A twenty-one-degree-of-freedom full-linkage driven anthropomorphic five-fingered dexterous hand

Abstract

The present application belongs to the technical field of humanoid robot, and discloses a twenty-one freedom degree humanoid five-finger dexterous hand driven by full connecting rod, which comprises a palm base and a five-finger execution mechanism. Each of the four fingers has four active degrees of freedom, and realizes the side swing of the proximal phalanx, the bending of the proximal phalanx and the coupled bending of the middle and distal phalanges. The thumb has five active degrees of freedom, and can independently complete the motion of turning over, falling forward, spreading out and bending the phalanges. All the motions are converted into linear motion by the motor driven screw rod, and then converted into the rotary motion of the phalanges by the push rod and connecting rod mechanism, so as to realize the full connecting rod transmission. The present application adopts the structure of double fish-eye connecting rod and universal joint to ensure that the motions among the multiple degrees of freedom do not interfere with each other, and through the design of the compressible push rod, the distal phalanx has the passive adaptive bending ability, and has the advantages of high load, high precision, strong bionics and grasping adaptability, and is suitable for the fine operation of the robot.

Description

Technical Field

[0001] This invention belongs to the field of humanoid robot technology, and in particular relates to a fully linkage-driven 21-DOF humanoid five-fingered dexterous hand. Background Technology

[0002] With the continuous advancement of humanoid robot technology, the flexibility of robotic hand systems and the precision manipulation capabilities of humanoid hands have gradually become the focus of embodied intelligence research. The human hand exhibits highly flexible multi-joint coordinated movement capabilities during grasping and manipulation, with each finger able to complete complex posture adjustments in three-dimensional space, and the center of motion remaining stable, facilitating diverse and precise operations. This highly coordinated movement capability places higher demands on the biomimetic design of humanoid dexterous hands.

[0003] Existing humanoid dexterous hands typically employ direct-drive motors, gear sets, rope drives, or pneumatic drives to achieve finger bending and extension. However, such systems generally suffer from problems such as large drive redundancy, insufficient structural compactness, difficulty in precisely controlling fingertip movement trajectories, low fingertip force, and low load, making it difficult to realistically reproduce the stable and natural joint movement characteristics of a human hand during operation.

[0004] Therefore, there is an urgent need for a novel humanoid dexterous hand structure that is compact, precise in motion, possesses high fingertip force, large overall hand load capacity, and exhibits multi-joint coordination characteristics of the human hand, in order to more effectively support the design and implementation of high-precision operation and multi-task execution in robots. The combination of linkages and lead screws can meet the above requirements. This design presents a 21-DOF humanoid dexterous hand based on a linkage mechanism. Summary of the Invention

[0005] The purpose of this invention is to provide a 21-DOF humanoid five-fingered dexterous hand driven by all linkages to solve the above-mentioned technical problems.

[0006] To solve the above-mentioned technical problems, the specific technical solution of the present invention for a 21-DOF humanoid five-fingered dexterous hand driven by a fully linkage is as follows:

[0007] A fully linkage-driven 21-DOF humanoid five-finger dexterous hand includes a palm base and a five-finger actuator mounted on the palm base. The five-finger actuator comprises a thumb with five active degrees of freedom and four fingers, each with four active degrees of freedom. All finger movements are achieved by a motor-driven lead screw, converting rotational motion into linear motion of a slider, and then further converting it into rotational motion of the finger joints via push rods and linkage mechanisms, thus realizing fully linkage-driven operation.

[0008] Furthermore, the four fingers have identical structures and degrees of freedom, each having three phalanges: a proximal phalanx, a middle phalanx, and a distal phalanx. Each of these three phalanges includes a proximal phalanx lateral swing mechanism, a proximal phalanx flexion mechanism, and a middle-distal phalanx flexion mechanism. Each mechanism is driven by a motor to complete four active degrees of freedom: proximal phalanx flexion, middle and distal phalanx flexion, and proximal phalanx lateral swing. The thumb includes three phalanges: a metacarpal joint, a proximal phalanx, and a distal phalanx. Each of these three phalanges includes an opposition mechanism, a forward tilting mechanism, an abduction mechanism, and a thumb flexion mechanism. The metacarpal joints are driven by three motors to complete three degrees of freedom: opposition, abduction, and forward tilting. The proximal and distal phalanges of the thumb are driven by a single motor to jointly complete the flexion movement.

[0009] Furthermore, the proximal phalanx lateral swing motion mechanism includes a four-finger base, a lateral swing motor, a lateral swing connecting rod, a lateral swing lead screw, and a lateral swing slider. The four-finger base is fixed to the palm base, and the lateral swing motor is fixed to the palm base. The lateral swing motor drives the lateral swing lead screw to rotate, causing the lateral swing slider to move linearly. The lateral swing slider pushes the lateral swing connecting rod to rotate around its connecting axis with the four-finger base through the lateral swing push rod. The rotation of the lateral swing connecting rod directly causes the three phalanxes connected to it to swing together, thereby realizing the lateral swing motion of the fingers in the horizontal plane.

