Bionic manipulator

Abstract

The invention discloses a bionic manipulator, and belongs to the technical field of manipulators, the bionic manipulator comprises a palm, the palm is provided with five fingers, and the fingers comprise a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm comprises a palm body, and the palm body comprises a thumb connecting groove for connecting a thumb and finger connecting grooves for connecting an index finger, a middle finger, a ring finger and a little finger; each finger comprises a first knuckle connected with the palm, the other end of each first knuckle is connected with a second knuckle, and the other end of each second knuckle is connected with a third knuckle. According to the bionic manipulator based on the tensegrity structure, the structure is simplified by means of a'pulling-pressing 'balance system formed by the continuous inhaul cables and the discrete pressing rods, and the composite motion of'bending and tiny side swaying' of human fingers can be simulated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, and particularly relates to a bionic mechanical hand. BACKGROUND

[0002] The bionic mechanical hand based on tensegrity has a wide application prospect in many fields such as medical rehabilitation, industrial production, aerospace and service robots. In the field of medical rehabilitation, it can not only simulate the movement and mechanical properties of human hand to help the patients with limb loss to restore the ability of self-care, but also can be used in rehabilitation training equipment to assist patients in recovering hand function. In the field of industrial production, it can improve the assembly quality and efficiency in the precise assembly link of the electronic and automobile industries by virtue of high-precision action control and flexible grabbing capacity, and can also replace human work in dangerous environments such as high temperature, high pressure and toxic and harmful environments. In the field of aerospace, it can be used for spacecraft maintenance, repair and space station construction in space operation, and can assist in the processing and assembly of complex parts of aircraft in aviation manufacturing. In the field of service robots, it can help the elderly to complete daily tasks and household cleaning in the field of household service, and can undertake luggage carrying, table cleaning and food delivery in the field of hotel and catering service, thereby improving service efficiency and customer experience.

[0003] The traditional bionic mechanical hand simulates the “hinged joint” of human fingers (such as interphalangeal joint and metacarpophalangeal joint), and the structure is similar to a door shaft. The hinged joint needs to be matched with a “driven member” to realize movement, which is commonly “motor + connecting rod” or “motor + rope”. It can only bend along the pin shaft, and the flexibility is poor. Therefore, the present application provides a bionic mechanical hand. SUMMARY

[0004] The purpose of the present application is to provide a bionic mechanical hand to solve the above-mentioned problems.

[0005] To solve the above technical problems, the present application adopts the following technical scheme: The bionic mechanical hand comprises a palm, and five fingers are arranged on the palm, wherein the fingers comprise a thumb, an index finger, a middle finger, a ring finger and a little finger. The palm comprises a palm body, a thumb connecting groove for connecting the thumb, and a finger connecting groove for connecting the index finger, the middle finger, the ring finger and the little finger. The finger comprises a first finger joint connected with the palm, the other end of the first finger joint is connected with a second finger joint, and the other end of the second finger joint is connected with a third finger joint; the palm and the first finger joint, the first finger joint and the second finger joint, and the second finger joint and the third finger joint are connected together through elastic material.

[0006] Further, the inner bottom of the thumb connecting groove and the finger connecting groove is provided with joint pull rod one symmetrically distributed in front and back directions, and the upper part of the thumb connecting groove and the finger connecting groove is respectively provided with joint pull rod two vertically distributed with the joint pull rod one; the joint pull rod two on the thumb connecting groove is located on the outer side wall of the thumb connecting groove, and the joint pull rod two on the finger connecting groove is located on the inner side wall of the finger connecting groove.

[0007] Further, the inner bottom of the thumb connecting groove and the finger connecting groove is provided with joint pull rod one symmetrically distributed in front and back directions, and the upper part of the thumb connecting groove and the finger connecting groove is respectively provided with joint pull rod two vertically distributed with the joint pull rod one; the joint pull rod two on the thumb connecting groove is located on the outer side wall of the thumb connecting groove, and the joint pull rod two on the finger connecting groove is located on the inner side wall of the finger connecting groove.

[0008] Further, the inner bottom of the thumb connecting groove and the finger connecting groove is provided with joint pull rod one symmetrically distributed in front and back directions, and the upper part of the thumb connecting groove and the finger connecting groove is respectively provided with joint pull rod two vertically distributed with the joint pull rod one; the joint pull rod two on the thumb connecting groove is located on the outer side wall of the thumb connecting groove, and the joint pull rod two on the finger connecting groove is located on the inner side wall of the finger connecting groove.

