different motion branches to form different motion modes. The mechanical finger 10 includes a drive mechanism 110 and a mechanical finger joint 120. The drive mechanism 110 is provided with an elastic component. The drive mechanism 110 drives the mechanical finger joint 120 to perform pitch, lateral, and flexion / extension movements.

[0078] The working principle of the humanoid dexterous hand 100 based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers provided in this embodiment is as follows:

[0079] This embodiment provides a humanoid dexterous hand 100 based on a Bricard-spherical variable-cell palm and hybrid compliant actuation mechanical fingers. The first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fifth revolute joint S5, the seventh revolute joint S7, and the eighth revolute joint S8 constitute a Bricard mechanism. The Bricard mechanism, the fourth revolute joint, and the sixth revolute joint constitute an eight-bar linkage. When different variable-cell configurations are required, different variable-cell bifurcations are derived through the coaxiality of the axes of the revolute joints and the coplanarity of three or more axes. When the movement reaches the bifurcation point, it enters different motion branches. Through these different motion branches, different motion modes can be derived, thereby achieving different functions. It has a large folding-expansion ratio and surpasses the operational effect of the human hand. At the same time, the variable-cell palm 20 realizes various forms of grasping gestures through its variable-cell process. It has a mechanism form and reconstruction mechanism that are significantly different from traditional rigid palms, completely solving the problem of poor hand dexterity in the prior art.

[0080] Regarding the mechanical finger 10, an elastic component is provided in the drive mechanism 110. Driven by the drive mechanism 110, the drive mechanism 110 can smoothly drive the mechanical finger joint 120 to perform pitch, lateral and flexion movements, achieving three degrees of freedom and high dexterity. The drive mechanism 110 also has a high load-bearing ratio, high normal stiffness, and high lateral compliance. The overall structure is compact, which facilitates the integration of multiple mechanical fingers 10, and the structure has good interchangeability.

[0081] The beneficial effects of the humanoid dexterous hand 100 based on the Bricard-spherical variable palm and hybrid compliant actuated mechanical fingers provided in this embodiment are as follows:

[0082] (1) The humanoid dexterous hand 100 provided in this embodiment, based on the Bricard-spherical variable cell palm and hybrid compliant actuation mechanical fingers, comprises the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fifth revolute joint S5, the seventh revolute joint S7, and the eighth revolute joint S8, which constitute the Bricard mechanism. The Bricard mechanism, the fourth revolute joint S4, and the sixth revolute joint S6 constitute an eight-bar linkage. Different variable cell bifurcations are derived from the coaxiality of the axes of the revolute joints and the coplanarity of three or more axes. When the movement reaches the bifurcation point, it enters different motion branches. Different motion modes can be derived through these different motion branches, thereby realizing different functions. It has a large folding-expansion ratio and surpasses the operation effect of the human hand. At the same time, the variable cell process of the variable cell palm 20 realizes various forms of grasping gestures. It has a mechanism form and reconstruction mechanism that are significantly different from the traditional rigid hand, and completely solves the problem of poor hand dexterity in the prior art.

[0083] (2) An elastic component is provided in the drive mechanism 110, which can realize the compliant actuation of the drive mechanical finger joint 120 to perform pitching, lateral swinging and flexion-extension movements. The drive mechanism 110 also has high dexterity, high load ratio, high normal stiffness, high lateral compliance, compact overall structure, which facilitates the integration of multiple mechanical fingers 10, and good structural interchangeability.

[0084] Please see Figure 3 The eight links are sequentially named as follows: first link q1, second link q2, third link q3, fourth link q4, fifth link q5, sixth link q6, seventh link q7, and eighth link q8. The torsion angles of the first link q1, second link q2, third link q3, fourth link q4, seventh link q7, and eighth link q8 are all π / 2. The torsion angles of the fifth link q5 and the sixth link q6 are equal. That is, the first torsion angle α1 of the first link q1, the second torsion angle α2 of the second link q2, the third torsion angle α3 of the third link q3, and the eighth torsion angle α8 of the eighth link q8 are all π / 2 (i.e., π / 2, 90°), and the fifth torsion angle α5 of the fifth link q5 and the sixth torsion angle α6 of the sixth link q6 are equal.

