A multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger

Abstract

This invention provides a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger, relating to the field of robot finger technology. It includes a mounting base, a knuckle assembly, a grasping drive assembly, a lateral swing drive assembly, and a rotation drive assembly. The knuckle assembly comprises a distal, middle, and proximal knuckle connected sequentially. The grasping drive assembly is mounted on the mounting base and is drive-connected to the knuckle assembly, driving the knuckle assembly to rotate around a first axis. After the proximal knuckle contacts an object, it drives the middle knuckle to rotate around a second axis and the distal knuckle to rotate around a third axis. After the middle knuckle contacts an object, it drives the distal knuckle to rotate around the third axis. The lateral swing drive assembly is slidably connected to the mounting base and drive-connected to the grasping drive assembly, driving the knuckle assembly to swing around a fourth axis. The rotation drive assembly is drive-connected to the lateral swing drive assembly, driving the knuckle assembly to rotate around a fifth axis. This invention achieves five degrees of freedom movement for the dexterous hand finger, expanding the range of finger posture adjustment.

Description

Technical Field

[0001] This invention relates to the field of robotic finger technology, and more particularly to a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger. Background Technology

[0002] In recent years, robotics technology has been rapidly adopted in industrial manufacturing, logistics, service robots, and special operations. As a core component of the robot's end effector, the bionic dexterous hand's flexibility, adaptability, and reliability directly determine the overall robot's performance. Especially in automated welding production lines, the grasping, transfer, posture adjustment, and precise positioning of workpieces place higher demands on the flexibility and adaptability of the bionic dexterous hand. To balance control complexity, manufacturing cost, and structural compactness, dexterous hand fingers with underactuated coupling adaptive structures have been widely researched and applied. These fingers utilize drive units with fewer than the joint degrees of freedom, combined with linkage transmission and elastic elements to achieve multi-joint linkage. This allows the fingers to passively adapt to the object's shape during grasping, simplifying the structure, reducing costs, while possessing good grasping robustness and engineering practicality. However, current conventional underactuated bionic dexterous hands can generally only achieve basic movements such as flexion, extension, adduction, and abduction. While they can perform gripping and handling of conventional objects, they still suffer from insufficient degrees of freedom in practical applications. This results in a limited range of finger posture adjustment and a small working range, making it difficult to adapt to the grasping and precision operation requirements of objects with complex spatial postures and irregular shapes. Consequently, they cannot meet the requirements of high precision, high adaptability, and multi-scenario operations, thus hindering further improvement in the overall performance of bionic dexterous hands.

[0003] Therefore, there is an urgent need for a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger to improve the operational flexibility and accuracy of the dexterous hand finger and meet the high-performance requirements of automated production lines and complex work scenarios. Summary of the Invention

[0004] This invention provides a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger to improve the dexterity and accuracy of dexterous hand fingers.

[0005] This invention provides a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger, comprising: a mounting base, and... A knuckle assembly comprising a distal knuckle, a mid knuckle, and a proximal knuckle that cooperate with each other and are connected in sequence, the proximal knuckle being located on the side closer to the mounting base; A gripping drive assembly is mounted on a mounting base and is respectively connected to the distal phalanx, the middle phalanx, and the proximal phalanx. The gripping drive assembly drives the distal phalanx, the middle phalanx, and the proximal phalanx to rotate synchronously around a first axis until the middle phalanx contacts an object. Then, the middle phalanx rotates around a second axis and the distal phalanx rotates around a third axis. The first axis is the axis at the connection point between the proximal phalanx and the gripping drive assembly, the second axis is the axis at the connection point between the proximal phalanx and the middle phalanx, and the third axis is the axis at the connection point between the middle phalanx and the distal phalanx. The first axis, the second axis, and the third axis are parallel to each other. A side-swing drive assembly is slidably connected to a mounting base and is drively connected to a gripping drive assembly, used to drive the gripping drive assembly to drive the knuckle assembly to swing synchronously around a fourth axis, the fourth axis being perpendicular to the first axis; A rotation drive assembly is connected to the side swing drive assembly and is used to drive the side swing drive assembly to drive the knuckle assembly to rotate synchronously around a fifth axis; the fifth axis is perpendicular to the fourth axis.

[0006] According to the technical solutions provided in certain embodiments of the present invention, both the distal phalanx and the mid-phalanx include: The knuckle body is a hollow triangular frame structure made of flexible material, including a contact part, a connecting part, and a deformable part connected end to end; the contact part is used to fit against an object; the deformable part has multiple grooves to expand the deformation range of the deformable part. A connecting beam, which is made of a flexible material, is disposed inside the knuckle body, with one end connected to the contact portion and the other end connected to the deformation portion.

[0007] According to the technical solutions provided in some embodiments of the present invention, the gripping drive assembly includes a first drive member, a first transmission assembly, a second transmission assembly, and a third transmission assembly; The first driving component is mounted on the mounting base; One end of the first transmission component is connected to the first driving member, and the other end is rotatably connected to the end of the proximal phalanx near the mounting base and the end of the second transmission component via a rotating shaft. A rotational damping elastic element is provided between the first transmission assembly and the second transmission assembly; the other end of the second transmission assembly is connected to the connecting part of the middle finger joint. The third transmission assembly is drive-connected to the first transmission assembly, rotatably connected to the second transmission assembly, and drive-connected to the connecting part of the distal phalanx, so that the first driving member drives the first, second, and third transmission assemblies to drive the distal, middle, and proximal phalanges to rotate synchronously around the axis of the rotation shaft until the proximal phalanx contacts the object, which then drives the middle phalanx to rotate around the second axis and the distal phalanx to rotate around the third axis. Finally, the middle phalanx contacts the object, and the first transmission assembly overcomes the force of the rotation damping elastic element to drive the third transmission assembly to make the distal phalanx rotate around the third axis, where the axis of the rotation shaft is the first axis.