[0010] Furthermore, the proximal knuckle flexion mechanism includes a proximal knuckle motion motor, a proximal knuckle connecting rod, a proximal lead screw, a proximal slider, and a double-fisheye connecting rod. The proximal knuckle motion motor is fixed to the palm base. The proximal knuckle motion motor drives the proximal lead screw to rotate, causing the proximal slider to move linearly. The proximal slider is connected to the proximal knuckle connecting rod through a double-fisheye bearing connecting rod. The proximal knuckle connecting rod is rotatably connected to the side-swing connecting rod. The linear motion of the proximal slider is converted into the rotational motion of the proximal knuckle connecting rod through the double-fisheye connecting rod, thereby realizing the flexion / extension of the proximal knuckle.

[0011] Furthermore, the mid-distal knuckle flexion mechanism includes a mid-knuckle flexion mechanism and a distal knuckle flexion mechanism. The mid-knuckle flexion mechanism includes a mid-knuckle rotation base, a mid-distal knuckle motion motor, a mid-knuckle connecting rod, a mid-screw, a mid-slider, a mid-push rod, and a universal joint. The mid-knuckle rotation base is fixed above the proximal knuckle connecting rod. The mid-distal knuckle motion motor is fixed to the palm base, and its output shaft is connected to the mid-screw through a universal joint. The universal joint drives the mid-screw to rotate, which in turn drives the mid-slider to move linearly. The mid-slider pushes the mid-knuckle connecting rod to rotate around its connecting axis with the mid-knuckle rotation base through the mid-push rod, thereby achieving the flexion of the mid-knuckle.

[0012] Furthermore, the distal phalanx flexion mechanism includes a distal phalanx link, a distal phalanx pad, and a compressible push rod. The distal phalanx link is rotatably connected to the middle phalanx link, and the distal phalanx pad is fixed to the distal phalanx link. The distal phalanx link and the middle phalanx rotation base are connected by the compressible push rod. The middle phalanx rotation base, the middle phalanx link, the distal phalanx link, and the compressible push rod together form a cross four-bar linkage. When the middle phalanx link bends, the distal phalanx link bends synchronously through the four-bar linkage, achieving biomimetic coupled motion. When the fingertip is subjected to external pressure, the compressible push rod allows the distal phalanx to bend independently of the middle phalanx.

[0013] Furthermore, the palm-opposing motion mechanism includes a palm-opposing motion motor and a palm-opposing motion base. The palm-opposing motion motor is fixed to the palm base, and the output end of the palm-opposing motion motor is fixedly connected to the palm-opposing motion base. The proximal and distal phalanges of the thumb are fixed as a whole on the palm-opposing motion base. The palm-opposing motion motor drives the palm-opposing motion base to rotate, thereby realizing the palm-opposing motion of the entire thumb.

[0014] Furthermore, the forward tilting mechanism includes a forward tilting base, a forward tilting motor, a forward tilting screw, and a forward tilting slider. The forward tilting base is rotatably connected to the palm-opposing motion base, and the forward tilting motor is fixed to the palm-opposing motion base. By driving the forward tilting screw to rotate, the forward tilting slider is driven to make linear motion. The forward tilting slider pushes the forward tilting base to rotate through the forward tilting push rod, thereby realizing the forward tilting / backward tilting motion of the thumb.

[0015] Furthermore, the abduction motion mechanism includes an abduction motion motor, an abduction motion base, an abduction lead screw, an abduction slider, and an abduction push rod. The abduction motion base is rotatably connected to the forward-falling motion base, and the abduction motion motor is fixed to the abduction motion base. The abduction motion motor drives the abduction lead screw to rotate, thereby causing the abduction slider to move linearly. The abduction slider pushes the abduction motion base to rotate through the abduction push rod, thereby realizing the abduction / adduction motion of the thumb.

[0016] Furthermore, the thumb flexion mechanism includes a proximal-distal knuckle flexion motor, a proximal knuckle connecting rod, a flexion screw, a flexion slider, and a flexion push rod. The proximal knuckle connecting rod is rotatably connected to the inner side of the abduction motion base. The proximal-distal knuckle flexion motor is fixed on the abduction motion base. The proximal-distal knuckle flexion motor drives the flexion screw to rotate, causing the flexion slider to move linearly. The flexion slider pushes the proximal knuckle connecting rod to rotate through the flexion push rod, thereby achieving flexion of the proximal knuckle of the thumb. The distal knuckle of the thumb is linked to the proximal knuckle through a four-bar linkage mechanism similar to that of the four fingers, which includes a compressible push rod, to achieve coupled flexion or decoupled independent flexion under external force.

[0017] The 21-DOF humanoid five-fingered dexterous hand driven by a fully linkage according to the present invention has the following advantages:

[0018] 1. High biomimicry and motion precision: All movements in this invention are driven by a lead screw composite linkage mechanism, which gives the invention a certain self-locking function and improves the load capacity of the gripper. This invention achieves coordinated control of 21 active degrees of freedom by accurately mimicking the movement of human finger joints through a full linkage drive mechanism. The movement trajectory is closer to that of a human hand, which can complete fine and complex operation actions, significantly improving the realism and precision of humanoid operation.