[0009] Further, the inner bottom of the thumb connecting groove and the finger connecting groove is provided with joint pull rod one symmetrically distributed in front and back directions, and the upper part of the thumb connecting groove and the finger connecting groove is respectively provided with joint pull rod two vertically distributed with the joint pull rod one; the joint pull rod two on the thumb connecting groove is located on the outer side wall of the thumb connecting groove, and the joint pull rod two on the finger connecting groove is located on the inner side wall of the finger connecting groove.

[0010] Further, the inner bottom of the thumb connecting groove and the finger connecting groove is provided with joint pull rod one symmetrically distributed in front and back directions, and the upper part of the thumb connecting groove and the finger connecting groove is respectively provided with joint pull rod two vertically distributed with the joint pull rod one; the joint pull rod two on the thumb connecting groove is located on the outer side wall of the thumb connecting groove, and the joint pull rod two on the finger connecting groove is located on the inner side wall of the finger connecting groove.

[0011] Further, the inner bottom of the thumb connecting groove and the finger connecting groove is provided with joint pull rod one symmetrically distributed in front and back directions, and the upper part of the thumb connecting groove and the finger connecting groove is respectively provided with joint pull rod two vertically distributed with the joint pull rod one; the joint pull rod two on the thumb connecting groove is located on the outer side wall of the thumb connecting groove, and the joint pull rod two on the finger connecting groove is located on the inner side wall of the finger connecting groove.

[0012] Further, the third finger joint comprises a third finger joint body, the bottom of the third finger joint body is provided with two clamping blocks two matched with the clamping groove two, and the two ends of the clamping blocks two are symmetrically provided with joint pull rods eleven distributed in parallel with the joint pull rod nine; the bottom of the third finger joint body is hingedly arranged in the hinged groove two; and the outer side wall of the third finger joint body is distributed with joint pull rods twelve distributed in parallel with the joint pull rod ten at the middle position.

[0013] Further, the adjacent joint pull rods nine, ten, eleven and twelve are connected together through a cable.

[0014] Further, the first finger joint is provided with a first finger bending mechanism, and the third finger joint is provided with a third finger bending mechanism and a third finger swinging mechanism.

[0015] Compared with the prior art, the beneficial technical effects of the present application are: The bionic manipulator of the present application is based on a bionic manipulator of a tensegrity structure, and by virtue of a "tension-compression" balanced system composed of continuous cables and discrete pressure rods, the structure is simplified, and the "bending + slight side swing" compound motion of human fingers can be simulated. The cable can realize slight side swing, can adjust the tension in real time, can disperse stress when encountering external force impact, can avoid local pressure concentration caused by posture deviation of the grasped object, and can ensure stable operation; in terms of performance characteristics, the manipulator simplifies redundant components through a truss type topology structure, is matched with a carbon fiber composite material finger joint and a polyurethane wire cable, realizes light weight, and the weight is lower than that of a traditional manipulator; the cable made of an elastic material matches the motion track through its bending or stretching, ensures the continuity of torque transmission; and the end bionic multi-finger executor is matched with a pressure and tactile sensor to feedback information, adjusts the gripping force and contact angle, and realizes flexible motion from fine operation to strong grasping. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further described below in combination with the description of the drawings.