[0008] According to certain embodiments of the present invention, the first transmission assembly includes: a third transmission link, a fourth transmission link, a fifth transmission link, and a sixth transmission link that are rotatably connected in sequence; the end of the third transmission link near the first driving member is connected to the first driving member; the end of the sixth transmission link near the rotating shaft, the end of the proximal phalanx near the mounting base, and the end of the second transmission assembly are rotatably connected via the rotating shaft.

[0009] According to certain embodiments of the present invention, the second transmission component includes: The first transmission link, the end of the first transmission link near the rotating shaft, the end of the proximal finger joint near the mounting base, and the end of the sixth transmission link near the rotating shaft are rotatably connected by the rotating shaft, and the rotation damping elastic element is disposed between the first transmission link and the sixth transmission link; The first follower link is symmetrically arranged with the first transmission link along the fourth axis and passes through the rotating shaft; The second transmission link is disposed between the first transmission link and the first follower link, and its two sides at the end away from the middle finger joint are respectively rotatably connected to the first transmission link and the first follower link, and its end near the middle finger joint is rotatably connected to the connecting part of the middle finger joint.

[0010] According to the technical solutions provided in certain embodiments of the present invention, the third transmission component includes: The seventh transmission link has one end rotatably connected to the end of the sixth transmission link away from the rotating shaft, and the other end rotatably connected to the connecting part of the distal finger joint. The second follower link is symmetrically arranged with the seventh transmission link along the fourth axis, and one end of the second follower link is rotatably connected to the distal finger joint; The third follower link has one end near the rotating shaft that passes through the rotating shaft, and the other end away from the rotating shaft that is rotatably connected to the other end of the second follower link.

[0011] According to certain embodiments of the present invention, the lateral sway drive assembly includes: A sliding seat, one end of which is slidably connected to the mounting base; The second driving component is slidably connected to the mounting base; An active transmission component, wherein the active transmission component is connected to the output end of the second driving component; The driven transmission component has one end meshing with the driving transmission component, and the other end passing through the rotating shaft and rotatably connected to the other end of the sliding seat, and the driven transmission component is fixedly connected to the rotating shaft; When the second driving member drives the active transmission member to rotate, the driven transmission member rotates synchronously with the active transmission member, thereby causing the rotating shaft and the knuckle assembly to swing synchronously around the axis of the driven transmission member; the axis of the driven transmission member is the fourth axis.

[0012] According to certain embodiments of the present invention, the rotation drive assembly includes: A third driving component is fixedly connected to the mounting base; A rotating transmission component, one end of which passes through the mounting base and is fixedly connected to the second driving component, and the other end of which is connected to the output end of the third driving component; When the third driving member drives the rotary transmission member to rotate, the rotary transmission member drives the side-swing driving assembly to rotate on the mounting base around the axis of the output end of the third driving member, thereby driving the knuckle assembly to rotate synchronously around the axis of the output end of the third driving member; the axis of the output end of the third driving member is the fifth axis.

[0013] According to the technical solutions provided by certain embodiments of the present invention, the dexterous hand fingers further include: a first buffer disposed between the distal phalanx and the middle phalanx, and a second buffer disposed between the middle phalanx and the proximal phalanx.

[0014] In summary, this invention provides a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger, comprising: a mounting base, and a knuckle assembly, the knuckle assembly including a distal knuckle, a mid-knuckle, and a proximal knuckle that cooperate with each other and are connected in sequence, the proximal knuckle being located on the side closer to the mounting base; and a gripping drive assembly, the gripping drive assembly being disposed on the mounting base and respectively connected to the distal knuckle, mid-knuckle, and proximal knuckle for transmission, so that the gripping drive assembly drives the distal knuckle, mid-knuckle, and proximal knuckle to rotate synchronously around a first axis until the proximal knuckle contacts an object, after which it drives the mid-knuckle to rotate around a second axis and drives the distal knuckle to rotate around a third axis, until the mid-knuckle contacts an object and drives the distal knuckle to rotate around the third axis. The first axis is the axis connecting the proximal phalanx to the gripping drive assembly; the second axis is the axis connecting the proximal phalanx to the middle phalanx; and the third axis is the axis connecting the middle phalanx to the distal phalanx. The first, second, and third axes are parallel to each other. A lateral swing drive assembly is slidably connected to the mounting base and drive-transmittedly connected to the gripping drive assembly. It drives the gripping drive assembly to synchronously swing the phalanx assembly around a fourth axis, which is perpendicular to the first axis. A rotation drive assembly is drive-transmittedly connected to the lateral swing drive assembly. It drives the lateral swing drive assembly to synchronously rotate the phalanx assembly around a fifth axis, which is perpendicular to the fourth axis. Compared with existing technologies, this invention achieves multi-dimensional movement of the finger joints around five axes (first, second, third, fourth, and fifth) by connecting the gripping drive component and the knuckle component, the lateral swing drive component and the gripping drive component, and the rotation drive component and the lateral swing drive component. This enables the gripping drive component, the lateral swing drive component, and the rotation drive component to work together to drive the movement of the knuckle component. This allows the fingers of a dexterous hand to simultaneously perform flexion and extension, lateral swing, and overall rotation, significantly expanding the range of finger posture adjustment and workspace. It effectively solves the pain points of insufficient freedom of movement and difficulty in adapting to objects with complex spatial postures and irregular shapes in existing technologies. It can meet the high-precision requirements for gripping, transferring, posture adjustment, and precise positioning of workpieces in scenarios such as automated welding production lines.

