Anthropomorphic dexterous hand based on double heart coupling metamorphic palm and series-parallel rotation driving mechanical fingers

Abstract

The present application relates to the technical field of robots, and provides a humanoid dexterous hand based on a double-heart coupled metamorphic palm and a hybrid serial-parallel rotational drive mechanical finger, which comprises a metamorphic palm and at least one mechanical finger arranged on the metamorphic palm; 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 spherical four-bar mechanism, the axes of the other four adjacent rotating pairs and the axis of the first rotating pair intersect at a second spherical center to form a spherical five-bar mechanism, and the two mechanisms share a rotating shaft; different metamorphic bifurcations are derived through the coaxial axes of the rotating pairs, the coplanar axes of three or more axes, when moving to a bifurcation point to bifurcate, different motion branches are entered, and different metamorphic configurations are formed; the mechanical finger comprises a rotational drive mechanism which drives the MCP joint to perform pitching and yawing movements, and drives the PIP joint and the DIP joint to perform synchronous flexion and extension movements.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a humanoid dexterous hand based on a dual-center coupled variable-cell palm and a hybrid rotary mechanical finger. 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 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 a dual-center coupled variable cell palm and a hybrid rotary mechanical finger, 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 a dual-center coupled variable cell palm and a hybrid rotary mechanical finger, comprising 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 revolute joints. The eight connecting rods and eight revolute joints are arranged alternately and connected sequentially to form a closed loop. The axes of four adjacent revolute joints intersect at the first sphere center and form a spherical four-bar mechanism. The axes of the other four adjacent revolute joints and the axis of the first revolute joint intersect at the second sphere center and form a spherical five-bar mechanism. The spherical four-bar mechanism and the spherical five-bar mechanism share the pivot formed by the line connecting the first sphere center and the second sphere center.

[0008] The variable cell palm derives different variable cell bifurcations through the coaxiality of the axis of the revolute joint and the coplanarity of three or more axes. When it moves to the bifurcation point and bifurcates, it enters different motion branches to form different variable cell configurations.

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

[0010] According to the aforementioned humanoid dexterous hand based on dual-center coupling variable cell palm and hybrid rotary mechanical fingers, the eight links include the first link, the second link, the third link, the fourth link, the fifth link, the sixth link, the seventh link, and the eighth link;

[0011] The eight revolute joints include a first revolute joint, a second revolute joint, a third revolute joint, a fourth revolute joint, a fifth revolute joint, a sixth revolute joint, a seventh revolute joint, and an eighth revolute joint;

[0012] The first link, the first revolute joint, the second link, the second revolute joint, the third link, the third revolute joint, the fourth link, the fourth revolute joint, the fifth link, the fifth revolute joint, the sixth link, the sixth revolute joint, the seventh link, the seventh revolute joint, the eighth link, and the eighth revolute joint are connected in sequence, and the eighth revolute joint is connected to the first link;

[0013] The first revolute joint, the second revolute joint, the third revolute joint, and the fourth revolute joint intersect at the center of the first sphere and form the spherical four-bar linkage.

[0014] The fifth revolute joint, the sixth revolute joint, the seventh revolute joint, the eighth revolute joint, and the first revolute joint intersect at the center of the second sphere and constitute the spherical five-bar mechanism.

[0015] According to the humanoid dexterous hand based on dual-center coupling variable cell palm and hybrid rotary mechanical finger described above, the first joint torsion angle of the first link is 90°.

[0016] The sum of the second joint torsion angle of the second link, the third joint torsion angle of the third link, the fourth joint torsion angle of the fourth link, and the angle formed by the axis of the fourth revolute joint and the line connecting the first ball center and the second ball center is greater than 180°.

[0017] The sum of the fifth joint torsion angle of the sixth link, the sixth joint torsion angle of the seventh link, and the seventh joint torsion angle of the eighth link is equal to 180°.

[0018] The torsion angle of the fifth joint of the sixth link is equal to the torsion angle of the sixth joint of the seventh link.

[0019] According to the above-described humanoid dexterous hand based on dual-center coupled variable cell palm and hybrid rotary mechanical fingers, the variable cell palm derives different variable cell bifurcations through the coaxiality of the axis of the rotary joint and the coplanarity of three or more axes. When the movement reaches the bifurcation point and bifurcates, it enters different motion branches to form seven variable cell configurations.

[0020] The seven variable cell configurations include a dual-center coupled 8R mechanism, a spherical 4R mechanism, a dual-center coupled 7R mechanism, a combination of spherical 4R and Miura 4R, a combination of spherical 4R and continuous rotation around a real axis, a combination of spherical 4R and single-center fixed-axis rotation, and a spherical 5R mechanism.

[0021] According to the aforementioned humanoid dexterous hand based on dual-center coupling variable cell palm and hybrid rotary-drive mechanical fingers, the rotary-drive mechanism includes a first rotary-drive component, a second rotary-drive component, and a third rotary-drive component arranged in parallel, and also includes: a universal joint, an MCP-PIP link, and a PIP-DIP link.

[0022] Both the first rotary drive component and the second rotary drive component are connected to the MCP joint, and the MCP joint is connected to the universal joint.

[0023] The first rotary drive component, the second rotary drive component, and the third rotary drive component 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.

[0024] 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.

[0025] According to the above-described humanoid dexterous hand based on a dual-center coupled variable cell palm and a hybrid rotary mechanical finger, the mechanical finger includes a base;

[0026] The first rotary drive component includes a first joint motor, a first bearing connecting rod, a first joint bearing, a second bearing connecting rod, and a second joint bearing connected in sequence. The first joint motor is connected to the base, and the second joint bearing is connected to both the MCP joint and the MCP-PIP connecting rod.

[0027] The second rotary drive component includes a second joint motor, a third bearing connecting rod, a third joint bearing, a fourth bearing connecting rod, and a fourth joint bearing connected in sequence. The second joint motor is connected to the base, and the fourth joint bearing is connected to both the MCP joint and the MCP-PIP connecting rod.

[0028] The third rotary drive component includes a third joint motor, a fifth bearing connecting rod, a fifth joint bearing, a sixth bearing connecting rod, and a sixth joint bearing connected in sequence. The third joint motor is connected to the base, and the sixth joint bearing is connected to the MCP-PIP connecting rod.

[0029] According to the aforementioned humanoid dexterous hand based on dual-center coupled variable cell palm and hybrid rotary mechanical fingers, the MCP-PIP linkage includes a first connecting rod, a second connecting rod, and a third connecting rod.

[0030] One end of the first connecting rod is connected to both the second joint bearing and the fourth joint bearing;

[0031] One end of the second connecting rod is connected to the sixth joint bearing, and the other end of the second connecting rod is fixedly connected to the first connecting rod;

[0032] 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.