[0019] 2. Compact Structure and High Load Capacity: Utilizing a centralized drive layout of motor-lead screw-slider-connecting rod, with the motor primarily integrated into the hand base, significantly improves space utilization and results in a compact overall structure. Simultaneously, the lead screw drive system features high rigidity and efficiency, ensuring powerful fingertip output force and high load capacity, making it suitable for grasping objects of varying shapes and weights.

[0020] 3. Motion Decoupling and Adaptive Grasping: An innovative cross-four-bar linkage with compressible push rods is employed in the design of the mid-distal and thumb knuckles. This design enables biomimetic coupling motion between knuckles during active actuation, and allows the distal knuckle to bend independently under the shape of the grasped object or external pressure, achieving passive adaptive envelope grasping. This enhances the stability, safety, and adaptability to irregular objects.

[0021] 4. Motion independence and non-interference: For the lateral swinging, bending and other multi-degree-of-freedom movements of the four fingers, special components such as double fisheye linkage and universal joint are cleverly used to effectively solve the influence of the previous joint position change on the subsequent drive transmission path, ensuring the independence and control accuracy of each degree of freedom movement and eliminating motion interference.

[0022] 5. Integration and Intelligent Sensing Potential: The installation space for force sensors and tactile sensors is reserved inside the knuckle, which can easily integrate multi-dimensional force and tactile sensing functions. This provides a hardware foundation for robots to achieve force-controlled grasping, fine operation and interaction, and greatly improves the intelligence level and application potential of dexterous hands. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the humanoid five-fingered dexterous hand palm of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure of the back of the humanoid five-fingered dexterous hand of the present invention;

[0025] Figure 3 This is a schematic diagram of the internal structure of the palm of the humanoid five-fingered dexterous hand of the present invention;

[0026] Figure 4 This is a schematic diagram of the internal structure of the back of the hand of the humanoid five-fingered dexterous hand of the present invention;

[0027] Figure 5 This is a schematic diagram of the middle finger structure in the four fingers of the humanoid five-fingered dexterous hand of the present invention;

[0028] Figure 6 This is a schematic diagram of the proximal phalanx lateral swing motion mechanism of the present invention;

[0029] Figure 7 This is a schematic diagram of the middle finger structure in the four fingers of this invention;

[0030] Figure 8 This is a schematic diagram of the proximal phalanx lateral swing motion process of the present invention;

[0031] Figure 9 This is a schematic diagram of the proximal phalanx bending motion mechanism of the present invention;

[0032] Figure 10 This is a schematic diagram of the proximal phalanx flexion motion process of the present invention;

[0033] Figure 11 This is a schematic diagram of the middle finger structure in the four fingers of this invention;

[0034] Figure 12 This is a schematic diagram of the distal phalanx bending motion mechanism of the present invention;

[0035] Figure 13 This is a schematic diagram of the bending motion of the middle knuckle in this invention;

[0036] Figure 14 This is a schematic diagram of the distal phalanx flexion motion process of the present invention;

[0037] Figure 15 This is a schematic diagram of the palm-attacking motion mechanism of the present invention;

[0038] Figure 16 This is a schematic diagram of the palm-attacking motion process of the present invention;

[0039] Figure 17 This is a schematic diagram of the forward tilting mechanism of the present invention;

[0040] Figure 18 This is a schematic diagram of the abduction motion mechanism of the present invention;

[0041] Figure 19 This is a schematic diagram of the forward tilting motion process of the present invention;

[0042] Figure 20 This is a schematic diagram of the abduction motion process of the present invention;

[0043] Figure 21This is a schematic diagram of the thumb bending motion process of the present invention;

[0044] Figure 22 This is a schematic diagram of the decoupling and independent motion process of the distal phalanx according to the present invention;

[0045] Explanation of markings in the diagram: A1, proximal phalanx; B1, middle phalanx; C1, distal phalanx; A2, metacarpal joint; B2, proximal phalanx; C2, distal phalanx; 1, front cover; 2, rear cover; 3, thumb cover; 4, upper base; 5, middle base; 6, lower base; 7, connector; 8, wrist connector; 9, mounting hole; 10, four-finger base; 13, side-swing motor; 151, link. 14. Side-swing connecting rod; 16. Side-swing lead screw; 17. Side-swing slider; 11. Proximal finger joint motion motor; 152. Coupling 2; 19. Proximal finger joint connecting rod; 20. Proximal lead screw; 21. Proximal slider; 22. Double fisheye connecting rod; 24. Middle finger joint rotating base; 12. Mid-to-rear finger joint motion motor; 153. Coupling 3; 25. Middle finger joint connecting rod; 26. 27. Central lead screw; 28. Central slider; 29. ​​Central push rod; 231. Slide rail slider group one; 33. Palm-opposing motion motor; 37. Palm-opposing motor bracket; 154. Coupling four; 38. Palm-opposing motion base; 232. Slide rail slider group two; 30. Distal phalanx connecting rod; 31. Distal phalanx fingertip; 321. Compressible push rod one; 322. Compressible push rod two; 39. Forward tilting motion base; 34. Forward tilting motion motor; 155. Coupling five; 40. Forward tilting lead screw; 41. Forward tilting slider; 233. Slide rail slider group three; 35. Outward tilting motion motor; 156. Coupling six; 43. Outward tilting motion base; 234. Slide rail slider group four; 44. Outward tilting lead screw; 45. Outward tilting slider; 46. Outward tilting push rod; 235. Slide rail slider group five. Detailed Implementation