[0015] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this invention do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0017] Figure 1 A first side view of the fingers of a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand provided in an embodiment of the present invention; Figure 2 A front view of the fingers of a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the distal phalanx provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the grasping driver component provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the first transmission component provided in an embodiment of the present invention; Figure 6 A schematic diagram showing the installation position of the rotational damping elastic element provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the third transmission assembly provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the side-swing drive assembly provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the second transmission link provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the driven transmission component provided in an embodiment of the present invention; Figure 11This is a schematic diagram of the first grasping condition provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the second grasping condition provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the third grasping condition provided in an embodiment of the present invention; Figure 14 This is a first schematic diagram of the lateral swing condition provided in an embodiment of the present invention; Figure 15 This is a second schematic diagram of the side-swing condition provided in an embodiment of the present invention; Figure 16 This is a first schematic diagram of the rotational working condition provided in an embodiment of the present invention; Figure 17 This is a second schematic diagram of the rotational working condition provided in an embodiment of the present invention.

[0018] The text labels in the image represent: 1. Mounting base; 2. Knuckle assembly; 3. Grip drive assembly; 4. First buffer; 5. Second buffer; 7. Side swing drive assembly; 8. Rotation drive assembly; 21. Distal knuckle; 22. Middle knuckle; 23. Proximal knuckle; 31. First drive member; 32. First transmission assembly; 33. Second transmission assembly; 34. Third transmission assembly; 35. Fourth connecting shaft; 36. Rotation shaft; 37. Rotation damping elastic element; 38. First connecting shaft; 39. Second connecting shaft; 40. Third connecting shaft; 41. Fifth connecting shaft; 42. Sixth connecting shaft; 71. Second drive member; 72. Active transmission element; 73. Driven transmission element; 731. Engaging part; 732. Rotating part; 74. Sliding seat; 81. Third drive member; 82. Rotation transmission element ; 321, Third transmission link; 322, Fourth transmission link; 323, Fifth transmission link; 324, Sixth transmission link; 331, First transmission link; 332, Second transmission link; 333, First follower link; 341, Seventh transmission link; 342, Second follower link; 343, Third follower link; 3321, First transmission part; 3322, Second transmission part; 3323, Third transmission part; a, Knuckle body; a1, Contact part; a2, Connecting part; a3, Deformation part; b, Connecting beam; 11, First guide rail; 12, Second guide rail; 13, Third guide rail; 14, Fourth guide rail; 15, Fifth guide rail; L1, First axis; L2, Second axis; L3, Third axis; L4, Fourth axis; L5, Fifth axis. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. This description is merely illustrative and explanatory, and should not be construed as limiting the scope of protection of the present invention in any way. Specifically, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0021] As mentioned in the background section, to address the problems in the prior art, this embodiment provides a multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger, including: a mounting base 1, and... The knuckle assembly 2 includes a distal knuckle 21, a middle knuckle 22 and a proximal knuckle 23 that cooperate with each other and are connected in sequence, with the proximal knuckle 23 located on the side closer to the mounting base 1; A gripping drive assembly 3 is mounted on the mounting base 1 and is connected to the distal phalanx 21, the middle phalanx 22, and the proximal phalanx 23 respectively. The gripping drive assembly 3 drives the distal phalanx 21, the middle phalanx 22, and the proximal phalanx 23 to rotate synchronously around the first axis L1 until the proximal phalanx 23 contacts the object, which then drives the middle phalanx 22 to rotate around the second axis L2 and the distal phalanx 21 to rotate around the third axis L3 until the middle phalanx 22 contacts the object, which then drives the distal phalanx 21 to rotate around the third axis L3. The first axis L1 is the axis at the connection position between the proximal phalanx 23 and the gripping drive assembly 3, the second axis L2 is the axis at the connection position between the proximal phalanx 23 and the middle phalanx 22, and the third axis L3 is the axis at the connection position between the middle phalanx 22 and the distal phalanx 21. The first axis L1, the second axis L2, and the third axis L3 are parallel to each other. Side swing drive assembly 7 is slidably connected to mounting base 1 and is drively connected to gripping drive assembly 3. It is used to drive gripping drive assembly 3 to drive finger assembly 2 to swing synchronously around fourth axis L4. Fourth axis L4 is perpendicular to first axis L1. Rotation drive assembly 8 is connected to the side swing drive assembly 7 and is used to drive the side swing drive assembly 7 to drive the knuckle assembly 2 to rotate synchronously around the fifth axis L5; the fifth axis L5 is perpendicular to the fourth axis L4.

[0022] For details, please refer to Figure 1 , Figure 2 and Figure 8 The dexterous hand fingers provided in this embodiment are fixed to a mounting base 1, which supports the knuckle assembly 2, the grasping drive assembly 3, the lateral swing drive assembly 7, and the rotation drive assembly 8. The mounting base 1 is provided with a first guide rail 11, a second guide rail 12, a third guide rail 13, a fourth guide rail 14, and a fifth guide rail 15 arranged parallel to each other along its width. The knuckle assembly 2 is the actuating component for grasping actions. It simulates the segmented structure of a human finger, including a distal knuckle 21, a mid-knuckle 22, and a proximal knuckle 23 connected sequentially, with the proximal knuckle 23 closer to the mounting base 1 than the distal knuckle 21 and the mid-knuckle 22. The gripping drive assembly 3 is the component that drives the knuckle assembly 2 to perform bending gripping actions. It is connected to the distal knuckle 21, the middle knuckle 22, and the proximal knuckle 23 respectively, so that the gripping drive assembly 3 drives the distal knuckle 21, the middle knuckle 22, and the proximal knuckle 23 to rotate synchronously around the first axis L1. After the proximal knuckle 23 contacts the object, it drives the middle knuckle 22 to rotate around the second axis L2 (the axis of the second connecting shaft 39 connecting the middle knuckle 22 and the proximal knuckle 23), and drives the distal knuckle 21 to rotate around the third axis L3 (the axis of the first connecting shaft 38 connecting the distal knuckle 21 and the middle knuckle 22). After the middle knuckle 22 contacts the object, it continues to drive the distal knuckle 21 to rotate around the third axis L3 until the distal knuckle 21 also contacts the object. The first axis L1, the second axis L2, and the third axis L3 are parallel to each other. The lateral swing drive assembly 7 drives the knuckle assembly 2 to swing laterally. The lateral swing drive assembly 7 is slidably connected to the mounting base 1 via the second guide rail 12, the third guide rail 13, the fourth guide rail 14, and the fifth guide rail 15, and is also driveably connected to the gripping drive assembly 3. Since the gripping drive assembly 3 is driveably connected to the knuckle assembly 2, when the lateral swing drive assembly 7 drives the gripping drive assembly 3 to swing around the fourth axis L4, the knuckle assembly 2 will also swing synchronously around the fourth axis L4. The rotation drive assembly 8 drives the knuckle assembly 2 to rotate. Since the rotation drive assembly 8 is driveably connected to the lateral swing drive assembly 7, which is driveably connected to the gripping drive assembly 3, and the gripping drive assembly 3 is driveably connected to the knuckle assembly 2, when the rotation drive assembly 8 drives the lateral swing drive assembly 7 to rotate around the fifth axis L5, it will drive the gripping drive assembly 3 and the knuckle assembly 2 to rotate synchronously.