[0033] According to the humanoid dexterous hand based on dual-center coupling variable cell palm and hybrid rotary 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.

[0034] The MCP joint and the PIP joint are rotatably connected via a third optical axis;

[0035] The MCP joint is rotatably connected to one end of the PIP-DIP link via a fourth optical axis.

[0036] The other end of the PIP-DIP link is rotatably connected to the DIP joint via the fifth optical axis;

[0037] The PIP joint and the DIP joint are rotatably connected via a sixth optical axis;

[0038] The second joint bearing or the fourth joint bearing, together with the first optical axis, the second optical axis, and the third optical axis, form a first inverted quadrilateral mechanism;

[0039] The third optical axis, the fourth optical axis, the fifth optical axis, and the sixth optical axis constitute the second inverted quadrilateral mechanism.

[0040] According to the aforementioned humanoid dexterous hand based on bicentric coupling variable cell palm and hybrid rotary 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 second joint bearing, and the second MCP link is rotatably connected to the fourth joint bearing.

[0041] 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.

[0042] According to the aforementioned humanoid dexterous hand based on a dual-center coupled variable cell palm and a hybrid rotary mechanical finger, the pitch angle of the MCP joint is 0° to 90°.

[0043] The lateral swing angle of the MCP joint is -40° to 40°;

[0044] The flexion-extension angles of the PIP joint and the DIP joint are 0° to 90°.

[0045] The beneficial effects of the humanoid dexterous hand based on a dual-center coupled variable-cell palm and a hybrid rotary-driven mechanical finger provided by this invention are at least as follows:

[0046] (1) The present invention provides a humanoid dexterous hand based on a dual-center coupled variable-cell palm and a hybrid rotary-drive mechanical finger. The variable-cell palm forms a spherical four-bar mechanism and a spherical five-bar mechanism, and the spherical four-bar mechanism and the spherical five-bar mechanism share a rotation axis formed by the line connecting the first spherical center and the second spherical center. When different variable-cell configurations are required, different variable-cell bifurcations are derived by the coaxiality of the axis of the revolute joint 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. At the same time, the variable-cell process of the variable-cell palm 20 realizes a variety of grasping gestures. It has a mechanism form and reconstruction mechanism that are significantly different from the traditional rigid palm, and has stronger dexterity and is closer to the operation effect of the human palm.

[0047] (2) The rotary drive mechanism realizes the effective driving of the MCP joint in pitch and lateral movement with two degrees of freedom. It also realizes the driving of the PIP and DIP joints in synchronous flexion and extension movements, realizing the effective driving of the single-degree-of-freedom PIP-DIP coupled joint. It has high dexterity. The rotary drive mechanism has high load ratio, high energy density, high rigidity, low cost, compact overall structure, and is easy to integrate between multiple mechanical fingers 10. It has good structural interchangeability. Attached Figure Description

[0048] 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.

[0049] Figure 1 A structural schematic diagram of the mechanical dexterous hand provided for the invention;

[0050] Figure 2 A schematic diagram of the structure of the variable-cell palm provided for the invention;

[0051] Figure 3 A schematic diagram of the mechanical finger provided for the invention;

[0052] Figure 4 A schematic diagram of the principle structure of the variable cell palm provided for the invention;

[0053] Figure 5 A block diagram illustrating the principles of seven variable cell configurations of the variable cell palm provided for the invention;

[0054] Figure 6 A schematic diagram of the principle structure of the dual-center coupling 8R mechanism of the variable-cell palm provided for the invention;

[0055] Figure 7 A schematic diagram of the principle structure of the spherical 4R mechanism of the variable-cell palm provided for the invention;

[0056] Figure 8 A schematic diagram of the principle structure of the dual-center coupling 7R mechanism of the variable cell palm provided for the invention;

[0057] Figure 9 A schematic diagram of the principle structure of the dual-center coupling 7R mechanism II of the variable cell palm provided for the invention;

[0058] Figure 10 A schematic diagram of the principle structure of the spherical 4R+Miura 4R mechanism of the variable palm provided for the invention;

[0059] Figure 11A schematic diagram of the principle structure of the spherical 4R mechanism of the variable-cell palm provided for the invention, which rotates continuously around the real axis.

[0060] Figure 12 A schematic diagram of the principle structure of the spherical 4R mechanism with single-center fixed-axis rotation provided for the invention;

[0061] Figure 13 A schematic diagram of the principle structure of the spherical 5R mechanism of the variable-cell palm provided for the invention;

[0062] Figure 14 This is a side view of the exploded structure of the mechanical finger of the present invention;

[0063] Figure 15 A schematic diagram of the pitching motion of the MCP joint of the mechanical finger provided for the invention;

[0064] Figure 16 A schematic diagram of the lateral swing motion of the MCP joint of the mechanical finger provided for the invention;

[0065] Figure 17 This is a schematic diagram of the synchronous pitching motion of the PIP and DIP joints of the mechanical finger of the present invention.

[0066] Figure 18 This is a top-view exploded structural diagram of the mechanical finger of the present invention.

[0067] The following are the labeling elements in the figure:

[0068] 100. Mechanical dexterity hand; 10. Mechanical finger; 110. Rotary drive mechanism; 111. First rotary drive component; 1111. First articulated motor; 1112. First bearing connecting rod; 1113. First articulated bearing; 1114. Second bearing connecting rod; 1115. Second articulated bearing; 112. Second rotary drive component; 1121. Second articulated motor; 1122. Third bearing connecting rod; 1123. Third articulated bearing; 1124. Fourth bearing connecting rod; 1125. Fourth... 113. Spherical plain bearing; 1131. Third rotary drive component; 1132. Third joint motor; 1133. Fifth bearing connecting rod; 1134. Fifth joint bearing; 1135. Sixth bearing connecting rod; 114. Universal joint; 115. MCP-PIP linkage; 1151. First connecting rod; 1152. Second connecting rod; 1153. Third connecting rod; 1154. First optical axis; 1155. Second optical axis; 116. PIP-DIP linkage; 120. MC P joint; 121, Third optical axis; 122, Fourth optical axis; 123, First MCP link; 124, Second MCP link; 130, PIP joint; 131, First PIP link; 132, Second PIP link; 140, DIP joint; 141, Fifth optical axis; 142, Sixth optical axis; 150, Base; 20, Variable palm; O1, First ball center; O2, Second ball center; q1, First link; q2, Second link; q3, Third link; q4, Fourth link; q5, Fifth Links; q6, sixth link; q7, seventh link; q8, eighth link; 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; α1, first joint torsion angle; α2, second joint torsion angle; α3, third joint torsion angle; α4, fourth joint torsion angle; α5, included angle; α6, fifth joint torsion angle; α7, sixth joint torsion angle; α8, seventh joint torsion angle. Detailed Implementation

[0069] 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.