[0085] Please see Figure 3 In the Bricard motion mode of the Bricard mechanism, the first revolute joint S1 and the fifth revolute joint S5 are always coplanar. The kinematic parameters (i.e., DH parameters) of the first link q1 and the second link q2 are equal, and the kinematic parameters of the third link q3 and the eighth link q8 are equal. The DH parameters include four variables: link length, link torsion angle, joint distance, and joint rotation angle. These parameters are used to describe the transformation relationship between the coordinate systems of adjacent links.

[0086] Please see Figure 4 The third revolute joint S3, the fourth revolute joint S4, and the sixth revolute joint S6 are drive shafts. The variable-cell mechanism derives different variable-cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. When the movement reaches a bifurcation point, it enters different motion branches to form three motion modes: a spherical five-bar mechanism, a Bricard mechanism, and a hybrid mechanism. The hybrid mechanism is a combination of Bricard and spherical 8R; the spherical five-bar mechanism includes a spherical 5R mechanism and a fixed-axis rotation mechanism; the Bricard mechanism includes a Bricard 6R mechanism and a combination of Bricard 6R and a fixed-axis rotation mechanism.

[0087] In one embodiment, see Figure 5Motion branch 1 is a combination mechanism of Bricard and 8R spherical joints (i.e., Bricard + 8R spherical joint). Under the Bricard + 8R spherical joint mechanism, all eight revolute joints can move simultaneously. This motion branch is a hybrid motion mode, possessing properties of both Bricard and spherical mechanisms. The third revolute joint S3, the fourth revolute joint S4, and the sixth revolute joint S6 are mentioned. Each link in motion branch 1 has a large range of motion, suitable for scenarios requiring high contact richness, such as multi-finger coordinated dexterity gripping.

[0088] In one embodiment, see Figure 6 Kinematic branch 2 is a spherical 5R mechanism. Its configuration condition is that the second revolute joint S2, the fourth revolute joint S4, the fifth revolute joint S5, the sixth revolute joint S6, and the eighth revolute joint S8 intersect at a sphere center O1 in space. At this time, the second revolute joint S2, the fourth revolute joint S4, the fifth revolute joint S5, the sixth revolute joint S6, and the eighth revolute joint S8 can move. The first revolute joint S1, the third revolute joint S3, and the seventh revolute joint S7 are constrained by geometric parameters, and their joint angles remain constant. The first link q1 and the second link q2 are rigidified into a single unit; the third link q3 and the fourth link q4 are rigidified into a single unit; and the seventh link q7 and the eighth link q8 are rigidified into a single unit. The first link q1 and the second link q2 as a whole, the third link q3 and the fourth link q4 as a whole, the seventh link q7 and the eighth link q8 as a whole, and the fifth link q5 and the sixth link q6 constitute a spherical five-bar mechanism. During the movement, the second revolute joint S2, the fourth revolute joint S4, the fifth revolute joint S5, the sixth revolute joint S6, and the eighth revolute joint S8 always converge at the center of the ball O1. The driving joints are the fourth revolute joint S4 and the sixth revolute joint S6. This kinematic branch 2 is particularly suitable for applications requiring large-amplitude mechanical finger movements.

[0089] In one embodiment, see Figure 7Kinematic branch 3 is the Bricard 6R mechanism, which is configured with the fourth revolute joint S4 and the sixth revolute joint S6 fixed, and the torsion angles α5 and α6 of the fifth and sixth links being equal. At this point, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fifth revolute joint S5, the seventh revolute joint S7, and the eighth revolute joint S8 can move; the fourth revolute joint S4 and the sixth revolute joint S6 do not rotate; the fourth link q4 and the fifth link q5 are rigidly integrated, and the sixth link q6 and the seventh link q7 are rigidly integrated. The linkage groups of fourth link q4 and fifth link q5 as a whole, the linkage groups of sixth link q6 and seventh link q7 as a whole, and the first link q1, second link q2, third link q3, and eighth link q8 constitute the Bricard 6R mechanism. During motion, the mechanism is always planar symmetrical about the plane formed by the first revolute joint S1 and the fifth revolute joint S5. The driving joint is the first revolute joint S1. The lower mechanism of this motion branch 3 has a very large bending-to-expansion ratio, which exceeds the extension and contraction function of the human hand, and is conducive to the mechanical fingers forming an envelope around the manipulated object.