[0023] This invention achieves the coordinated operation of the gripping drive component 3, the lateral swing drive component 7, and the rotation drive component 8 to drive the joint component 2 through the transmission connection between the gripping drive component 3 and the joint component 2, the transmission connection between the lateral swing drive component 7 and the gripping drive component 3, and the transmission connection between the rotation drive component 8 and the lateral swing drive component 7. This enables the joint component 2 to perform multi-dimensional movements around the first axis L1, the second axis L2, the third axis L3, the fourth axis L4, and the fifth axis L5. This allows the fingers of a dexterous hand to simultaneously complete flexion, extension, lateral swing, and overall rotation, expanding the range of finger posture adjustment and working space. It effectively solves the pain points of insufficient finger freedom of movement and difficulty in adapting to objects with complex spatial postures and irregular shapes in the prior art.

[0024] In a preferred embodiment, both the distal phalanx 21 and the middle phalanx 22 include: The knuckle body a is a hollow triangular frame structure made of flexible material, including a contact part a1, a connecting part a2 and a deformable part a3 connected end to end in sequence; the contact part a1 is used to fit with an object; the deformable part a3 has multiple grooves to expand the deformation range of the deformable part a3. Connecting beam b is made of flexible material and is located inside the finger joint body a. One end of the connecting beam b is connected to the contact part a1 and the other end is connected to the deformation part a3.

[0025] Specifically, such as Figure 3 As shown, both the distal phalanx 21 and the middle phalanx 22 employ a hollow triangular flexible frame design made of flexible material, comprising a contact portion a1, a connecting portion a2, and a deformation portion a3 connected end-to-end. The contact portion a1 conforms to the surface of an object and has multiple protruding edges to increase friction and engagement stability, adapting to the gripping of smooth workpieces. The connecting portion a2 serves as the connection point between the middle or distal phalanx 22 and other components. The deformation portion a3 has multiple grooves; when the contact portion a1 contacts an object, it deforms along the grooves, allowing the phalanx body a to adapt to the object's contour and improving finger flexibility. The connecting beam b, located between the contact portion a1 and the deformation portion a3 and made of flexible material, enhances the fatigue resistance of the phalanx body a without affecting its flexible deformation, preventing tearing or deformation during repeated object gripping.

[0026] In a preferred embodiment, the gripping drive assembly 3 includes a first drive member 31, a first transmission assembly 32, a second transmission assembly 33, and a third transmission assembly 34; The first driving component 31 is mounted on the mounting base 1; One end of the first transmission component 32 is connected to the first driving component 31, and the other end is rotatably connected to the end of the proximal phalanx 23 near the mounting base 1 and one end of the second transmission component 33 via a rotating shaft 36. A rotation damping elastic element 37 is provided between the first transmission assembly 32 and the second transmission assembly 33; the other end of the second transmission assembly 33 is connected to the connecting part a2 of the middle finger joint 22. The third transmission assembly 34 is connected to the first transmission assembly 32, rotatably connected to the second transmission assembly 33, and connected to the connecting part a2 of the distal phalanx 21. This allows the first driving member 31 to drive the first transmission assembly 32, the second transmission assembly 33, and the third transmission assembly 34 to jointly drive the distal phalanx 21, the middle phalanx 22, and the proximal phalanx 23 to rotate synchronously around the axis of the rotation shaft 36. After the proximal phalanx 23 contacts the object, it drives the middle phalanx 22 to rotate around the second axis L2 and the distal phalanx 21 to rotate around the third axis L3. After the middle phalanx 22 contacts the object, the first transmission assembly 32 overcomes the force of the rotation damping elastic member 37 and drives the third transmission assembly 34 to make the distal phalanx 21 rotate around the third axis L3. The axis of the rotation shaft 36 is the first axis L1.