[0070] It should be noted that when a component is referred to as "fixed to" or "arranged on" another component, it can be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The orientations or positions indicated by the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positions shown in the drawings, and are only for convenience of description and should not be construed as limitations to the technical solution of the present invention. The terms "first" and "second" are only for convenience of description and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. The meaning of "plural" is two or more, unless otherwise specifically defined.

[0071] The main technical terms involved in the present invention are described as follows:

[0072] Miura (full Chinese name: Miura folding).

[0073] MCP joint (full English name: Metacarpo - phalangeal joints, one of the joints of the human finger, full Chinese name: metacarpophalangeal joint);

[0074] PIP joint (full English name: Proximal interphalangeal joints, one of the joints of the human finger, full Chinese name: proximal interphalangeal joint);

[0075] DIP joint (full English name: Distal interphalangeal joints, one of the joints of the human finger, full Chinese name: distal interphalangeal joint);

[0076] Universal joint (full English name: universal joint, also known as: U pair, abbreviation: U, having two degrees of freedom);

[0077] Spherical joint (full English name: spherical joint, also known as: spherical pair, abbreviation: S, having three degrees of freedom);

[0078] Linear motor (full English name: prismatic joint, also known as: sliding pair, abbreviation: P, having one degree of freedom);

[0079] Optical axis (full English name: rotational joint, also known as: revolute pair, abbreviation: R, having one degree of freedom);

[0080] Cylindrical joint (full English name: cylindrical joint, also known as: cylindrical pair, abbreviation: C, a kinematic pair with two degrees of freedom).

[0081] 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.

[0082] 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).

[0083] And so on.

[0084] Please see Figure 1 This embodiment provides a humanoid dexterous hand 100 based on a dual-center coupled variable-cell palm and a hybrid rotary-driven mechanical finger, including a variable-cell palm 20 and at least one mechanical finger 10 disposed on the variable-cell 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 situation, and may also include other situations, which are not limited here.

[0085] Please see Figure 2 The variable-cell palm 20 includes eight connecting rods and eight revolute joints. The eight connecting rods and eight revolute joints are alternately arranged and sequentially connected to form a closed loop. The axes of four adjacent revolute joints intersect at a first sphere center O1, forming a spherical four-bar linkage. The axes of the four adjacent revolute joints and the axis of the first revolute joint intersect at a second sphere center O2, forming a spherical five-bar linkage. The spherical four-bar linkage and the spherical five-bar linkage share a common axis of rotation formed by the line connecting the first and second sphere centers. The variable-cell palm 20 derives different variable-cell bifurcations through the coaxiality of the revolute joint axes and the coplanarity of three or more axes. When the movement reaches a bifurcation point, it enters different motion branches to form different variable-cell configurations.

[0086] Please see Figure 3 The mechanical finger 10 includes a rotary drive mechanism 110 and sequentially connected MCP joint 120, PIP joint 130, and DIP joint 140. The rotary drive mechanism 110 drives the MCP joint 120 to perform pitch and lateral movements, and drives the PIP joint 130 and DIP joint 140 to perform synchronized flexion and extension movements. Optionally, both the PIP joint 130 and DIP joint 140 are provided with anti-slip parts to prevent slippage when the mechanical finger 10 grips an object.

[0087] The working principle of the humanoid dexterous hand 100 based on dual-center coupled variable cell palm and hybrid rotary mechanical fingers provided in this embodiment is as follows:

[0088] The humanoid dexterous hand 100 provided in this embodiment, based on a dual-center coupled variable-cell palm and a hybrid rotary-drive mechanical finger, has the following regarding the variable-cell palm 20: the axes of four adjacent revolute joints intersect at the first sphere center O1 and form a spherical four-bar linkage; the axes of the other four adjacent revolute joints and the axis of the first revolute joint intersect at the second sphere center O2 and form a spherical five-bar linkage; and the spherical four-bar linkage and the spherical five-bar linkage share a pivot formed by the line connecting the first sphere center O1 and the second sphere center O2, that is, there is a fixed pivot that passes through the first sphere center O1 and the second sphere center O2. The dual-center coupling mechanism is equivalent to a combination of a spherical four-bar and a spherical five-bar mechanism. In a non-singular configuration, the two mechanisms are coupled together, exhibiting the variable-cell properties of a multi-degree-of-freedom spherical mechanism. When different variable-cell configurations are required, different variable-cell bifurcations arise from the coaxiality of the axes of the revolute joints and the coplanarity of three or more axes. When the motion reaches the bifurcation point, it enters different motion branches. Through these different motion branches, different motion modes can be derived, thereby achieving different functions. Simultaneously, the variable-cell palm 20 enables various forms of grasping gestures, possessing a mechanism and reconstruction mechanism significantly different from traditional rigid palms, exhibiting greater dexterity and a more human-like operational effect.

[0089] Regarding the mechanical finger 10, under the drive of the rotary drive mechanism 110, the MCP joint 120 can be driven to perform pitch and lateral movements, achieving effective driving of two degrees of freedom. It can also drive the PIP joint 130 and DIP joint 140 to perform synchronous flexion and extension movements, achieving effective driving of the single-degree-of-freedom PIP-DIP coupled joint. The mechanical finger 10 in this embodiment achieves three degrees of freedom, has high dexterity, and the rotary drive mechanism 110 has a high load-to-weight ratio, high energy density, and high rigidity. The overall structure is compact, which facilitates the integration of multiple mechanical fingers 10, and the structure has good interchangeability.

[0090] The beneficial effects of the humanoid dexterous hand 100 based on dual-center coupled variable cell palm and hybrid rotary mechanical fingers provided in this embodiment are as follows:

[0091] (1) The humanoid dexterous hand 100 based on a dual-center coupled variable-cell palm and a hybrid rotary-drive mechanical finger provided in this embodiment has a variable-cell palm 20 forming a spherical four-bar mechanism and a spherical five-bar mechanism. The spherical four-bar mechanism and the spherical five-bar mechanism share a rotating axis formed by the line connecting the first spherical center O1 and the second spherical center O2. When different variable-cell configurations are required, different variable-cell bifurcations are derived by the coaxiality of the axis of the revolute joint 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. 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 palm, and has stronger dexterity and is closer to the operation effect of the human palm.