[0046] To better understand the purpose, structure, and function of this invention, the following detailed description of a fully linkage-driven 21-DOF humanoid five-fingered dexterous hand, in conjunction with the accompanying drawings, is provided.

[0047] like Figures 1-4 As shown, the present invention discloses a 21-DOF humanoid five-fingered dexterous hand driven by a fully linkage, comprising a palm base, a five-finger actuator, and a housing.

[0048] The hand base serves as the load-bearing and mounting foundation for the entire dexterous hand. It employs a layered design, comprising an upper base 4, a middle base 5, and a lower base 6 from top to bottom. The bases are securely connected by connectors 7, forming a rigid whole. The upper base 4 primarily houses and secures all motors driving the index, middle, ring, and little fingers (hereinafter referred to as "the four fingers"). The middle base 5, located below the upper base, provides auxiliary support and limits the movement of these motors. The lower base 6, together with the middle base 5, secures the thumb mechanism. The bottom of the lower base 6 features a wrist connector 8 for reliable connection to the robot arm. Mounting holes 9 are pre-drilled on each base and connector 7 for assembling the outer shell.

[0049] The five-finger actuator consists of a thumb with five degrees of freedom and four fingers (index, middle, ring, and little fingers) each with four degrees of freedom. All finger movements are achieved by a motor-driven lead screw, converting rotational motion into linear motion of a slider, which is then further converted into rotational motion of the finger joints via push rods and linkage mechanisms, thus realizing full linkage drive.

[0050] The outer shell consists of three parts: a front cover 1, a rear cover 2, and a thumb cover 3, which are installed through the mounting holes 9 reserved on each base and connector 7. The outer shell not only protects the internal precision drive and transmission mechanism from dust, foreign objects, and external impacts, but its streamlined design also gives the dexterous hand a higher degree of biomimetic aesthetics.

[0051] Except for the varying lengths of the phalanges, the four fingers are identical in structure and degrees of freedom. Each finger has three phalanges: proximal phalanx A1, middle phalanx B1, and distal phalanx C1. Each phalanx can be driven by a single motor to perform four active degrees of freedom: proximal phalanx flexion, middle and distal phalanx flexion, and proximal phalanx lateral swing. The thumb consists of three phalanges: metacarpal joint A2, proximal phalanx B2, and distal phalanx C2. Metacarpal joint A2 can be driven by three separate motors to perform three degrees of freedom: opposition, abduction, and forward tilting. The proximal phalanx B2 and distal phalanx C2 of the thumb are driven by a single motor to jointly perform flexion.

[0052] The four fingers have the same structure, with only the length of the phalanges differing. The specific structure and movement principle of the middle finger will be explained using the middle finger as an example.

[0053] The three phalanges of the four fingers include the proximal phalanges lateral movement mechanism, the proximal phalanges flexion movement mechanism, and the mid-distal phalanges flexion movement mechanism.

[0054] like Figure 5 Figure 6As shown, the proximal knuckle lateral swing motion mechanism includes a four-finger base 10, a lateral swing motor 13, a coupling 151, a lateral swing connecting rod 14, a lateral swing lead screw 16, and a lateral swing slider 17. The four-finger base 10 is fixed to the upper base 4 of the palm base, the lateral swing motor 13 is fixed to the upper base 4, and the lateral swing connecting rod 14 is rotatably connected to the four-finger base 10 via a rotating shaft and can rotate around the four-finger base 10. The rotation axis of the lateral swing connecting rod 14 is consistent with the lateral swing motion axis of the four fingers. The lateral swing connecting rod 14 can also be optionally fixed to the rear cover 2 to increase structural strength. The lateral swing motor 13 is connected to the lateral swing screw 16 via coupling 151. A lateral swing slider 17, which can move linearly along the lateral swing screw 16, is mounted on the lateral swing screw 16. The lateral swing slider 17 is rotatably connected to the lateral swing connecting rod 14 via a lateral swing push rod 18. Ultimately, the lateral swing motor 13 can drive the lateral swing slider 17 to rotate the lateral swing connecting rod 14 around its connecting axis with the four-finger base 10 by driving the linear motion of the lateral swing slider 17. The rotation of the lateral swing connecting rod 14 directly drives the three finger joints connected to it to swing together, thereby realizing the adduction / abduction movement of the fingers in the palm plane (i.e., lateral swing). The motion flowchart is as follows. Figure 8 As shown.