[0027] Specifically, such as Figures 4-9As shown, the gripping drive assembly 3 includes a first drive component 31, a first transmission assembly 32, a second transmission assembly 33, and a third transmission assembly 34. The first drive component 31 is a motor and is fixedly mounted on the mounting base 1, providing driving force for the entire gripping drive assembly 3. One end of the first transmission assembly 32 is connected to the first drive component 31, and the other end is fitted onto the same rotating shaft 36 with the end of the proximal phalanx 23 near the mounting base 1 and the end of the second transmission assembly 33. A rotational damping elastic element 37 is provided between the first transmission assembly 32 and the second transmission assembly 33; in this embodiment, the rotational damping elastic element 37 is a torsion spring. The other end of the second transmission assembly 33 is rotatably connected to the connecting portion a2 of the middle phalanx 22 via a third connecting shaft 40. The third transmission assembly 34 is drively connected to the first transmission assembly 32, rotatably connected to the second transmission assembly 33, and rotatably connected to the connecting portion a2 of the distal phalanx 21 via a fourth connecting shaft 35. When the first driving member 31 outputs driving force to drive the first transmission assembly 32 to move, since a torsion spring is provided between the first transmission assembly 32 and the second transmission assembly 33, the first transmission assembly 32 and the second transmission assembly 33 can be regarded as a whole. The middle finger joint 22, the proximal finger joint 23 and the second transmission assembly 33 together constitute a linkage mechanism. Therefore, when the first transmission assembly 32 moves, it will drive the middle finger joint 22 and the proximal finger joint 23 to move through the second transmission assembly 33. Moreover, since the third transmission assembly 34 is connected to the first transmission assembly 32, when the first transmission assembly 32 moves, it will also drive the third transmission assembly 34 to rotate synchronously, thereby driving the distal finger joint 21 to move. The whole finger joint assembly 2 rotates around the first axis L1 (the axis of the rotation shaft 36). When the proximal phalanx 23 contacts the object, the middle phalanx 22 continues to rotate around the second axis L2 under the drive of the first drive member 31, and the distal phalanx 21 also continues to rotate around the third axis L3 under the drive of the first drive member 31. After the middle phalanx 22 contacts the object, the middle phalanx 22 can no longer move, and the corresponding second transmission component 33 can no longer move. At this time, the torsion spring is torsionally deformed, and the first transmission component 32 and the second transmission component 33 no longer move synchronously. The middle phalanx 22 and the distal phalanx 21 are decoupled. The first drive member 31 continues to drive the first transmission component 32 to drive the distal phalanx 21 to rotate around the third axis L3 until the distal phalanx 21 also contacts the object.

[0028] In a preferred embodiment, the first transmission assembly 32 includes: The third transmission link 321, the fourth transmission link 322, the fifth transmission link 323 are rotatably connected in sequence, and the sixth transmission link 324 is fixedly connected to the fifth transmission link 323; the end of the third transmission link 321 near the first driving member 31 is connected to the first driving member 31; the end of the sixth transmission link 324 near the rotating shaft 36, the end of the proximal finger joint 23 near the mounting base 1, and the end of the second transmission assembly 33 are rotatably connected through the rotating shaft 36.

[0029] Specifically, such as Figure 5 As shown, the first transmission assembly 32 adopts a multi-stage linkage series transmission structure. The third transmission link 321, the fourth transmission link 322, and the fifth transmission link 323 are rotatably connected in sequence, and the sixth transmission link 324 is fixedly connected to the fifth transmission link 323 and moves synchronously with the fifth transmission link 323. The end of the third transmission link 321 near the first driving member 31 is connected to the first driving member 31 and is used to transmit the driving force output by the first driving member 31. The end of the sixth transmission link 324 near the rotating shaft 36, the end of the proximal finger joint 23 near the mounting base 1, and the end of the second transmission assembly 33 are sleeved on the rotating shaft 36.

[0030] In a preferred embodiment, the second transmission assembly 33 includes: The first transmission link 331, the end of the first transmission link 331 near the rotating shaft 36, the end of the proximal finger joint 23 near the mounting base 1, and the end of the sixth transmission link 324 near the rotating shaft 36 are rotatably connected through the rotating shaft 36. The rotation damping elastic element 37 is disposed between the first transmission link 331 and the sixth transmission link 324. The first follower link 333 is symmetrically arranged with the first transmission link 331 along the fourth axis L4 and passes through the rotating shaft 36. The second transmission link 332 is disposed between the first transmission link 331 and the first follower link 333. The two sides of the end away from the middle finger joint 22 are rotatably connected to the first transmission link 331 and the first follower link 333 respectively, and the end near the middle finger joint 22 is rotatably connected to the connecting part a2 of the middle finger joint 22.

[0031] Specifically, such as Figure 4 As shown, the second transmission assembly 33 includes a first transmission link 331, a first follower link 333, and a second transmission link 332. The end of the first transmission link 331 near the rotating shaft 36 is rotatably connected to the end of the proximal phalanx 23 near the mounting base 1 and the end of the sixth transmission link 324 near the rotating shaft 36 via the rotating shaft 36. A torsion spring (rotational damping elastic element 37) is provided between the first and sixth transmission links 324. Mounting slots are provided on the sixth transmission link 324 and the first transmission link 331 to facilitate the installation of the torsion spring. The first follower link 333 and the first transmission link 331 are symmetrically arranged along the fourth axis L4 and pass through the rotating shaft 36. It moves synchronously with the first transmission link 331, balancing the forces on both sides of the middle phalanx 22, improving the smoothness of the flexion movement, avoiding swaying, jamming, or uneven force caused by unilateral drive, and ensuring that the middle phalanx 22 can rotate smoothly. Figure 9As shown, the second transmission link 332 is disposed between the first transmission link 331 and the first follower link 333, and includes a first transmission part 3321, a second transmission part 3322, and a third transmission part 3323 connected in sequence. The first transmission part 3321 is U-shaped, and its connection to the connecting part a2 of the middle finger joint 22 is rotatably connected via a third connecting shaft 40. The second transmission part 3322 is rod-shaped and is used to transmit the power of the third transmission part 3323 to the first transmission part 3321. The third transmission part 3323 is rod-shaped and is arranged perpendicular to the second transmission part 3322, with its two ends rotatably connected to the first transmission link 331 and the first follower link 333, respectively.

[0032] In a preferred embodiment, the third transmission assembly 34 includes: The seventh transmission link 341 is rotatably connected at one end to the end of the sixth transmission link 324 away from the rotating shaft 36, and at the other end to the connecting part a2 of the distal finger joint 21. The second follower link 342 is symmetrically arranged with the seventh transmission link 341 along the fourth axis, and one end of the second follower link 342 is rotatably connected to the distal finger joint 21. The third follower link 343 has one end near the rotating shaft 36 that passes through the rotating shaft 36, and the other end away from the rotating shaft 36 that is rotatably connected to the other end of the second follower link 342.