[0092] (2) The rotary drive mechanism 110 effectively drives the MCP joint 120 to perform pitch and lateral movements with two degrees of freedom. It also drives the PIP joint 130 and DIP joint 140 to perform synchronous flexion and extension movements, realizing the effective drive of the single-degree-of-freedom PIP-DIP coupled joint. It has high dexterity, and the rotary drive mechanism has high load ratio, high energy density, high rigidity, low cost, compact overall structure, and is easy to integrate between multiple mechanical fingers 10. It also has good structural interchangeability.

[0093] In one embodiment, see Figure 2 The eight connecting rods include a first connecting rod q1, a second connecting rod q2, a third connecting rod q3, a fourth connecting rod q4, a fifth connecting rod q5, a sixth connecting rod q6, a seventh connecting rod q7, and an eighth connecting rod q8; the eight revolute joints 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 first connecting rod q1, the first revolute joint S1, the second connecting rod q2, the second revolute joint S2, the third connecting rod q3, the third revolute joint S3, the fourth connecting rod q4, the fourth revolute joint S4, the fifth connecting rod q5, the fifth revolute joint S5, the sixth connecting rod q6, the sixth revolute joint S6, the seventh connecting rod q7, the seventh revolute joint S7, the eighth connecting rod q8, and the eighth revolute joint S8 are connected sequentially, and the eighth revolute joint S8 is connected to the first connecting rod q1.

[0094] The first revolute joint S1, the second revolute joint S2, the third revolute joint S3, and the fourth revolute joint S4 intersect at the first sphere center O1 and form the spherical four-bar mechanism; the fifth revolute joint S5, the sixth revolute joint S6, the seventh revolute joint S7, the eighth revolute joint S8, and the first revolute joint S1 intersect at the second sphere center O2 and form the spherical five-bar mechanism.

[0095] The axes of the adjacent first revolute joint S1, second revolute joint S2, third revolute joint S3, and fourth revolute joint S4 intersect at the first sphere center O1. The axes of the other adjacent fifth revolute joint S5, sixth revolute joint S6, seventh revolute joint S7, eighth revolute joint S8, and first revolute joint S1 intersect at the second sphere center O2. Furthermore, in general motion modes, the axes converging at the same sphere center are continuous. The double-sphere-center decoupling mechanism composed of a spherical four-bar and a spherical five-bar mechanism possesses the corresponding variable-cell properties of a spherical double-sphere mechanism. Based on this structure, a human-like dexterous hand is realized, capable of achieving various forms of grasping gestures through the variable-cell process of the mechanism. It has a mechanism form and reconstruction mechanism significantly different from the traditional rigid hand, exhibiting greater dexterity and a more human-like operational effect.

[0096] In one embodiment, see Figure 4 The first joint torsion angle α1 of the first link q1 is 90°; the sum of the second joint torsion angle α2 of the second link q2, the third joint torsion angle α3 of the third link q3, the fourth joint torsion angle α4 of the fourth link q4, and the angle α5 formed by the axis of the fourth revolute joint S4 and the line connecting the first ball center O1 and the second ball center O2 is greater than 180°.

[0097] The sum of the fifth joint torsion angle α6 of the sixth link q6, the sixth joint torsion angle α7 of the seventh link q7, and the seventh joint torsion angle α8 of the eighth link q8 is equal to 180°.

[0098] The twist angle α6 of the fifth joint of the sixth link q6 and the twist angle α7 of the sixth joint of the seventh link q7 are equal.

[0099] In one embodiment, see Figure 4 The variable cell palm 20 derives different variable cell bifurcations through the coaxiality of the axis of the revolute joint and the coplanarity of three or more axes. When it moves to the bifurcation point, it enters different motion branches to form seven variable cell configurations. Please refer to Figure 5 The seven variable cell configurations include a two-center coupled 8R mechanism, a spherical 4R mechanism, a two-center coupled 7R mechanism, a combination of spherical 4R and Miura 4R mechanisms, a combination of spherical 4R and continuous rotation around a real axis, a combination of spherical 4R and single-center fixed-axis rotation mechanisms, and a spherical 5R mechanism. The following eight variable cell configurations all use the first link q1 as the frame in all motion branches.

[0100] In one embodiment, see Figure 6Motion branch 1 is a dual-center coupled 8R mechanism or a dual-center coupled 8R three-degree-of-freedom mechanism. Under motion branch 1, eight revolute joints can move simultaneously. In this motion branch, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, and the fourth revolute joint S4 always converge at the first spherical center O1, and the first revolute joint S1, the fifth revolute joint S5, the sixth revolute joint S6, the seventh revolute joint S7, and the eighth revolute joint S8 always converge at the second spherical center O2. The first spherical center O1 can be considered a spherical four-bar mechanism, and the second spherical center O2 can be considered a spherical five-bar mechanism. The driving joints are the first revolute joint S1, the seventh revolute joint S7, and the eighth revolute joint S8. Each link in this motion branch 1 has a large range of motion, suitable for scenarios requiring high contact richness, such as multi-finger coordinated dexterity gripping.

[0101] In one embodiment, see Figure 7 Motion branch 2 is a spherical 4R mechanism or a single-degree-of-freedom spherical 4R mechanism. Its configuration condition is that the angles of any two of the fifth to eighth revolute joints S5 and S8 remain constant. In this case, the first, second, third, and fourth revolute joints S1, S2, S3, and S4 can move. Of the fifth to eighth revolute joints S5 and S8, two do not rotate, while the angles of the other two revolute joints remain constant due to geometric constraints. The first link q1, fifth link q5, sixth link q6, seventh link q7, and eighth link q8 are rigidly integrated into a single unit. Under this motion branch 2, the link group consisting of the first link q1, fifth link q5, sixth link q6, seventh link q7, and eighth link q8, along with the second link q2, third link q3, and fourth link q4, forms a spatial spherical four-bar linkage. During the motion, the first, second, third, and fourth revolute joints S1, S2, S3, and S4 always converge at the first spherical center O1. The driving joint is the first revolute joint S1. The motion of this spherical four-bar linkage in the second motion branch does not affect the motion of the mechanism on the other side within a certain range of motion. It can produce interfinal movements of other fingers independent of the thumb and index finger, which is beneficial for gestures that require complex finger coordination.

[0102] In one embodiment, see Figures 8 to 9 Motion branch 3 is a double-center coupled 7R mechanism or a double-center coupled 7R two-degree-of-freedom mechanism, which is configured by fixing the first revolute joint S1 or fixing the eighth revolute joint S8.