[0090] In one embodiment, see Figure 8 Motion branch 4 is a combination mechanism of Bricard 6R and fixed-axis rotation (i.e., Bricard 6R + fixed-axis rotation mechanism). Its configuration condition is that the included angle between the fifth link q5 and the sixth link q6 is 180°, meaning the fourth revolute joint S4, the fifth revolute joint S5, and the sixth revolute joint S6 are coplanar. When the torsion angle α5 of the fifth link q5 is equal to the torsion angle α6 of the sixth link q6, the axes of the fourth revolute joint S4 and the sixth revolute joint S6 are collinear. At this time, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the seventh revolute joint S7, the eighth revolute joint S8, and the fixed-axis rotation fourth revolute joint S4 (sixth revolute joint S6) can move; the joint angle of the fifth revolute joint S5 remains constant due to geometric constraints, and the fifth link q5 and the sixth link q6 are rigidified into a single unit. Links q1, q2, q3, q4, q7, and q8 constitute the Bricard 6R mechanism. Links q6 and q7 of the linkage group rotate continuously around a fixed axis relative to the Bricard mechanism. The axis of rotation is generated collinearly by the fourth revolute joint S4 and the sixth revolute joint S6. During the motion, the Bricard mechanism is symmetrical about the plane formed by the first revolute joint S1 and the fourth revolute joint S4 (and the sixth revolute joint S6). The driving joints are the first revolute joint S1 and the fourth revolute joint S4. The fifth revolute joint S5 or the sixth revolute joint S6 needs to be driven to leave this motion branch. This motion branch 4 has a very large extension-retraction ratio, exceeding the extension and contraction function of the human hand, which is beneficial for the mechanical fingers to form an envelope around the manipulated object. It also has the mobility of fixed-axis rotation, allowing the variable-sized hand to rotate around a fixed axis relative to the arm, exhibiting characteristics of the human hand.

[0091] In one embodiment, see Figure 9 Motion branch 5 is a fixed-axis rotation mechanism. Its configuration condition is that, in the five-bar linkage motion mode, the included angle between the fifth link q5 and the sixth link q6 is 180°, meaning the fourth revolute joint S4, the fifth revolute joint S5, and the sixth revolute joint S6 are coplanar. When the torsion angle α5 of the fifth link q5 is equal to the torsion angle α6 of the sixth link q6, the fourth revolute joint S4 and the sixth revolute joint S6 are collinear. At this time, only the fixed-axis rotation of the fourth revolute joint S4 (sixth revolute joint S6) allows movement; the joint angles of the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fifth revolute joint S5, the seventh revolute joint S7, and the eighth revolute joint S8 remain constant due to geometric parameter constraints. The first link q1, the second link q2, the third link q3, the fourth link q4, the seventh link q7, and the eighth link q8 are rigidified into a single unit, and the fifth link q5 and the sixth link q6 are rigidified into a single unit. The driving joint is the fourth revolute joint S4. The fifth revolute joint S5 or the sixth revolute joint S6 needs to be driven to leave this motion branch. The mechanism in this motion branch 5 has a fixed-axis rotational range of motion, allowing the variable palm to rotate relative to the arm on a fixed axis, thus possessing the characteristics of a human hand.

[0092] In one embodiment, see Figure 10 The mechanical finger joint 120 includes an MCP joint 121, a PIP joint 122, and a DIP joint 123. The drive mechanism 110 drives the MCP joint 121 to perform pitch and lateral movements, and drives the PIP joint 122 and DIP joint 123 to perform synchronized flexion and extension movements. The drive mechanism 110 effectively drives the MCP joint 121 to perform two degrees of freedom of pitch and lateral movements, and also drives the PIP joint 122 and DIP joint 123 to perform synchronized flexion and extension movements, achieving effective driving of a single-degree-of-freedom PIP-DIP coupled joint, which has high dexterity.