[0033] Specifically, such as Figure 7 As shown, the third transmission assembly 34 includes a seventh transmission link 341, a second follower link 342, and a third follower link 343. One end of the seventh transmission link 341 is rotatably connected to the end of the sixth transmission link 324 away from the rotation shaft 36 via a sixth connecting shaft 42, and the other end is rotatably connected to the connecting part a2 of the distal finger joint 21 via a fourth connecting shaft 35. The second follower link 342 and the seventh transmission link 341 are symmetrically arranged along the fourth axis L4, and their shapes and structures are exactly the same. One end of the second follower link 342 is also rotatably connected to the connecting part a2 of the distal finger joint 21 via a fourth connecting shaft 35. The end of the third follower link 343 near the rotation shaft 36 passes through the rotation shaft 36, and the end away from the rotation shaft 36 is rotatably connected to the other end of the second follower link 342 via a sixth connecting shaft 42. The seventh transmission link 341, the second follower link 342, the third follower link 343, and the sixth transmission link 324 together form a symmetrical transmission mechanism, which is used to balance the forces on both sides of the finger joint assembly 2, so that the distal finger joint 21 is subjected to uniform force and moves smoothly during flexion, avoiding swaying, jamming, or uneven force caused by unilateral transmission.

[0034] In a preferred embodiment, the sway drive assembly 7 includes: Sliding seat 74, one end of which is slidably connected to mounting seat 1; The second driving component 71 is slidably connected to the mounting base 1. Active transmission component 72 is connected to the output end of the second drive component 71; Driven transmission member 73, one end of which meshes with the driving transmission member 72, and the other end passes through the rotating shaft 36 and is rotatably connected to the other end of the sliding seat 74, and the driven transmission member 73 is fixedly connected to the rotating shaft 36. When the second driving member 71 drives the active transmission member 72 to rotate, the driven transmission member 73 rotates synchronously with the active transmission member 72, thereby causing the rotating shaft 36 and the finger assembly 2 to swing synchronously around the axis of the driven transmission member 73; the axis of the driven transmission member 73 is the fourth axis L4.

[0035] Specifically, such as Figure 1 , Figure 2 , Figure 8 , Figure 14 and Figure 15 As shown, the lateral swing drive assembly 7 includes a second drive member 71, a driving transmission member 72, a driven transmission member 73, and a sliding seat 74. The sliding seat 74 is L-shaped, with one end extending into and sliding within the first guide rail 11. The second drive member 71 is a motor, and the base of the second drive member 71 near the knuckle assembly 2 is slidably connected to the mounting base 1 via the second guide rail 12 and the third guide rail 13, while the base of the end away from the knuckle assembly 2 is slidably connected to the mounting base 1 via the fourth guide rail 14. The driving transmission member 72 is fixedly mounted on the output shaft of the second drive member 71 and is driven to rotate by the second drive member 71. Figure 10 As shown, the driven transmission member 73 includes a meshing part 731 and a rotating part 732. One end 731 of the meshing part meshes with the driving transmission member 72 to form a gear transmission pair, and the other end is sleeved on the rotating part 732. The rotating part 732 passes through the fifth guide rail 15 and the rotating shaft 36 in sequence and is rotatably connected to the sliding seat 74. The rotating part 732 and the rotating shaft 36 are fixedly connected at the through position, and the two are perpendicular to each other to form a cross transmission structure. When the second driving member 71 drives the driving transmission member 72 to rotate, the driven transmission member 73 rotates synchronously under the meshing action, thereby driving the rotating shaft 36 to rotate around the fourth axis L4 (i.e., the axis of the driven transmission member 73), and finally driving the finger assembly 2 to complete the lateral swinging action.

[0036] In a preferred embodiment, the rotation drive assembly 8 includes: The third driving component 81 is fixedly connected to the mounting base 1; Rotary transmission component 82, one end of which passes through the mounting base 1 and is fixedly connected to the second driving component 71, and the other end is connected to the output end of the third driving component 81; When the third driving member 81 drives the rotary transmission member 82 to rotate, the rotary transmission member 82 drives the side swing drive assembly 7 to rotate on the mounting base 1 around the axis of the output end of the third driving member 81, thereby driving the knuckle assembly 2 to rotate synchronously around the axis of the output end of the third driving member 81; the axis of the output end of the third driving member 81 is the fifth axis L5.

[0037] Specifically, such as Figure 1 , Figure 16 and Figure 17 As shown, the rotation drive assembly 8 includes a third drive component 81 and a rotation transmission component 82. The third drive component 81 is a drive motor, fixedly mounted on the mounting base 1 and located below the first drive component 31, providing stable power for the overall rotational movement. One end of the rotation transmission component 82 passes through the fourth guide rail 14 of the mounting base 1 and is fixedly connected to the second drive component 71; the other end is coaxially connected to the output end of the third drive component 81, realizing direct power transmission. When the third drive component 81 drives the rotation transmission component 82 to rotate around the fifth axis L5 (i.e., the axis of the output shaft of the third drive component 81), the rotation transmission component 82 slides within the fourth guide rail 14, thereby driving the side-swing drive assembly 7, composed of the second drive component 71, the active transmission component 72, and the driven transmission component 73, to rotate around the fifth axis L5. Furthermore, the driven transmission component 73 drives the gripping drive assembly 3 and the knuckle assembly 2 to rotate synchronously around the fifth axis L5, thus realizing the rotational movement of the dexterous hand's fingers.

[0038] In a preferred embodiment, the dexterous hand fingers further include: a first buffer 4 disposed between the distal phalanx 21 and the middle phalanx 22, and a second buffer 5 disposed between the middle phalanx 22 and the proximal phalanx 23.