[0103] Please see Figure 8Under the condition of fixing the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fourth revolute joint S4, the fifth revolute joint S5, the sixth revolute joint S6, the seventh revolute joint S7, and the eighth revolute joint S8 can move, while the first revolute joint S1 does not rotate. At this time, the first link q1 and the second link q2 are essentially merged into one link. In this motion branch 3, during the movement, the second revolute joint S2, the third revolute joint S3, and the fourth revolute joint S4 always converge at the first ball center O1, and the fifth revolute joint S5, the sixth revolute joint S6, the seventh revolute joint S7, and the eighth revolute joint S8 always converge at the second ball center O2. The axis-driven joints are the seventh revolute joint S7 and the eighth revolute joint S8. In this motion branch 3, the link on the second ball center O2 side can produce a large range of motion, while the range of motion of the link on the second ball center O2 side is very small. It can produce a large range of thumb and index finger movement independent of other fingers, which is suitable for gestures that require the coordination of the thumb and index finger.

[0104] Please see Figure 9 Under the latter condition of fixing the eighth revolute joint S8, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fourth revolute joint S4, the fifth revolute joint S5, the sixth revolute joint S6, and the seventh revolute joint S7 can move; the eighth revolute joint S8 does not rotate, and at this time, the first link q1 and the eighth link q8 are essentially merged into one link. Under this motion branch 3, during the motion, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, and the fourth revolute joint S4 always converge at the first ball center O1, and the first revolute joint S1, the fifth revolute joint S5, the sixth revolute joint S6, and the seventh revolute joint S7 always converge at the second ball center O2. The driving joints are the first revolute joint S1 and the seventh revolute joint S7. This motion branch 3 is particularly suitable for occasions that require large-amplitude finger movements, and can produce large-amplitude finger movements and palm pitch movements, which is beneficial for realizing gestures that require complex finger coordination.

[0105] In one embodiment, see Figure 10 Kinematic branch 4 is a combination mechanism of spherical 4R and Miura 4R (i.e., spherical 4R + Miura 4R mechanism). Its condition is that the included angle between the sixth link q6 and the seventh link q7 is 0°, or the included angle between the seventh link q7 and the eighth link q8 is 0°, that is, the fifth revolute joint S5, the sixth revolute joint S6, and the seventh revolute joint S7 are coplanar, or the sixth revolute joint S6, the seventh revolute joint S7, and the eighth revolute joint S8 are coplanar.

[0106] Taking the condition that the included angle between the sixth link q6 and the seventh link q7 is 0° as an example, at this time, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fourth revolute joint S4, the fifth revolute joint S5, the seventh revolute joint S7, and the eighth revolute joint S8 can move; the sixth revolute joint S6 does not rotate. At this time, the sixth link q6 and the seventh link q7 are rigidly integrated into a single unit. The sixth link q6 and the seventh link q7 as a whole, the second link q2, the third link q3, the fourth link q4, the fifth link q5, the first link q1, and the eighth link q8 constitute the Miura spherical four-bar linkage; the first link q1, the fifth link q5, the sixth link q6, the seventh link q7, the eighth link q8, the second link q2, the third link q3, and the fourth link q4 constitute the spherical four-bar linkage. In this kinematic branch 4, during the movement, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, and the fourth revolute joint S4 always converge at the first ball center O1, and the first revolute joint S1, the fifth revolute joint S5, the seventh revolute joint S7, and the eighth revolute joint S8 always converge at the second ball center O2. The driving joints are the first revolute joint S1 and the eighth revolute joint S8. This kinematic branch 4 is particularly suitable for applications requiring a large range of wrist pitch and flexion, with a positive and negative pitch and flexion range approaching 240°. Furthermore, in the latter kinematic branch 4, where the angle between the seventh link q7 and the eighth link q8 is 0°, relative movement between the fingers, especially the thumb, can be introduced into the pitch and flexion motion without changing the pitch angle.

[0107] In one embodiment, see Figure 11Motion branch 5 is a combination mechanism of a spherical 4R and continuous rotation around a real axis (i.e., a spherical 4R mechanism + continuous rotation around a real axis). Its condition is that the included angle between the sixth link q6, the seventh link q7, and the eighth link q8 is 0°, meaning the fifth revolute joint S5, the sixth revolute joint S6, the seventh revolute joint S7, and the eighth revolute joint S8 are coplanar. At this time, the first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fourth revolute joint S4, the fifth revolute joint S5, and the eighth revolute joint S8 can move; the sixth revolute joint S6 and the seventh revolute joint S7 do not rotate, and the sixth link q6, the seventh link q7, and the eighth link q8 act as a single unit. The link group consisting of the first link q1, the fifth link q5, the sixth link q6, the seventh link q7, the eighth link q8, the second link q2, the third link q3, and the fourth link q4 constitutes a spherical four-bar linkage. In this motion branch 5, the sixth link q6, seventh link q7, and eighth link q8 of the linkage group rotate continuously around a fixed axis relative to the first link q1, second link q2, third link q3, fourth link q4, and fifth link q5 of the linkage group. The axis of rotation is formed by the fifth revolute joint S5 and the eighth revolute joint S8, which coincide on the same axis. During the motion, the first revolute joint S1, second revolute joint S2, third revolute joint S3, and fourth revolute joint S4 always converge at the first ball center O1. The driving joints are the first revolute joint S1 and the eighth revolute joint S8. This motion branch 5 can generate large-amplitude thumb movements and interfinal movements between other fingers, which is beneficial for generating gestures that require complex finger coordination.

[0108] In one embodiment, see Figure 12Kinematic branch 6 is a combination of a spherical 4R mechanism and a single-center fixed-axis rotation mechanism (i.e., a spherical 4R mechanism + a single-center fixed-axis rotation). Its configuration condition is that the included angle between the sixth link q6 and the seventh link q7 is 180°, meaning the fifth revolute joint S5, the sixth revolute joint S6, and the seventh revolute joint S7 are coplanar. When the fifth joint torsion angle α6 of the sixth link q6 is equal to the sixth joint torsion angle α7 of the seventh link q7, the fifth revolute joint S5 and the seventh revolute joint S7 are collinear. The first revolute joint S1, the second revolute joint S2, the third revolute joint S3, the fourth revolute joint S4, and the fixed-axis rotation fifth revolute joint S5 (seventh revolute joint S7) can move; the sixth revolute joint S6 and the eighth revolute joint S8 are constrained by geometric parameters to maintain constant joint angles; the first link q1 and the eighth link q8 are rigidified into a single unit; and the sixth link q6 and the seventh link q7 are rigidified into a single unit. In this motion branch 6, the sixth and seventh links q6 and q7 of the linkage group rotate continuously around a fixed axis relative to the first and eighth links q1 and q8 of the linkage group. The axis of rotation is generated collinearly by the fifth revolute joint S5 and the seventh revolute joint S7. Furthermore, the first link q1, fifth link q5, sixth link q6, seventh link q7, eighth link q8, second link q2, third link q3, and fourth link q4 of the linkage group form a spherical four-bar linkage. During the motion, the first revolute joint S1, second revolute joint S2, third revolute joint S3, and fourth revolute joint S4 always converge at the second spherical center O2. The driving joints are the first revolute joint S1 and the seventh revolute joint S7. The fifth revolute joint S5 or the sixth revolute joint S6 needs to be driven to leave this motion branch. This motion branch 6 has a local full-circumference rotational range of motion, allowing the thumb to produce large-amplitude movements independent of the other fingers, exhibiting characteristics similar to the human hand, and is particularly suitable for scenarios requiring independent thumb movement.