[0017] Figure 1 Fig. 1 is a structural schematic diagram of the bionic manipulator of the present application; Figure 2 Fig. 2 is a structural schematic diagram of the palm of the present application; Figure 3 Fig. 3 is a structural schematic diagram of the finger of the present application; Figure 4 Fig. 4 is a structural schematic diagram of the local structure of the finger of the present application; Figure 5 Fig. 5 is a sectional view of the finger of the present application; Figure 6 Fig. 6 is a structural schematic diagram of the first finger joint of the present application; Figure 7 Fig. 7 is a structural schematic diagram of the second finger joint of the present application; Figure 8 This is a schematic diagram of the third finger joint structure; Figure 9 A schematic diagram of the first finger bending mechanism, the third finger bending mechanism, and the third finger swinging mechanism; Figure 10 Schematic diagram of the drive rope installation structure; Figure 11 Diagram of an end effector bionic multi-finger actuator system; Explanation of reference numerals in the attached diagram: 1. Palm; 2. Finger; 3. First finger bending mechanism; 4. Third finger bending mechanism; 5. Third finger swinging mechanism; 101. Hand body; 102. Thumb connecting groove; 103. Joint lever one; 104. Joint lever two; 105. Finger connecting groove; 106. Joint lever one placement groove; 201. First finger joint; 202. Second finger joint; 203. Third finger joint; 204. Cable; 2011. Connecting block; 2012. Joint rod three; 2013. Joint rod four; 2014. First finger joint body; 2015. Joint rod five; 2016. Hinge plate one; 2017. Joint rod six; 2018. Slot one; 2019. Hinge slot one; 2021. Second finger joint body; 2022. Locking block one; 2023. Joint tie rod seven; 2024. Joint tie rod eight; 2025. Joint tie rod nine; 2026. Hinge plate two; 2027. Locking groove two; 2028. Joint tie rod ten; 2029. Hinge groove two; 2031. Main body of the third finger joint; 2032. Locking block two; 2033. Joint lever eleven; 2034. Joint lever twelve; 401. Servo motor; 402. Winch; 403. Drive rope. Detailed Implementation

[0018] like Figures 1-8 As shown, a bionic robotic hand includes a palm 1, on which five fingers 2 are provided, including a thumb, index finger, middle finger, ring finger and little finger; The palm 1 includes a palm body 101, the palm body 101 having a thumb connecting groove 102 for connecting the thumb and a finger connecting groove 105 for connecting the index finger, middle finger, ring finger and little finger; The finger 2 comprises a first finger joint 201 connected with the palm 1, the other end of the first finger joint 201 is connected with a second finger joint 202, the other end of the second finger joint 202 is connected with a third finger joint 203. The first finger joint 201, the second finger joint 202 and the third finger joint 203 are all made of carbon fiber composite material, realizing light weight, the weight is lower than that of traditional mechanical hand. The palm 1 and the first finger joint 201, the first finger joint 201 and the second finger joint 202, the second finger joint 202 and the third finger joint 203 are connected together through elastic material.

[0019] The inner bottom of the thumb connecting groove 102 and the finger connecting groove 105 is provided with joint pull rod one 103 which is symmetrically distributed in front and back direction, the thumb connecting groove 102 and the finger connecting groove 105 are respectively provided with joint pull rod two 104 which is vertically distributed with the joint pull rod one 103; the joint pull rod two 104 on the thumb connecting groove 102 is located on the outer side wall of the thumb connecting groove 102, the joint pull rod two 104 on the finger connecting groove 105 is located on the inner side wall of the finger connecting groove 105.

[0020] The thumb connecting groove 102 and the finger connecting groove 105 are provided with joint pull rod one placing groove 106.

[0021] The first finger joint 201 comprises a first finger joint body 2014, the bottom center position of the first finger joint body 2014 is provided with a downward extending connecting block 2011, the outer side wall of the connecting block 2011 is symmetrically provided with joint pull rod four 2013 which cooperates with the joint pull rod two 104, the bottom of the connecting block 2011 is symmetrically provided with joint pull rod three 2012 which cooperates with the joint pull rod one 103, the joint pull rod three 2012 and the joint pull rod four 2013 are vertically distributed; the upper end face of the first finger joint body 2014 is integrally formed with hinged plate one 2016 which is symmetrically provided with joint pull rod five 2015 on the outer side wall of the bottom, the joint pull rod six 2017 is symmetrically provided on the outer side wall of the top; the end of the hinged plate one 2016 located on the outer side and the first finger joint body 2014 form clamping groove one 2018, the hinged groove one 2019 is formed between the symmetric hinged plate one 2016.

[0022] The joint pull rod one 103 and the joint pull rod three 2012, the joint pull rod two 104 and the joint pull rod four 2013 are all connected together through cable 204.