[0093] In one embodiment, see Figure 10 and Figure 11The drive mechanism 110 includes a first drive mechanism 111, a second drive mechanism 112, and a third drive mechanism 113 arranged in parallel. The first drive mechanism 111 includes a first joint motor 1111, a first rod 1112, a first connecting rod 1113, and a first joint bearing 1114 connected in sequence. The first connecting rod 1113 is provided with a first elastic component (not shown in the figure, the same below). The second drive mechanism 112 includes a second joint motor 1121, a second rod 1122, a second connecting rod 1123, and a second joint bearing 1124 connected in sequence. The second connecting rod 1123 is provided with a second elastic component (not shown in the figure, the same below). The third drive mechanism 113 includes a third joint motor 1131, a third rod 1132, a third connecting rod 1133, and a third joint bearing 1134 connected in sequence. The second connecting rod 1123 is provided with a third elastic component (not shown in the figure, the same below).

[0094] The first joint motor 1111, the second joint motor 1121, and the third joint motor 1131 all employ a rotary drive mechanism, possessing only one degree of freedom in the rotational direction. The first joint bearing 1114, the second joint bearing 1124, and the third joint bearing 1134 each have three degrees of freedom, making it more flexible for the first joint motor 1111 and the second joint motor 1121 to drive the MCP joint 121 in pitch and yaw movements, and for the third joint motor 1131 to drive the PIP joint 122 and DIP joint 123 in flexion and extension movements. The first connecting link 1113, the second connecting link 1123, and the third connecting link 1133 function similarly to a cylindrical joint (C), capable of both translation along the axis and rotation around the axis, possessing two degrees of freedom. Furthermore, the first connecting rod 1113 contains a first elastic component, the second connecting rod 1123 contains a second elastic component, and the second connecting rod 1123 contains a third elastic component, which can enable compliant actuation of the mechanical finger joint 120 to perform pitch, lateral, and flexion / extension movements. Optionally, the elastic component is a spring. It should be understood that the elastic component is not limited to the above-described case and can also be other types, which are not limited here.

[0095] The first drive mechanism 111, comprising a first joint motor (R) 1111, a first connecting rod (C) 1113, and a first joint bearing (S) 1114, constitutes a first RCS branch drive, a series mechanism. The second drive mechanism 112, comprising a second joint motor (R) 1121, a second connecting rod (C) 1123, and a second joint bearing (S) 1124, constitutes a second RCS branch drive, a series mechanism. The third drive mechanism 113, comprising a third joint motor (R) 1131, a third connecting rod (C) 1133, and a third joint bearing (S) 1134, constitutes a third RCS branch drive, a series mechanism.

[0096] In one embodiment, the drive mechanism 110 further includes a base 130, on which the first drive mechanism 111, the second drive mechanism 112, and the third drive mechanism 113 are all disposed. The first joint motor 1111, the second joint motor 1121, and the third joint motor 1122 are connected to the base 130.

[0097] In one embodiment, see Figure 12 The drive mechanism 110 further includes a universal joint 114, an MCP-PIP link 115, and a PIP-DIP link 116. The first joint bearing 1114 and the second joint bearing 1124 are both connected to the MCP joint 121, and the universal joint 114 is connected to the base 130. The first joint bearing 1114, the second joint bearing 1124, and the third joint bearing 1134 are all connected to one end of the MCP-PIP link 115, and the other end of the MCP-PIP link 115 is connected to the PIP joint 122. One end of the PIP-DIP link 116 is connected to the MCP joint 121, and the other end of the PIP-DIP link 116 is connected to the DIP joint 123. The drive mechanism 110 described above has strong linkage and a simple overall structure.

[0098] Please see Figure 13 , Figure 13 (a) Figure 13 (b) Figure 13 (c) Representing the pitch movement of the MCP joint 121, when the third drive mechanism 113 is stationary, the first drive mechanism 111 and the second drive mechanism 112 are driven. Through the cooperation of the universal joint 114, the first drive mechanism 111 and the second drive mechanism 112 are driven to rotate in the same direction and at the same angle, thereby realizing the single-free pitch movement of the MCP joint 121 of the mechanical finger 10. The pitch angle of the MCP joint 121 is 0° to 90°. The range of motion of the MCP joint 121 is similar to that of a human finger, exhibiting high dexterity.

[0099] Please see Figure 14 , Figure 14 (a) Figure 14 (b) Figure 14 (c) Representing the lateral swing motion of the MCP joint 121, when the third drive mechanism 113 is stationary, the first drive mechanism 111 and the second drive mechanism 112 are driven. Through the cooperation of the universal joint 114, the first drive mechanism 111 and the second drive mechanism 112 are driven to rotate in opposite directions and at the same angle, thereby realizing the single-free lateral swing motion of the MCP joint 121 of the mechanical finger 10. The lateral swing angle of the MCP joint 121 is -40° to 40°, and the range of motion of the PIP joint 122 is similar to that of a human finger, exhibiting high dexterity.