[0109] In one embodiment, see Figure 13Kinematic branch 7 is a spherical 5R mechanism, which is configured under the condition that the second revolute joint S2, the third revolute joint S3, or the fourth revolute joint S4 is fixed, and all three lead to the same kinematic mode. Taking the condition of fixing the second revolute joint S2 as an example, at this time, the first revolute joint S1, the fifth revolute joint S5, the sixth revolute joint S6, the seventh revolute joint S7, and the eighth revolute joint S8 can move; the second revolute joint S2 does not rotate; the third revolute joint S3 and the fourth revolute joint S4 are constrained by geometric parameters to keep their joint angles unchanged; and the second link q2, the third link q3, the fourth link q4, and the fifth link q5 are rigidified into a whole. In this kinematic branch 7, the second link q2, third link q3, fourth link q4, and fifth link q5, together with the first link q1, sixth link q6, seventh link q7, and eighth link q8, form a spherical five-bar linkage. During the movement, the first revolute joint S1, fifth revolute joint S5, sixth revolute joint S6, seventh revolute joint S7, and eighth revolute joint S8 always converge at the second spherical center O2. The driving joints are the first revolute joint S1 and the eighth revolute joint S8. This kinematic branch 8 is particularly suitable for applications requiring large-amplitude finger movements, enabling large-amplitude movements between the thumb and index finger, as well as pitching movements of the palm, which is beneficial for generating gestures requiring complex finger coordination.

[0110] In one embodiment, see Figure 3 The rotary drive mechanism 110 includes a first rotary drive component 111, a second rotary drive component 112, and a third rotary drive component 113 arranged in parallel. These three parallel rotary drive components 111, 112, and 113 have a high load-bearing ratio and high energy density, good interchangeability of branch structures, and a compact overall structure that facilitates integration between multiple mechanical fingers 10 of a dexterous hand.

[0111] Please see Figure 3 and Figure 14 The rotary drive mechanism 110 further includes a universal joint 114, an MCP-PIP link 115, and a PIP-DIP link 116. The first rotary drive component 111 and the second rotary drive component 112 are both connected to the MCP joint 120, and the MCP joint 120 is connected to the universal joint 114. The first rotary drive component 111, the second rotary drive component 112, and the third rotary drive component 113 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 130. One end of the PIP-DIP link 116 is connected to the MCP joint 120, and the other end of the PIP-DIP link 116 is connected to the DIP joint 140. The rotary drive mechanism described above has strong linkage and a simple overall structure.

[0112] Please see Figure 15 , Figure 15 (a) Figure 15 (b) Figure 15 (c) Represents the pitch motion process of the MCP joint 120. When the third rotary drive 113 is stationary, the first rotary drive 111 and the second rotary drive 112 are driven. Through the cooperation of the universal joint 114, the first rotary drive 111 and the second rotary drive 112 are driven to rotate in the same direction and at the same angle, thereby realizing the single-free pitch motion of the MCP joint 120 of the driving mechanical finger 10.

[0113] Please see Figure 16 , Figure 16 (a) Figure 16 (b) Figure 16 (c) Represents the lateral swing motion of the MCP joint 120. When the third rotary drive 113 is stationary, the first rotary drive 111 and the second rotary drive 112 are driven. Through the cooperation of the universal joint 114, the first rotary drive 111 and the second rotary drive 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 120 of the mechanical finger 10.

[0114] Please refer to the following: Figure 15 and Figure 16 When the third rotary drive 113 is stationary, it drives the first rotary drive 111 and the second rotary drive 112. Through the cooperation of the universal joint 114, it drives the first rotary drive 111 and the second rotary drive 112 to rotate in opposite directions and at different angles. At the same time, it can drive the MCP joint 120 of the mechanical finger 10 to perform two degrees of freedom of pitch and yaw motion.

[0115] Please see Figure 17 , Figure 17 (a) Figure 17 (b) Figure 17 (c) Represents the flexion and extension motion of PIP joint 130 and DIP joint 140 respectively. When the first rotary drive 111 and the second rotary drive 112 are stationary, the third rotary drive 113 is driven to rotate, so as to realize the synchronous flexion and extension motion of PIP joint 130 and DIP joint 140 of the mechanical finger 10, that is, to realize the flexion and extension motion of the single-degree-of-freedom PIP-DIP coupled joint.

[0116] In one embodiment, see Figure 14The mechanical finger 10 includes a base 150, and the universal joint 114 is connected to the base 150. The first rotary drive component 111 includes a first joint motor 1111, a first bearing connecting rod 1112, a first joint bearing 1113, a second bearing connecting rod 1114, and a second joint bearing 1115 connected in sequence. The first joint motor 1111 is connected to the base 150, and the second joint bearing 1115 is connected to both the MCP joint 120 and the MCP-PIP connecting rod 115. The second rotary drive component 112 includes a second joint motor 1121, a third bearing connecting rod 1122, a third joint bearing 1123, a fourth bearing connecting rod 1124, and a fourth joint bearing 1125 connected in sequence. The second joint motor 1121 is connected to the base 150, and the fourth joint bearing 1125 is connected to both the MCP joint 120 and the MCP-PIP connecting rod 115. The third rotary drive component 113 includes a third joint motor 1131, a fifth bearing connecting rod 1132, a fifth joint bearing 1133, a sixth bearing connecting rod 1134, and a sixth joint bearing 1135 connected in sequence. The third joint motor 1131 is connected to the base 150, and the sixth joint bearing 1135 is connected to the MCP-PIP connecting rod 115.

[0117] The first joint motor 1111, the second joint motor 1121, and the third joint motor 1131 all adopt a rotary drive method, with only one degree of freedom in the rotational direction. The first joint bearing 1113, the second joint bearing 1115, the third joint bearing 1123, the fourth joint bearing 1125, the fifth joint bearing 1133, and the sixth joint bearing 1135 each have three degrees of freedom, making the first joint motor 1111 and the second joint motor 1121 more flexible in driving the MCP joint 120 to perform pitch and lateral movements, and the third joint motor 1131 more flexible in driving the PIP joint 130 and the DIP joint 140 to perform flexion and extension movements.