[0023] The second finger joint 202 comprises a second finger joint body 2021, the bottom of the second finger joint body 2021 is provided with a clamping block 1 2022 matched with the clamping groove 1 2018, and the two ends of the clamping block 1 2022 are symmetrically provided with joint pull rods 7 2023 distributed in parallel with the joint pull rod 5 2015; the bottom of the second finger joint body 2021 is hingedly arranged in the hinged groove 1 2019; the middle position of the outer side wall of the second finger joint body 2021 is distributed with joint pull rods 8 2024 distributed in parallel with the joint pull rod 6 2017; the left and right sides of the upper end face of the second finger joint body 2021 are integrally formed with hinged plates 2 2026, the bottom outer side walls of the hinged plates 2 2026 are symmetrically provided with joint pull rods 9 2025 at the outer side positions, and the top outer side walls of the hinged plates 2 2026 are symmetrically provided with joint pull rods 10 2028 at the inner side positions; one end of the hinged plate 2 2026 at the outer side and the second finger joint body 2021 form a clamping groove 2 2027, and the hinged grooves 2 2029 are formed between the symmetric hinged plates 2 2026.

[0024] The adjacent joint pull rods 5 2015, joint pull rods 6 2017, joint pull rods 7 2023 and joint pull rods 8 2024 are connected together through the cable 204.

[0025] The third finger joint 203 comprises a third finger joint body 2031, the bottom of the third finger joint body 2031 is provided with a clamping block 2 2032 matched with the clamping groove 2 2027, and the two ends of the clamping block 2 2032 are symmetrically provided with joint pull rods 11 2033 distributed in parallel with the joint pull rod 9 2025; the bottom of the third finger joint body 2031 is hingedly arranged in the hinged groove 2 2029; and the middle position of the outer side wall of the third finger joint body 2031 is distributed with joint pull rods 12 2034 distributed in parallel with the joint pull rod 10 2028.

[0026] The adjacent joint pull rods 9 2025, joint pull rods 10 2028, joint pull rods 11 2033 and joint pull rods 12 2034 are connected together through the cable 204.

[0027] Specifically, the cable 204 is mainly made of elastic material (polyurethane wire), which can realize slight side swing to simulate the composite motion of "bending + slight side swing" of human fingers. When impacted, the cable 204 will be forced to lengthen, and the tension will increase, thereby prolonging the time for the structure to absorb the impact and more evenly distributing the stress generated by the impact on the structure.

[0028] The first finger joint 201 is provided with a first finger bending mechanism 3, and the third finger joint 203 is provided with a third finger bending mechanism 4 and a third finger swinging mechanism 5. Specifically, the first finger bending mechanism 3, the third finger bending mechanism 4, and the third finger swinging mechanism 5 all include a servo motor 401. The servo motor 401 drives the winch 402 to rotate, and the rotation of the shaft on the winch 402 causes the drive rope 403 on it to wind and tighten or loosen. In this embodiment, the center position of the drive rope 403 is fixedly connected to the center position of the first finger joint 201. The two segments of the drive rope 403, divided by the center position, are spirally wound in opposite directions on the shaft of the winch 402. When the winch 402 rotates, one end contracts and the other side loosens, thus controlling the movement of the rope. Driven by the forward and reverse rotation of the servo motor 401, the finger joints 402 achieve bending or straightening relative to the palm 1; the second finger joint 202 passively adjusts its bending and straightening state during the bending and straightening adjustment of the first finger joint 201; the third finger joint 203, in the same way, adjusts its bending and straightening state under the drive rope 403; in addition, the drive rope 403 on the third finger swing mechanism 5 is distributed on the left and right sides of the third finger joint 203, realizing the left and right swing of the third finger joint 203, thereby driving the left and right swing of the entire finger 2.

[0029] Finger joint connection: via Figure 3 As can be seen, several symmetrically distributed attachment points are set between adjacent finger joints, and adjacent attachment points are connected together by a cable 204. The cable 204 combines two finger joints together by mimicking the form of a ligament. During the bending of finger 2, a downward torque is applied to the third finger joint 203. The cable 204 at the connection between the third finger joint 203 and the second finger joint 202 receives the torque and transmits it downward. It can conform to the movement trajectory through its own bending or stretching, ensuring the continuity of torque transmission. In addition, when multiple joints bend in coordination, the movement angles of each joint are difficult to be completely synchronized. The cable 204 can adapt to this angle difference and avoid jamming. At the same time, since the cable 204 has no fixed bending radius limitation, it can achieve continuous bending of any curvature according to the movement needs of the finger joints—from the small radius bending of the fingertip to the large radius bending of the finger root. The cable 204 can completely conform to the bending trajectory of the finger joint, forming a "smooth arc movement" similar to that of the human finger, making the finger bending more natural and improving the user's feel and coordination when grasping objects.