[0039] Specifically, such as Figure 9 As shown, the dexterous hand fingers also include a first buffer 4 and a second buffer 5. The first buffer 4 is connected between the distal phalanx 21 and the middle phalanx 22, with one end connected to the fourth connecting shaft 35 and the other end connected to the fifth connecting shaft 41, so that the middle phalanx 22 maintains stable movement with the distal phalanx 21 before contacting the object. The second buffer 5 is connected between the middle phalanx 22 and the proximal phalanx 23, with one end connected to the third connecting shaft 40 and the other end connected to the side of the proximal phalanx 23, so that the proximal phalanx 23 can maintain stable movement with the middle phalanx 22 before contacting the object. In this embodiment, both the first buffer 4 and the second buffer 5 are tension springs. Therefore, there are three grasping conditions when the dexterous hand fingers perform grasping movements, such as... Figure 11As shown, in the first grasping condition, the distal phalanx 21, middle phalanx 22, and proximal phalanx 23 are not in contact with the object. Since tension springs are provided between the distal phalanx 21 and the middle phalanx 22, and between the middle phalanx 22 and the proximal phalanx 23, and torsion springs keep the first transmission link 331 and the sixth transmission link 324 moving synchronously, the three can be considered as a whole moving together under the drive of the first driving member 31. Figure 12 As shown, in the second grasping condition, the proximal phalanx 23 has contacted the object and can no longer move, while the middle phalanx 22 and distal phalanx 21 have not yet contacted the object. At this time, the second buffer 5 is stretched because the middle phalanx 22 continues to move relative to the proximal phalanx 23. The rotation angle of the distal phalanx 21 and the rotation angle of the middle phalanx 22 maintain a certain proportional relationship and continue to couple and move synchronously until the middle phalanx 22 contacts the object. Figure 13 As shown, in the third grasping condition, the proximal phalanx 23 and the middle phalanx 22 have both contacted the object and are completely limited, while only the distal phalanx 21 has not contacted the object. At this time, the first drive member 31 drives the sixth transmission link 324 to continue rotating, the rotation damping elastic member 37 is compressed, the distal phalanx 21 and the middle phalanx 22 are decoupled, the first buffer member 4 is stretched, and the first drive member 31 continues to drive the third transmission component 34 through the first transmission component 32 to drive the distal phalanx 21 to move independently until the distal phalanx 21 fits against the object, completing the adaptive wrapping grasping action of the phalanx component 2.

[0040] This invention achieves coordinated movement of the gripping drive component 3, the lateral swing drive component 7, and the rotation drive component 8 by connecting the gripping drive component 3 with the knuckle component 2, connecting the lateral swing drive component 7 with the gripping drive component 3, and connecting the rotation drive component 8 with the lateral swing drive component 7. This enables the knuckle component 2 to move in multiple dimensions around the first axis L1, the second axis L2, the third axis L3, the fourth axis L4, and the fifth axis L5. This allows the fingers of a dexterous hand to simultaneously complete flexion, extension, lateral swing, and overall rotation, expanding the range of finger posture adjustment and working space. It effectively solves the problems of insufficient finger freedom of movement and difficulty in adapting to objects with complex spatial postures and irregular shapes in the prior art. In addition, the middle knuckle 22 and the distal knuckle 21 are made of flexible materials, while the rest of the fingers of a dexterous hand are made of rigid materials. This rigid-flexible coupling structural design ensures both the overall rigidity and transmission efficiency of the structure, and gives the knuckle component 2 good deformation adaptability and cushioning protection performance. During the grasping process, the flexible middle and distal phalanges 22 and 21 can adaptively conform to the shape of the object's surface, increasing the contact area, improving grasping stability, and reducing the risk of damage to fragile or easily deformable objects. Simultaneously, the rigid structure ensures driving efficiency and response speed, avoiding problems such as transmission lag and insufficient load-bearing capacity that are common in purely flexible structures. This allows the dexterous hand fingers to balance grasping flexibility and structural reliability while significantly improving their universal adaptability to objects of different materials and shapes. Finally, this invention employs an underactuated approach, using three actuating components to give the fingers five degrees of freedom, reducing manufacturing costs and maintenance difficulty compared to fully actuated methods.

[0041] To facilitate understanding by those skilled in the art, the working principle of the multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand fingers provided by this invention is further as follows: When the grasping drive assembly 3 is running, the first drive component 31 outputs power to the first transmission assembly 32. The first transmission assembly 32 transmits the power to the second transmission assembly 33 and the third transmission assembly 34 respectively. The third transmission assembly 34 drives the distal phalanx 21 to rotate, and the second transmission assembly 33 drives the middle phalanx 22 to rotate, and also drives the proximal phalanx 23 to rotate. Under the constraints of the first buffer 4, the second buffer 5, and the rotation damping elastic element 37, the distal phalanx 21, the middle phalanx 22, and the proximal phalanx 23 rotate synchronously around the first axis L1. When the proximal phalanx 23 contacts the object and stops moving, the third transmission assembly 34 continues to drive the distal phalanx 21 to rotate around the third axis L3, and the second transmission assembly 33 continues to drive the middle phalanx 22 to rotate around the second axis L2. When the middle phalanx 22 contacts the object, the second transmission assembly 33 stops moving, and the rotation damping elastic element... 37. Torsional deformation causes the second transmission component 33 to no longer move synchronously with the first transmission component 32, decoupling the distal phalanx 21 and the middle phalanx 22. The first drive component 31 continues to drive the third transmission component 34 through the first transmission component 32, causing the distal phalanx 21 to move independently until the distal phalanx 21 also contacts the object. When the side swing drive component 7 is running, the second drive component 71 drives the active transmission component 72 to rotate, the active transmission component 72 drives the driven transmission component 73 to rotate synchronously, and the driven transmission component 73 drives the rotating shaft 36 to rotate around the fourth axis L4, thereby driving the phalanx component 2 to complete the side swing. When the rotation drive component 8 is running, the third drive component 81 drives the rotation transmission component 82 to rotate around the fifth axis L5, the rotation transmission component 82 drives the side swing drive component 7 to move as a whole, and drives the phalanx component 2 to rotate synchronously around the fifth axis L5 through the gripping drive component 3.