[0118] The first rotary drive unit 111, comprising a first joint motor 1111(R), a first joint bearing 1113(S), and a second joint bearing 1115(S), constitutes a first RSS branch drive in series. The second rotary drive unit 112, comprising a second joint motor 1121(R), a third joint bearing 1123(S), and a fourth joint bearing 1125(S), constitutes a second RSS branch drive in series. The third rotary drive unit 113, comprising a third joint motor 1131(R), a fifth joint bearing 1133(S), and a sixth joint bearing 1135(S), constitutes a third RSS branch drive in series. This forms three RSS branches.

[0119] In one embodiment, see Figure 18 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 both the second joint bearing 1115 and the fourth joint bearing 1125; one end of the second connecting rod 1152 is connected to the sixth joint bearing 1135, 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. 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 130 and the DIP joint 140 to perform synchronous flexion and extension movements, that is, to achieve effective driving of the single-degree-of-freedom PIP-DIP coupled joint.

[0120] In one embodiment, see Figure 18 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 130 via a second optical axis 1155; the MCP joint 120 is rotatably connected to the PIP joint 130 via a third optical axis 121; the MCP joint 120 is rotatably connected to one end of the PIP-DIP connecting rod 116 via a fourth optical axis 122; the other end of the PIP-DIP connecting rod 116 is connected to the... DIP joint 140 is rotatably connected via fifth optical axis 141; PIP joint 130 is rotatably connected to DIP joint 140 via sixth optical axis 142; second joint bearing 1115 or fourth joint bearing 1125, together with first optical axis 1154, second optical axis 1155, and third optical axis 121, constitute a first inverted quadrilateral mechanism (part A); third optical axis 121, fourth optical axis 122, fifth optical axis 141, and sixth optical axis 142 constitute a second inverted quadrilateral mechanism (part B). The arrangement of the first and second inverted quadrilateral mechanisms enables the third rotary drive 113 to more effectively achieve single-degree-of-freedom control of flexion and extension when driving the PIP-DIP coupled joint formed by PIP joint 130 and DIP joint 140.

[0121] As can be seen, the mechanical finger 10 in this embodiment is composed of three identical RSS branch drives connected in parallel. The first RSS branch drive, the second RSS branch drive, the universal joint 114(U), the third RSS branch drive, the first optical axis 1154(R), the first inverted quadrilateral mechanism, and the second inverted quadrilateral mechanism constitute a 2RSS&U&SPSR-double inverted quadrilateral hybrid mechanism.

[0122] In one embodiment, see Figure 18 The MCP joint 120 includes a first MCP link 123 and a second MCP link 124. The first MCP link 123 and the second MCP link 124 are arranged in parallel, and one end of the first MCP link 123 and one end of the second MCP link 124 are connected by the universal joint 114. The other end of the first MCP link 123 and the other end of the second MCP link 124 are connected by the fourth optical axis 122. The first MCP link 123 is rotatably connected to the second joint bearing 1115, and the second MCP link 124 is rotatably connected to the fourth joint bearing 1125.

[0123] The PIP joint 130 includes a first PIP link 131 and a second PIP link 132. The first MCP link 123 is rotatably connected to one end of the first PIP link 131 via the third optical axis 121. The second MCP link 124 is rotatably connected to one end of the second PIP link 132 via the third optical axis 121. The other ends of the first PIP link 131 and the other ends of the second PIP link 132 are connected via the sixth optical axis 142.

[0124] In one embodiment, see Figure 15 The pitch angle of the MCP joint 120 is 0° to 90°;

[0125] In one embodiment, see Figure 16 The lateral swing angle of the MCP joint 120 is -40° to 40°;

[0126] In one embodiment, see Figure 17 The flexion-extension angles of the PIP joint 130 and the DIP joint 140 are 0° to 90°. In this embodiment, the range of motion of the MCP joint 120, PIP joint 130, and DIP joint 140 is similar to that of a human finger, exhibiting high dexterity.

[0127] In summary, the complete mechanism of the mechanical finger 10 provided in this application embodiment is a 2RSS&U&SPSR-double anti-quadrilateral hybrid mechanism, in which multiple component sub-mechanisms can be replaced by the following equivalent substitutions, all of which are within the protection of this patent.

[0128] (1) The 2RSS&U component sub-mechanism can be replaced with:

[0129] 2RCS&U parallel mechanism;

[0130] 2RSS&U parallel mechanism;

[0131] 2RUS&U parallel mechanism;

[0132] RCS&RSS&U parallel mechanism;

[0133] RCS&RUS&U parallel mechanism;

[0134] RSS&RUS&U parallel mechanism;

[0135] wait.

[0136] (2) The RSSR component sub-mechanism can be replaced with:

[0137] RUSR; RUSP; RSUP; RSSP, etc.

[0138] (3) The double-reverse quadrilateral component submechanism can be replaced with:

[0139] Double quadrilateral mechanism; quadrilateral-inverted quadrilateral mechanism; any other single-degree-of-freedom mechanism (including six-bar mechanism, eight-bar mechanism, etc.).

[0140] In summary, this embodiment provides a humanoid dexterous hand 100 based on a dual-center coupled variable-cell palm and a hybrid rotary-driven mechanical finger, including a variable-cell palm 20 and at least one mechanical finger 10 disposed on the variable-cell palm 20. The variable-cell palm 20 includes eight links and eight revolute joints, which are alternately arranged and sequentially connected to form a closed loop. The axes of four adjacent revolute joints intersect at a first sphere center O1 to form a spherical four-bar linkage. The axes of the four adjacent revolute joints and the axis of the first revolute joint intersect at a second sphere center O2 to form a spherical five-bar linkage. The spherical four-bar linkage and the spherical five-bar linkage share a rotation axis formed by the line connecting the first sphere center and the second sphere center. 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 the movement reaches a bifurcation point, it enters different motion branches to form different variable-cell configurations. The mechanical finger 10 includes a rotary drive mechanism 110 and MCP joint 120, PIP joint 130 and DIP joint 140 connected in sequence. The rotary drive mechanism 110 drives the MCP joint 120 to perform pitch and lateral movements, and the rotary drive mechanism 110 drives the PIP joint 130 and the DIP joint 140 to perform synchronous flexion and extension movements. (1) The humanoid dexterous hand 100 based on a dual-center coupled variable cell palm and a hybrid rotary drive mechanical finger provided in this embodiment has a variable cell palm 20 forming a spherical four-bar mechanism and a spherical five-bar mechanism. The spherical four-bar mechanism and the spherical five-bar mechanism share a rotating shaft formed by the line connecting the first spherical center O1 and the second spherical center O2. When different variable cell configurations are required, different variable cell bifurcations are derived by the coaxiality of the axis of the rotating joint and the coplanarity of three or more axes. When the movement reaches the bifurcation point and bifurcates, it enters different motion branches. Different motion modes can be derived through these different motion branches, thereby realizing different functions. At the same time, the variable cell process of the variable cell palm 20 realizes a variety of grasping gestures, which has a mechanism and reconstruction mechanism that are significantly different from the traditional rigid palm, and has stronger dexterity and is closer to the operation effect of the human palm. (2) The rotary drive mechanism 110 realizes the effective driving of the MCP joint 120 for pitch and lateral movement of two degrees of freedom, and also realizes the driving of the PIP joint 130 and DIP joint 140 for synchronous flexion and extension movement, realizing the effective driving of the single-degree-of-freedom PIP-DIP coupled joint, which has high dexterity. The rotary drive mechanism has high load ratio, high energy density, high stiffness, low cost, and compact overall structure, which is convenient for integration between multiple mechanical fingers 10 and has good structural interchangeability.