[0030] Connections of the metacarpophalangeal joints: From Figure 1 It can be seen that there are 8 attachment points at the first finger joint 201 and the finger connection groove 105, which are connected by the cable 204 according to... Figure 1 The connection is completed in the form of , that is, the front and back directions are connected together, and the left and right directions are connected together.

[0031] like Figure 11As shown, the bionic manipulator is based on a tensegrity structure design, adopts a five-finger layout, and the finger joints can only bend towards the palm or straighten away from the palm. The bionic multi-finger executor system at the end cooperates to realize the gripping operation on the object. Specifically, the gripping force and the contact angle are adjusted to complete stable gripping through the feedback information of the pressure and tactile sensor; the force feedback system and the dynamics control algorithm cooperate to adjust the posture in real time and control the vibration during carrying, so as to ensure the safe and reliable carrying. The flexible strain gauges (range 0-20N, accuracy ±0.1N) distributed in the cross shape at the fingertips distinguish the normal pressure and the lateral force, the PVDF piezoelectric film (1cm×1cm) at the finger pulp identifies the surface texture through the charge signal, and the joint magnetic encoder (resolution 0.1°) feeds back the bending angle. Under the force-position hybrid control strategy, the target is quickly approached according to the instruction in the initial stage (60% of the bending amount is completed in 0.2s), and then switched to the PID force control mode after contact (pressure>0.5N). Different pressure thresholds (such as 2-3N for eggs and 5-8N for metal blocks) are set for soft / hard targets, and the deformation or texture stability is monitored, and the pressure difference of three fingers is corrected to be less than 1N within 0.1s. Relying on the self-balancing characteristics of the tensegrity, the cable tension can be automatically compensated (response <50ms) when encountering slight disturbance, forming an anti-interference mechanism of “passive compliance + active adjustment”. The force feedback system tracks the tension change through the cable tension sensor (accuracy ±0.5N), the dynamics algorithm is modeled based on the Newton-Euler equation, and the target gravity center offset is controlled by combining the coarse adjustment of the manipulator and the fine adjustment of the manipulator. For the resonance of 10-15Hz, the “tension damping control” is adopted to absorb energy through the reverse pulse current of the servo motor, so as to reduce the amplitude.

[0032] The action process of the present application is as follows: Taking the movement of the index finger as an example: the steering wheel 401 of the first finger bending mechanism 3 drives the winch 402 to rotate, drives the rope 403 to contract (the other side is relaxed), drives the first finger joint 201 to bend towards the palm 1, and vice versa, the first finger joint 201 is vertical to the palm 1; the steering wheel 401 of the third finger bending mechanism 4 drives the winches 402 on both sides to rotate, drives the ropes 403 to contract (the other side is relaxed), drives the third finger joint 203 to bend towards the palm 1, and vice versa, the third finger joint 203 is vertical to the palm 1; the steering wheel 401 of the third finger swinging mechanism 5 drives the winches 402 on both sides to rotate, drives the ropes 403 to contract (the other side is relaxed), drives the third finger joint 203 to swing left and right, and vice versa, the third finger joint 203 is vertical to the palm 1. The gripping action on the object is performed through the bending in the forward and backward directions and the swinging in the left and right directions. With the side swing characteristics of the cable 204, the “bending + slight side swing” compound motion of the simulated human finger is matched, and the bionic multi-finger executor system at the end is cooperated, the gripping force and the contact angle are adjusted through the feedback information of the pressure and tactile sensor, and the efficient and stable gripping is realized.

[0033] The above described embodiments are only to illustrate the preferred modes of the present application, and are not intended to limit the scope of the present application. Any modification and improvement made by those skilled in the art to the technical solutions of the present application without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A bionic robotic hand, characterized in that: Includes a palm (1), on which five fingers (2) are provided, including the thumb, index finger, middle finger, ring finger and little finger; The palm (1) includes a palm body (101), the palm body (101) having a thumb connecting groove (102) for connecting the thumb and a finger connecting groove (105) for connecting the index finger, middle finger, ring finger and little finger. The finger (2) includes a first finger joint (201) connected to the palm (1), the other end of the first finger joint (201) being connected to a second finger joint (202), and the other end of the second finger joint (202) being connected to a third finger joint (203); adjacent palms (1) and the first finger joint (201), the first finger joint (201) and the second finger joint (202), the second finger joint (202) and the third finger joint (203) are connected together by an elastic material.