[0055] like Figure 5 Figure 7 Figure 9 As shown, the proximal knuckle flexion mechanism includes a proximal knuckle motor 11, a second coupling 152, a proximal knuckle connecting rod 19, a proximal lead screw 20, a proximal slider 21, and a double-fisheye connecting rod 22. The proximal knuckle motor 11 is fixed to the upper base 4. The proximal knuckle connecting rod 19 is rotatably connected to the lateral swing connecting rod 14 and can rotate around the lateral swing connecting rod 14. The rotation axis is consistent with the proximal knuckle flexion axis of the four fingers. The proximal knuckle motor 11 is connected to the proximal lead screw 20 through the second coupling 152. A proximal slider 21, which can move linearly along the proximal lead screw 20, is installed on the proximal lead screw 20. The proximal slider 21 is connected to the proximal knuckle connecting rod 19 through the double-fisheye connecting rod 22. The proximal knuckle motor 11 can drive the proximal knuckle connecting rod 19 to rotate through the linear movement of the proximal slider 21, thereby realizing the flexion movement of the proximal joint of the four fingers. The motion flowchart is shown below. Figure 10 As shown. It is worth noting that since the proximal knuckle link 19 is connected to the proximal slider 21 via the double fisheye link 22, even after the proximal knuckle link 19 has undergone lateral rotation, it can still be bent by the double fisheye link 22. The design of the double fisheye link 22 ensures that even when the finger is in a lateral position, the force transmission path remains smooth, and the movements do not interfere with each other. Furthermore, a slide rail slider assembly 231 can be set on the back cover 2 to assist the translational movement of the proximal slider 21, serving a guiding function.

[0056] The mid-distal phalangeal flexion mechanism includes a mid-phalangeal flexion mechanism and a distal phalangeal flexion mechanism.

[0057] like Figure 5 , Figure 7 , Figure 11 , Figure 12 As shown, the middle knuckle bending motion mechanism includes a middle knuckle rotating base 24, a middle-distal knuckle motion motor 12, a coupling 153, a middle knuckle connecting rod 25, a middle lead screw 26, a middle slider 27, a middle push rod 28, and a universal joint 29. The middle knuckle rotating base 24 is fixed above the proximal knuckle connecting rod 19, the middle-distal knuckle motion motor 12 is fixed to the upper base 4, and the middle knuckle connecting rod 25 is rotatably connected to both sides of the middle knuckle rotating base 24 and can rotate around the middle knuckle rotating base 24. The rotation axis of the middle knuckle connecting rod 25 is consistent with the bending motion axis of the middle knuckle of the four fingers. A central lead screw 26 is fixed between the central knuckle rotation base 24 and the proximal knuckle connecting rod 19. A central slider 27, capable of linear motion along the central lead screw 26, is mounted on the central lead screw 26. The central slider 27 is rotatably connected to the central knuckle connecting rod 25 via a central push rod 28. The distal knuckle motion motor 12 is connected to a universal joint 29 via a coupling 3 153. The other side of the universal joint 29 is connected to the central lead screw 26. The distal knuckle motion motor 12 can drive the rotation of the central lead screw 26 through the universal joint 29, thereby causing the central slider 27 to move linearly and push the central knuckle connecting rod 19 to rotate, thus realizing the bending motion of the middle joint of the four fingers. The motion flow diagram is shown below. Figure 13 As shown. It is worth noting that the rotation center of the universal joint 29 is located at the intersection of the lateral movement axis of the four fingers and the flexion axis of the proximal phalanx. This ensures that even after the four fingers have laterally swung and the proximal phalanx has flexed, the universal joint 29 can still transmit the rotation of the mid-distal phalanx motor 12 to the central lead screw 26. Furthermore, a slide rail slider assembly 232 can be installed on the proximal phalanx connecting rod 19 to assist the translational movement of the central slider.

[0058] like Figure 11 , Figure 12 As shown, the distal phalanx flexion mechanism includes a distal phalanx link 30, a distal phalanx pad 31, and a compressible push rod 321. The distal phalanx link 30 is fixed in the middle of the middle phalanx link 25 and can rotate around the middle phalanx link 25. The axis of rotation is consistent with the flexion axis of the distal phalanx of the four fingers. The distal phalanx pad 31 is fixed on the distal phalanx link 30. The distal phalanx link 30 and the middle phalanx rotation base 24 are connected by the compressible push rod 321, thus forming a cross-linked four-bar linkage with four revolute joints among the four components: the middle phalanx rotation base 24, the middle phalanx link 25, the distal phalanx link 30, and the compressible push rod 321. The rotation of the middle phalanx link 25 drives the rotation of the distal phalanx link 30, thereby forming the flexion motion of the distal phalanx. The motion flowchart is shown below. Figure 13As shown. It is worth noting that since the aforementioned four-bar linkage contains a compressible push rod 321, if the middle knuckle link 25 remains fixed, the compression of the compressible push rod 321 can transform the middle knuckle rotating base 24, middle knuckle link 25, distal knuckle link 30, and compressible push rod 321 into a crank-slider mechanism containing three revolute joints and one translational joint. This allows the bending between the distal and middle knuckles to be decoupled under external force, meaning the distal knuckle can bend independently. When the fingertip is subjected to external pressure, the compressible push rod 321 allows the distal knuckle to bend independently of the middle knuckle (motion decoupling), enhancing the adaptability and safety of the gripping motion. The motion flowchart is shown below. Figure 14 As shown.