[0141] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A humanoid dexterous hand based on double heart coupled metamorphic palm and series-parallel rotation driving mechanical fingers, characterized in that, The variable palm comprises eight connecting rods and eight rotary pairs, the eight connecting rods and the eight rotary pairs are arranged alternately and connected in turn to form a closed loop, the axes of four adjacent rotary pairs intersect at a first spherical center and form a spherical four-bar mechanism, the axes of the other four adjacent rotary pairs and the axis of the first rotary pair intersect at a second spherical center and form a spherical five-bar mechanism, and the spherical four-bar mechanism and the spherical five-bar mechanism share the rotation axis formed by the first spherical center and the second spherical center; The variable palm derives different variable bifurcations through the coaxial axes of the rotary pairs, the coplanar axes of three or more axes, when moving to the bifurcation point for bifurcation, enters different motion branches to form different variable configurations; The mechanical finger comprises a rotary drive mechanism and MCP joint, PIP joint and DIP joint connected in turn, the rotary drive mechanism drives the MCP joint to perform pitching and yawing motion, and the rotary drive mechanism drives the PIP joint and the DIP joint to perform synchronous flexion and extension motion. The eight connecting rods comprise 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; 2. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and series-parallel rotation-driving mechanical fingers according to claim 1, characterized in that, The eight rotary pairs comprise a first rotary pair, a second rotary pair, a third rotary pair, a fourth rotary pair, a fifth rotary pair, a sixth rotary pair, a seventh rotary pair and an 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 connected in turn, and the eighth rotary pair is connected with the first connecting rod; The first rotary pair, the second rotary pair, the third rotary pair and the fourth rotary pair intersect at a first spherical center and form the spherical four-bar mechanism; The fifth rotary pair, the sixth rotary pair, the seventh rotary pair, the eighth rotary pair and the first rotary pair intersect at a second spherical center and form the spherical five-bar mechanism. The first joint torsion angle of the first connecting rod is 90°; 3. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and hybrid series-parallel rotation driver type mechanical fingers according to claim 2, characterized in that, The sum of the second joint torsion angle of the second connecting rod, the third joint torsion angle of the third connecting rod, the fourth joint torsion angle of the fourth connecting rod and the included angle between the axis of the fourth rotary pair and the line connecting the first spherical center and the second spherical center is greater than 180°; The sum of the fifth joint torsion angle of the sixth connecting rod, the sixth joint torsion angle of the seventh connecting rod and the seventh joint torsion angle of the eighth connecting rod is equal to 180°; The fifth joint torsion angle of the sixth connecting rod is equal to the sixth joint torsion angle of the seventh connecting rod. The variable palm derives different variable bifurcations through the coaxial axes of the rotary pairs, the coplanar axes of three or more axes, when moving to the bifurcation point for bifurcation, enters different motion branches to form seven variable configurations; 4. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and hybrid series-parallel rotation driver type mechanical fingers according to claim 1, characterized in that, ​ The seven said metamorphic configurations include a double-coupled 8R mechanism, a spherical 4R mechanism, a double-coupled 7R mechanism, a spherical 4R and Miura 4R combined mechanism, a spherical 4R and continuous rotation around a real axis combined mechanism, a spherical 4R mechanism and single-coupled fixed-axis rotation combined mechanism, and a spherical 5R mechanism.

5. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and series-parallel rotation-driving mechanical fingers according to claim 1, characterized in that, The rotating drive mechanism comprises a first rotating drive member, a second rotating drive member and a third rotating drive member arranged in parallel, and further comprises a universal joint, a MCP-PIP connecting rod and a PIP-DIP connecting rod; The first rotating drive member and the second rotating drive member are connected with the MCP joint, and the MCP joint is connected with the universal joint; The first rotating drive member, the second rotating drive member and the third rotating drive member 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.

6. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and hybrid series-parallel rotation-driving mechanical fingers according to claim 5, characterized in that, The mechanical finger comprises a base; The first rotating drive member comprises a first joint motor, a first bearing connecting rod, a first joint bearing, a second bearing connecting rod and a second joint bearing connected in sequence, the first joint motor is connected with the base, and the second joint bearing is connected with the MCP joint and the MCP-PIP connecting rod; The second rotating drive member comprises a second joint motor, a third bearing connecting rod, a third joint bearing, a fourth bearing connecting rod and a fourth joint bearing connected in sequence, the second joint motor is connected with the base, and the fourth joint bearing is connected with the MCP joint and the MCP-PIP connecting rod; The third rotating drive member comprises a third joint motor, a fifth bearing connecting rod, a fifth joint bearing, a sixth bearing connecting rod and a sixth joint bearing connected in sequence, the third joint motor is connected with the base, and the sixth joint bearing is connected with the MCP-PIP connecting rod.

7. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and hybrid series-parallel rotation driver type mechanical fingers according to claim 6, 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 second joint bearing and the fourth joint bearing; One end of the second connecting rod is connected with the sixth joint bearing, 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 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.

8. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and hybrid series-parallel rotation driver type mechanical fingers according to claim 7, characterized in that, 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; The MCP joint is rotationally connected with the PIP joint through a third optical axis; The MCP joint is rotationally 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 rotationally connected with the DIP joint through a fifth optical axis; The PIP joint is rotationally connected with the DIP joint through a sixth optical axis; The second joint bearing or the fourth joint bearing and the first optical axis, the second optical axis, 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.

9. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and hybrid series-parallel rotation driver type mechanical fingers according to claim 8, 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 second joint bearing, and the second MCP connecting rod is rotationally connected with the fourth joint 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.

10. The anthropomorphic dexterous hand based on double heart coupling metamorphic palm and series-parallel rotation-driving mechanical fingers according to claim 1, characterized in that, 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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