[0100] Please see Figure 13 and Figure 14 When the third drive mechanism 113 is stationary, it drives the first drive mechanism 111 and the second drive mechanism 112. Through the cooperation of the universal joint 114, it drives the first drive mechanism 111 and the second drive mechanism 112 to rotate in opposite directions and at different angles. At the same time, it can drive the MCP joint 121 of the mechanical finger 10 to perform two degrees of freedom of pitch and yaw motion.

[0101] Please see Figure 15 , Figure 15 (a) Figure 15 (b) Figure 15 (c) Representing the flexion and extension movements of PIP joint 122 and DIP joint 123 respectively, when the first drive mechanism 111 and the second drive mechanism 112 are stationary, the third drive mechanism 113 is driven to rotate, thereby realizing the synchronous flexion and extension movements of PIP joint 122 and DIP joint 123 of the mechanical finger 10, that is, realizing the flexion and extension movements of the single-degree-of-freedom PIP-DIP coupled joint. The flexion and extension angles of PIP joint 122 and DIP joint 123 are 0° to 90°, and the range of motion of DIP joint 123 is similar to that of a human finger, exhibiting high dexterity.

[0102] In one embodiment, see Figure 12The 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 both the first joint bearing 1114 and the second joint bearing 1124; one end of the second connecting rod 1152 is connected to the third joint bearing 1134, 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 122. The MCP-PIP linkage 115 configured above has strong linkage, and the cooperation between the MCP-PIP linkage 115 and the PIP-DIP linkage 116 better links the PIP joint 122 and the DIP joint 123 to perform synchronous flexion and extension movements, that is, to achieve effective driving of the single-degree-of-freedom PIP-DIP coupled joint.

[0103] In one embodiment, see Figure 16 The 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; the other end of the third connecting rod 1153 is rotatably connected to the PIP joint 122 via a second optical axis 1155; the MCP joint 121 is rotatably connected to the PIP joint 122 via a third optical axis 1211; the MCP joint 121 is rotatably connected to one end of the PIP-DIP connecting rod 116 via a fourth optical axis 1212; the other end of the PIP-DIP connecting rod 116 is... The DIP joint 123 is rotatably connected via the fifth optical axis 1231; the PIP joint 122 is rotatably connected to the DIP joint 123 via the sixth optical axis 1232; the first joint bearing 1114 or the second joint bearing 1124, together with the first optical axis 1154, the second optical axis 1155, and the third optical axis 1211, constitute a first inverted quadrilateral mechanism; the third optical axis 1211, the fourth optical axis 1212, the fifth optical axis 1231, and the sixth optical axis 1232 constitute a second inverted quadrilateral mechanism.

[0104] The second joint bearing 1124 or the fourth joint bearing, together with the first optical axis 1154, the second optical axis 1155, and the third optical axis 1211, constitute a first inverted quadrilateral mechanism (part A); the third optical axis 1211, the fourth optical axis 1212, the fifth optical axis 1231, and the sixth optical axis 1232 constitute a second inverted quadrilateral mechanism (part B). The arrangement of the first and second inverted quadrilateral mechanisms enables the third drive mechanism 113 to more effectively achieve single-degree-of-freedom control of flexion and extension when driving the PIP-DIP coupled joint composed of the PIP joint 122 and the DIP joint 123.

[0105] As can be seen, the mechanical finger 10 in this embodiment is composed of three identical RCS branch drives connected in parallel. The first RCS branch drive, the second RCS branch drive, the universal joint (U) 114, the third RCS branch drive, the first optical axis (R) 1154, the first inverted quadrilateral mechanism, and the second inverted quadrilateral mechanism constitute a 2RCS&U&RCSR-double inverted quadrilateral hybrid mechanism.

[0106] In one embodiment, see Figure 16 The MCP joint 121 includes a first MCP link 1213 and a second MCP link 1214. The first MCP link 1213 and the second MCP link 1214 are arranged in parallel, and one end of the first MCP link 1213 and one end of the second MCP link 1214 are connected by the universal joint 114. The other end of the first MCP link 1213 and the other end of the second MCP link 1214 are connected by the fourth optical axis 1212. The first MCP link 1213 is rotatably connected to the first joint bearing 1114, and the second MCP link 1214 is rotatably connected to the second joint bearing 1124.