[0059] In summary, the three motors can drive the movement of a single finger in four degrees of freedom, and due to the configuration of the double fisheye linkage 22, the universal joint 29 and the compressible push rod 321, the movement between the four degrees of freedom does not interfere with each other.

[0060] The thumb includes the antipalmar movement mechanism, the forward tilting movement mechanism, the abduction movement mechanism, and the thumb flexion movement mechanism.

[0061] like Figure 15 As shown, the palm-attacking motion mechanism includes a palm-attacking motion motor 33, a palm-attacking motor bracket 37, a coupling 154, and a palm-attacking motion base 38. The palm-attacking motion motor 33 is fixed to the central base 5 via the palm-attacking motor bracket 37. The palm-attacking motion motor 33 is fixedly connected to the palm-attacking motion base 38 via the coupling 154. The proximal and distal phalanges of the thumb are fixed as a whole on the palm-attacking motion base 38. The palm-attacking motion motor 33 drives the palm-attacking motion base 38 to rotate, realizing the palm-attacking motion of the entire thumb. The palm-attacking motion flowchart is shown below. Figure 16 As shown.

[0062] like Figure 17 , Figure 18 As shown, the forward tilting mechanism includes a forward tilting base 39, a forward tilting motor 34, a coupling 155, a forward tilting screw 40, and a forward tilting slider 41. The forward tilting base 39 is rotatably connected to the palm-opposing motion base 38 and can rotate around the palm-opposing motion base 38, with the rotation axis aligned with the forward tilting axis. The forward tilting motor 34 is fixed to the palm-opposing motion base 38 and is connected to the forward tilting screw 40 via the coupling 155. A forward tilting slider 41, which can move linearly along the forward tilting screw 40, is mounted on the forward tilting screw 40. The forward tilting slider 41 is connected to the forward tilting base 39 via a forward tilting push rod 42. The forward tilting motor 34 can drive the linear motion of the forward tilting slider 41 to rotate the forward tilting base 39, thereby realizing the forward tilting motion of the thumb. The motion flowchart is shown below. Figure 19As shown. In addition, a slide rail slider group 233 can be set on the palm-movement base 38 to assist the translational movement of the forward and backward slider 41.

[0063] like Figure 17 , Figure 18 As shown, the abduction motion mechanism includes an abduction motion motor 35, a coupling 156, an abduction motion base 43, an abduction lead screw 44, an abduction slider 45, and an abduction push rod 46. The abduction motion base 43 is rotatably connected to the forward-falling motion base 39 and can rotate around the forward-falling motion base 39, with the rotation axis aligned with the abduction motion axis. The abduction motion motor 35 is fixed to the abduction motion base 43 and is connected to the abduction lead screw 44 via the coupling 156. An abduction slider 45, capable of linear motion along the abduction lead screw 44, is mounted on the abduction lead screw 44. The abduction slider 45 is rotatably connected to the forward-falling motion base 39 via the abduction push rod 46. The abduction motion motor 35 can drive the linear motion of the abduction slider 45 to rotate the abduction motion base 43, thereby realizing the abduction / adduction motion of the thumb. The motion flowchart is shown below. Figure 20 As shown. In addition, a slide rail slider group 234 can be set on the outward motion base 43 to assist the translational movement of the outward slider 45.

[0064] The thumb flexion mechanism includes a proximal-distal knuckle flexion motor 36, a coupling 157, a proximal knuckle connecting rod 47, a flexion movement screw 48, a flexion movement slider 49, a flexion movement push rod 50, a distal knuckle connecting rod 51, a distal knuckle pad 52, and a compressible push rod 322. The proximal knuckle connecting rod 47 is rotatably connected to the inside of the abduction movement base 43 and can rotate around the abduction movement base 43. The rotation axis is consistent with the proximal knuckle flexion movement axis of the thumb. The proximal-distal knuckle flexion motor 36 is fixed on the abduction movement base 43. The proximal-distal knuckle flexion motor 36 is connected to the flexion movement screw 48 through the coupling 157. A flexion movement slider 49 that can move linearly along the flexion movement screw 48 is provided on the flexion movement screw 48. The flexion movement slider 49 is connected to the proximal knuckle connecting rod 47 through the flexion movement push rod 50. The proximal and distal phalanges flexion motor 36 can drive the linear motion of the flexion motion slider 49 to push the rotation of the proximal phalanges connecting rod 47, thereby realizing the flexion motion of the proximal phalanx of the thumb. The motion flowchart is as follows. Figure 21 As shown. In addition, a slide rail slider group 235 can be set on the outward motion base 43 to assist the translational motion of the bending motion slider.