2. The bionic robotic hand according to claim 1, characterized in that: Both the thumb connecting groove (102) and the finger connecting groove (105) are provided with symmetrically distributed joint rods 1 (103) in the front-back direction at the bottom. The thumb connecting groove (102) and the finger connecting groove (105) are respectively provided with joint rods 2 (104) that are perpendicular to the joint rods 1 (103). The joint rods 2 (104) on the thumb connecting groove (102) are located on the outer wall of the thumb connecting groove (102), and the joint rods 2 (104) on the finger connecting groove (105) are located on the inner wall of the finger connecting groove (105).

3. The bionic robotic hand according to claim 2, characterized in that: The thumb connecting groove (102) and the finger connecting groove (105) are provided with a joint pull rod placement groove (106).

4. The bionic robotic hand according to claim 2, characterized in that: The first finger joint (201) includes a first finger joint body (2014). A connecting block (2011) extending downward is provided at the bottom center of the first finger joint body (2014). A joint rod four (2013) cooperating with the joint rod two (104) is symmetrically provided on the outer side wall of the connecting block (2011). A joint rod three (2012) cooperating with the joint rod one (103) is symmetrically provided at the bottom of the connecting block (2011). The joint rod three (2012) and the joint rod four (2013) are vertically distributed. The upper end face of the first finger joint body (2014) is integrally formed with hinge plate one (2016) symmetrically. The bottom outer wall of the hinge plate one (2016) is symmetrically provided with joint rod five (2015) at the outer position. The top outer wall of the hinge plate one (2016) is symmetrically provided with joint rod six (2017) at the inner position. A groove one (2018) is formed between the outer end of the hinge plate one (2016) and the first finger joint body (2014). A hinge groove one (2019) is formed between the hinge plates one (2016) symmetrically.

5. The bionic robotic hand according to claim 4, characterized in that: The joint rods 1 (103) and 3 (2012), and the joint rods 2 (104) and 4 (2013) are all connected together by cables (204).

6. The bionic robotic hand according to claim 4, characterized in that: The second finger joint (202) includes a second finger joint body (2021). The bottom of the second finger joint body (2021) is provided with a locking block (2022) that cooperates with the locking groove (2018). The two ends of the locking block (2022) are symmetrically provided with joint rods (2023) that are parallel to the joint rods (2015). The bottom of the second finger joint body (2021) is hinged in the hinge groove (2019). The middle position of the outer side wall of the second finger joint body (2021) is provided with joints that are parallel to the joint rods (2017). Pull rod eight (2024); the upper end face of the second finger joint body (2021) is integrally formed with hinge plate two (2026) symmetrically on the left and right sides. The bottom outer wall of the hinge plate two (2026) is symmetrically provided with joint pull rod nine (2025) on the outer side position. The top outer wall of the hinge plate two (2026) is symmetrically provided with joint pull rod ten (2028) on the inner side position. A slot two (2027) is formed between the outer end of the hinge plate two (2026) and the second finger joint body (2021). A hinge groove two (2029) is formed between the two hinge plates two (2026) symmetrically.

7. The bionic robotic hand according to claim 6, characterized in that: The adjacent joint rods five (2015), six (2017), seven (2023), and eight (2024) are connected together by a cable (204).

8. The bionic robotic hand according to claim 6, characterized in that: The third finger joint (203) includes a third finger joint body (2031), and a locking block (2032) that cooperates with the locking groove (2027) is provided at the bottom of the third finger joint body (2031). The two ends of the locking block (2032) are symmetrically provided with joint rods eleven (2033) that are parallel to the joint rod nine (2025). The bottom of the third finger joint body (2031) is hinged in the hinge groove two (2029). The middle position of the outer side wall of the third finger joint body (2031) is provided with joint rods twelve (2034) that are parallel to the joint rod ten (2028).

9. The bionic robotic hand according to claim 8, characterized in that: The adjacent joint rods nine (2025), ten (2028), eleven (2033), and twelfth (2034) are connected together by cables (204).

10. The bionic robotic hand according to claim 1, characterized in that: The first finger joint (201) is provided with a first finger bending mechanism (3), and the third finger joint (203) is provided with a third finger bending mechanism (4) and a third finger swinging mechanism (5).

Images