[0107] The PIP joint 122 includes a first PIP link 1221 and a second PIP link 1222. The first MCP link 1213 is rotatably connected to one end of the first PIP link 1221 via the third optical axis 1211. The second MCP link 1214 is rotatably connected to one end of the second PIP link 1222 via the third optical axis 1211. The other ends of the first PIP link 1221 and the other ends of the second PIP link 1222 are connected via the sixth optical axis 1232.

[0108] In summary, this embodiment provides a humanoid dexterous hand 100 based on the Bricard-spherical variable palm and hybrid compliant actuated mechanical fingers. The variable palm 20 includes eight links and eight revolute joints. The eight links and eight revolute joints are alternately arranged and sequentially connected to form a closed loop. The eight revolute joints sequentially include a first revolute joint S1, a second revolute joint S2, a third revolute joint S3, a fourth revolute joint S4, a fifth revolute joint S5, a sixth revolute joint S6, a seventh revolute joint S7, and an eighth revolute joint S8. The moving joint S7 and the eighth revolute joint S8 constitute the Bricard mechanism, and the Bricard mechanism, the fourth revolute joint, and the sixth revolute joint constitute an eight-bar linkage. The variable cell palm 20 derives different variable cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of three or more axes. When it moves to the bifurcation point, it enters different motion branches to form different motion modes. The mechanical finger 10 includes a drive mechanism 110 and a mechanical finger joint 120. The drive mechanism 110 is provided with an elastic component, and the drive mechanism 110 drives the mechanical finger joint 120 to perform pitch, lateral, and flexion / extension movements. (1) The humanoid dexterous hand 100 provided in this embodiment based on the Bricard-spherical variable cell palm and hybrid compliant actuation mechanical fingers, wherein the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fifth revolute joint S5, the seventh revolute joint S7 and the eighth revolute joint S8 constitute the Bricard mechanism, and the Bricard mechanism, the fourth revolute joint S4 and the sixth revolute joint S6 constitute an eight-bar mechanism. Different variable cell bifurcations are derived by the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. 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. The motion modes that can be formed in this embodiment include the spherical five-bar mechanism, the Bricard mechanism and the hybrid mechanism, which have a large folding ratio and surpass the operation effect of the human hand. At the same time, various forms of grasping gestures are realized through the transformation process of the variable cell palm 20. It has a mechanism and reconstruction mechanism that are significantly different from the traditional rigid palm, and completely solves the problem of poor dexterity of the palm in the prior art. (2) An elastic component is provided in the drive mechanism 110, which can realize the compliant actuation of the drive mechanical finger joint 120 to perform pitching, lateral swinging and flexion-extension movements. In addition, the drive mechanism 110 also has high dexterity, and the drive mechanism 110 has a high load ratio, high normal stiffness, high lateral compliance, and a compact overall structure that facilitates the integration of multiple mechanical fingers 10. The structure is also highly interchangeable.

[0109] The above description is merely 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 within the protection scope of the present invention.

Claims

1. A humanoid dexterous hand based on the Bricard-spherical variable-cell palm and hybrid compliant actuation mechanical fingers, characterized in that, Includes a variable-celled palm and at least one mechanical finger disposed on the variable-celled palm; The variable cell palm includes eight connecting rods and eight rotating joints. The eight connecting rods and eight rotating joints are arranged alternately and connected in sequence to form a closed loop. The eight rotating joints are sequentially named as follows: first rotating joint, second rotating joint, third rotating joint, fourth rotating joint, fifth rotating joint, sixth rotating joint, seventh rotating joint, and eighth rotating joint. The first revolute joint, the second revolute joint, the third revolute joint, the fifth revolute joint, the seventh revolute joint, and the eighth revolute joint constitute a Bricard mechanism, and the Bricard mechanism, the fourth revolute joint, and the sixth revolute joint constitute an eight-bar linkage. The variable cell palm derives different variable cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. When it moves to the bifurcation point and bifurcates, it enters different motion branches to form different motion modes. The mechanical finger includes a drive mechanism and a mechanical finger joint. The drive mechanism has an elastic component and drives the mechanical finger joint to perform pitching, lateral swinging, and flexion-extension movements.

2. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers according to claim 1, characterized in that, The eight links are sequentially named as a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link. The torsion angles of the first link, the second link, the third link, and the eighth link are all π / 2, and the torsion angles of the fifth link and the sixth link are equal.

3. The humanoid dexterous hand based on the Bricard-spherical variable-cell palm and hybrid compliant actuation mechanical fingers according to claim 2, characterized in that, The first revolute joint and the fifth revolute joint are always coplanar in the Bricard motion mode of the Bricard mechanism. The kinematic parameters of the first link and the second link are equal, and the kinematic parameters of the third link and the eighth link are equal.

4. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuation mechanical fingers according to claim 1, characterized in that, The third, fourth, and sixth revolute joints are drive shafts; The variable cell palm derives different variable cell bifurcations through the coaxiality of the axes of the revolute joints and the coplanarity of the axes of three or more revolute joints. When the movement reaches the bifurcation point, it enters different motion branches to form three motion modes, including a spherical five-bar mechanism, a Bricard mechanism, and a hybrid mechanism. The hybrid mechanism is a combination of Bricard and spherical 8R mechanisms; The spherical five-bar linkage includes a spherical 5R mechanism and a fixed-axis rotation mechanism; The Bricard mechanism includes the Bricard 6R mechanism and the Bricard 6R combined with a fixed-axis rotation mechanism.

5. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers according to claim 1, characterized in that, The mechanical finger joint includes an MCP joint, a PIP joint, and a DIP joint. The drive mechanism drives the MCP joint to perform pitch and lateral movements, and the drive mechanism drives the PIP joint and the DIP joint to perform synchronous flexion and extension movements.

6. The humanoid dexterous hand based on the Bricard-spherical variable-cell palm and hybrid compliant actuation mechanical fingers according to claim 5, characterized in that, The drive mechanism includes a first drive mechanism, a second drive mechanism, and a third drive mechanism arranged in parallel. The first drive mechanism includes a first joint motor, a first rod, a first connecting rod, and a first joint bearing connected in sequence, and the first connecting rod is provided with a first elastic component. The second drive mechanism includes a second joint motor, a second rod, a second connecting rod, and a second joint bearing connected in sequence, and the second connecting rod is provided with a second elastic component. The third drive mechanism includes a third joint motor, a third rod, a third connecting rod, and a third joint bearing connected in sequence, and the third connecting rod is provided with a third elastic component.

7. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers according to claim 6, characterized in that, The drive mechanism also includes a universal joint, an MCP-PIP link, and a PIP-DIP link; Both the first and second joint bearings are connected to the MCP joint, and the MCP joint is connected to the universal joint. The first joint bearing, the second joint bearing, and the third joint bearing are all connected to one end of the MCP-PIP link, and the other end of the MCP-PIP link is connected to the PIP joint. One end of the PIP-DIP link is connected to the MCP joint, and the other end of the PIP-DIP link is connected to the DIP joint.

8. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers according to claim 7, characterized in that, The MCP-PIP link 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 spherical bearing and the second spherical bearing; One end of the second connecting rod is connected to the third joint bearing, 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.

9. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers according to claim 8, 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 rotatably connected via a third optical axis; The MCP joint is rotatably connected to one end of the PIP-DIP link via a fourth optical axis. The other end of the PIP-DIP link is rotatably connected to the DIP joint via the fifth optical axis; The PIP joint and the DIP joint are rotatably connected via a sixth optical axis; The first joint bearing or the second joint bearing, together with the first optical axis, the second optical axis and the third optical axis, form a first inverted quadrilateral mechanism; The third optical axis, the fourth optical axis, the fifth optical axis, and the sixth optical axis constitute the second inverted quadrilateral mechanism.

10. The humanoid dexterous hand based on the Bricard-spherical variable cell palm and hybrid compliant actuated mechanical fingers according to claim 9, 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 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 joint bearing, and the second MCP link is rotatably connected to the second joint 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 via the third optical axis. The second MCP link is rotatably connected to one end of the second PIP link via the third optical axis. The other ends of the first PIP link and the other ends of the second PIP link are connected via the sixth optical axis.

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