[0065] The distal phalanx link 51 is rotatably connected to the proximal phalanx link 47 and can rotate around the proximal phalanx link 47. The axis of rotation is consistent with the flexion axis of the distal phalanx of the thumb. The distal phalanx pad 52 is fixed on the distal phalanx link. The distal phalanx link 51 of the thumb and the abduction motion base 43 are also connected by a compressible push rod 32. Thus, the distal phalanx link 51, the proximal phalanx link 47, the abduction motion base 43, and the compressible push rod 322 form a cross-linked four-bar linkage with four revolute joints. The rotation of the proximal phalanx link 47 of the thumb drives the rotation of the distal phalanx link 51 of the thumb, thereby forming the flexion motion of the distal phalanx link 51 of the thumb. The motion flowchart is shown below. Figure 21 As shown. It is worth noting that since the above four-bar linkage contains a compressible push rod 322, if the proximal phalanx link 47 of the thumb remains fixed, the compression of the compressible push rod 322 can transform the distal phalanx link 51 of the thumb, the proximal phalanx link 47 of the thumb, the abduction motion base 43, and the compressible push rod 322 into a crank-slider mechanism containing three revolute joints and one translational joint. This allows the bending between the distal and proximal phalanges of the thumb to decouple under external force, meaning the distal phalanx of the thumb can bend independently. The motion flowchart is shown below. Figure 22 As shown.

[0066] To further enhance the intelligent manipulation capabilities of the dexterous hand, force sensors can be installed on the inner sides of the proximal knuckle links 19 and 25 of the four fingers, as well as the proximal knuckle link 47 of the thumb, to detect grasping and contact forces. Simultaneously, tactile sensor arrays can be integrated into the distal knuckle pads 31 of the four fingers and the distal knuckle pad 52 of the thumb, providing the robot with rich tactile information and enabling precise and compliant manipulation control.

[0067] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A fully linkage-driven 21-DOF humanoid five-fingered dexterous hand, comprising a hand base and a five-finger actuator, wherein the five-finger actuator is mounted on the hand base, characterized in that, The five-finger actuator includes a thumb with five degrees of freedom and four fingers, each with four degrees of freedom. All finger movements are driven by a motor-driven lead screw, converting rotational motion into linear motion of a slider, and then further converting it into rotational motion of the finger joints via a push rod and linkage mechanism, achieving full linkage drive. The four fingers have identical structures and degrees of freedom, each having three joints: a proximal joint (A1), a middle joint (B1), and a distal joint (C1). Each of these three joints includes a proximal joint lateral swing mechanism and a proximal joint... The system includes a phalanx flexion mechanism and a mid-distal phalanx flexion mechanism. Each mechanism is driven by a motor to perform four active degrees of freedom of motion: proximal phalanx flexion, mid-phalanx and distal phalanx flexion, and proximal phalanx lateral swing. The thumb comprises three phalanges: the metacarpal joint (A2), the proximal phalanx (B2), and the distal phalanx (C2). Each of the three phalanges includes an opposition mechanism, a forward tilting mechanism, an abduction mechanism, and a thumb flexion mechanism. The metacarpal joint (A2) is driven by three motors to perform the opposition mechanism. The thumb has three degrees of freedom: abduction, flexion, and forward bending. The proximal phalanx (B2) and distal phalanx (C2) of the thumb are driven by a single motor to complete the bending motion. The distal phalanx bending mechanism includes a distal phalanx link (30), a distal phalanx pad (31), and a compressible push rod (321). The distal phalanx link (30) is rotatably connected to the middle phalanx link (25). The distal phalanx pad (31) is fixed on the distal phalanx link (30). The distal phalanx link (30) and the middle phalanx rotation base... The bases (24) are connected by a compressible push rod (321). The middle knuckle rotating base (24), the middle knuckle connecting rod (25), the distal knuckle connecting rod (30) and the compressible push rod (321) together form a cross four-bar linkage. When the middle knuckle connecting rod (25) bends, the distal knuckle connecting rod (30) bends synchronously through the four-bar linkage, realizing biomimetic coupled motion. When the fingertip is subjected to external pressure, the compressible push rod (321) allows the distal knuckle to bend independently of the middle knuckle.

2. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 1, characterized in that, The proximal phalanx lateral swing motion mechanism includes a four-finger base (10), a lateral swing motor (13), a lateral swing connecting rod (14), a lateral swing lead screw (16), and a lateral swing slider (17). The four-finger base (10) is fixed to the palm base, and the lateral swing motor (13) is fixed to the palm base. The lateral swing motor (13) drives the lateral swing lead screw (16) to rotate, which in turn drives the lateral swing slider (17) to make linear motion. The lateral swing slider (17) pushes the lateral swing connecting rod (14) to rotate around its connecting axis with the four-finger base (10) through the lateral swing push rod (18). The rotation of the lateral swing connecting rod (14) directly drives the three phalanxes connected to it to swing together, thereby realizing the lateral swing motion of the fingers in the horizontal plane.

3. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 1, characterized in that, The proximal knuckle flexion mechanism includes a proximal knuckle motion motor (11), a proximal knuckle connecting rod (19), a proximal lead screw (20), a proximal slider (21), and a double fisheye connecting rod (22). The proximal knuckle motion motor (11) is fixed to the palm base. The proximal knuckle motion motor (11) drives the proximal lead screw (20) to rotate, causing the proximal slider (21) to move linearly. The proximal slider (21) is connected to the proximal knuckle connecting rod (19) through a double fisheye bearing connecting rod (22). The proximal knuckle connecting rod (19) is rotatably connected to the side swing connecting rod (14). The linear motion of the proximal slider (21) is converted into the rotational motion of the proximal knuckle connecting rod (19) through the double fisheye connecting rod (22), thereby realizing the bending / extension of the proximal knuckle.

4. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 3, characterized in that, The mid-distal knuckle flexion mechanism includes a mid-knuckle flexion mechanism and a distal knuckle flexion mechanism. The mid-knuckle flexion mechanism includes a mid-knuckle rotating base (24), a mid-distal knuckle motion motor (12), a mid-knuckle connecting rod (25), a mid-screw (26), a mid-slider (27), a mid-push rod (28), and a universal joint (29). The mid-knuckle rotating base (24) is fixed to the proximal knuckle connecting rod (19). Above, the middle and distal phalanx motor (12) is fixed to the palm base. Its output shaft is connected to the middle lead screw (26) through a universal joint (29). The universal joint (29) drives the middle lead screw (26) to rotate, which in turn drives the middle slider (27) to move linearly. The middle slider (27) pushes the middle phalanx connecting rod (25) to rotate around its connecting axis with the middle phalanx rotating base (24) through the middle push rod (28), thereby realizing the bending of the middle phalanx.

5. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 1, characterized in that, The palm-opposing motion mechanism includes a palm-opposing motion motor (33) and a palm-opposing motion base (38). The palm-opposing motion motor (33) is fixed to the palm base. The output end of the palm-opposing motion motor (33) is fixedly connected to the palm-opposing motion base (38). The proximal and distal phalanges of the thumb are fixed on the palm-opposing motion base (38). The palm-opposing motion motor (33) drives the palm-opposing motion base (38) to rotate, thereby realizing the palm-opposing motion of the entire thumb.

6. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 5, characterized in that, The forward tilting mechanism includes a forward tilting base (39), a forward tilting motor (34), a forward tilting screw (40), and a forward tilting slider (41). The forward tilting base (39) is rotatably connected to the palm-opposing motion base (38). The forward tilting motor (34) is fixed to the palm-opposing motion base (38). By driving the forward tilting screw (40) to rotate, the forward tilting slider (41) is driven to make linear motion. The forward tilting slider (41) pushes the forward tilting base (39) to rotate through the forward tilting push rod (42), thereby realizing the forward tilting / backward tilting motion of the thumb.

7. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 6, characterized in that, The abduction motion mechanism includes an abduction motion motor (35), an abduction motion base (43), an abduction lead screw (44), an abduction slider (45), and an abduction push rod (46). The abduction motion base (43) is rotatably connected to the forward-falling motion base (39). The abduction motion motor (35) is fixed on the abduction motion base (43). The abduction motion motor (35) drives the abduction lead screw (44) to rotate, thereby causing the abduction slider (45) to move linearly. The abduction slider (45) pushes the abduction motion base (43) to rotate through the abduction push rod (46), thereby realizing the abduction / adduction motion of the thumb.

8. The 21-DOF humanoid five-fingered dexterous hand with full linkage drive according to claim 7, characterized in that, The thumb flexion mechanism includes a proximal and distal knuckle flexion motor (36), a proximal knuckle connecting rod (47), a flexion movement screw (48), a flexion movement slider (49), a flexion movement push rod (50), a distal knuckle connecting rod (51), and a compressible push rod (322). The proximal knuckle connecting rod (47) is rotatably connected to the inside of the abduction movement base (43). The proximal and distal knuckle flexion motor (36) is fixed on the abduction movement base (43). The proximal and distal knuckle flexion motor (36) drives the flexion movement screw (48) to rotate, thereby causing the flexion movement slider (49) to move linearly. The flexion movement slider (49) is pushed by the flexion movement push rod (50). The proximal phalanx link (47) rotates to achieve bending of the proximal phalanx of the thumb; the distal phalanx link (51) is rotatably connected between the proximal phalanx links (47) and can rotate around the proximal phalanx links (47). The distal phalanx link (51) of the thumb and the abduction motion base (43) are also connected by a compressible push rod (32), so that the distal phalanx link (51), the proximal phalanx link (47), the abduction motion base (43) and the compressible push rod (322) form a cross-shaped four-bar linkage with four rotational joints. The distal phalanx of the thumb is linked with the proximal phalanx through the four-bar linkage to achieve coupled bending or decoupled independent bending under external force.

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