[0042] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger, characterized in that, include: Mounting base (1), and The knuckle assembly (2) includes a distal knuckle (21), a mid knuckle (22) and a proximal knuckle (23) that cooperate with each other and are connected in sequence, the proximal knuckle (23) being located on the side closer to the mounting base (1); A gripping drive assembly (3) is mounted on a mounting base (1) and is connected to the distal phalanx (21), the mid-phalanx (22), and the proximal phalanx (23) respectively. The gripping drive assembly (3) drives the distal phalanx (21), the mid-phalanx (22), and the proximal phalanx (23) to rotate synchronously around a first axis until the proximal phalanx (23) contacts an object, which then drives the mid-phalanx (22) to rotate around a second axis and drives the distal phalanx (21) to rotate. The first axis is the axis at which the proximal phalanx (23) connects to the grasping drive assembly (3), the second axis is the axis at which the proximal phalanx (23) connects to the middle phalanx (22), and the third axis is the axis at which the middle phalanx (22) connects to the distal phalanx (21). The first axis, the second axis, and the third axis are parallel to each other. Side swing drive assembly (7), which is slidably connected to the mounting base (1) and is connected to the gripping drive assembly (3) for driving the gripping drive assembly (3) to drive the knuckle assembly (2) to swing synchronously around the fourth axis, which is perpendicular to the first axis; Rotation drive assembly (8) is connected to the side swing drive assembly (7) for driving the side swing drive assembly (7) to drive the knuckle assembly (2) to rotate synchronously around the fifth axis; the fifth axis is perpendicular to the fourth axis.

2. The multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger according to claim 1, wherein, Both the distal phalanx (21) and the mid-phalanx (22) include: The knuckle body (a) is a hollow triangular frame structure made of flexible material, including a contact part (a1), a connecting part (a2), and a deformable part (a3) ​​connected end to end in sequence; the contact part (a1) is used to fit against an object; the deformable part (a3) ​​has multiple grooves to expand the deformation range of the deformable part (a3); A connecting beam (b) is made of a flexible material and is disposed inside the knuckle body (a). One end of the connecting beam (b) is connected to the contact part (a1) and the other end is connected to the deformable part (a3).

3. The multi-DOF underactuated rigid-flexible coupled dexterous hand finger according to claim 2, wherein, The gripping drive assembly (3) includes a first drive component (31), a first transmission assembly (32), a second transmission assembly (33), and a third transmission assembly (34). The first driving element (31) is mounted on the mounting base (1); One end of the first transmission assembly (32) is connected to the first driving member (31), and the other end is rotatably connected to the end of the proximal phalanx (23) near the mounting base (1) and the end of the second transmission assembly (33) via a rotating shaft (36); A rotation damping elastic element (37) is provided between the first transmission assembly (32) and the second transmission assembly (33); the other end of the second transmission assembly (33) is connected to the connecting part (a2) of the middle finger joint (22); The third transmission component (34) is connected to the first transmission component (32), rotatedly connected to the second transmission component (33), and connected to the connecting part (a2) of the distal phalanx (21) so that the first driving member (31) drives the first transmission component (32), the second transmission component (33) and the third transmission component (34) to drive the distal phalanx (21), the middle phalanx (22) and the proximal phalanx (23) to rotate synchronously around the axis of the rotation shaft (36) until the proximal phalanx (23) contacts the object and drives the middle phalanx (22) to rotate around the second axis and drives the distal phalanx (21) to rotate around the third axis until the middle phalanx (22) contacts the object and the first transmission component (32) overcomes the force of the rotation damping elastic element (37) to drive the third transmission component (34) to make the distal phalanx (21) rotate around the third axis. The axis of the rotation shaft (36) is the first axis.

4. The multi-DOF underactuated rigid-flexible coupled dexterous hand finger according to claim 3, wherein, The first transmission assembly (32) includes: a third transmission link (321), a fourth transmission link (322), and a fifth transmission link (323) that are rotatably connected in sequence, and a sixth transmission link (324) that is fixedly connected to the fifth transmission link (323); the end of the third transmission link (321) near the first drive member (31) is connected to the first drive member (31); the end of the sixth transmission link (324) near the rotating shaft (36), the end of the proximal finger joint (23) near the mounting base (1), and the end of the second transmission assembly (33) are rotatably connected through the rotating shaft (36).

5. The multi-DOF underactuated rigid-flexible coupled dexterous hand finger according to claim 4, wherein, The second transmission assembly (33) includes: The first transmission link (331) is rotatably connected to the first transmission link (331) near the rotating shaft (36), the proximal finger joint (23) near the mounting base (1), and the sixth transmission link (324) near the rotating shaft (36). The rotation damping elastic element (37) is disposed between the first transmission link (331) and the sixth transmission link (324). The first follower link (333) and the first transmission link (331) are symmetrically arranged along the fourth axis and pass through the rotating shaft (36); The second transmission link (332) is disposed between the first transmission link (331) and the first follower link (333), and the two sides of the end away from the middle finger joint (22) are rotatably connected to the first transmission link (331) and the first follower link (333) respectively, and the end close to the middle finger joint (22) is rotatably connected to the connecting part (a2) of the middle finger joint (22).

6. The multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger according to claim 5, wherein, The third transmission assembly (34) includes: The seventh transmission link (341) has one end rotatably connected to the end of the sixth transmission link (324) away from the rotating shaft (36), and the other end rotatably connected to the connecting part (a2) of the distal finger joint (21); The second follower link (342) is symmetrically arranged with the seventh transmission link (341) along the fourth axis, and one end of the second follower link (342) is rotatably connected to the distal finger joint (21); The third follower link (343) has one end near the rotating shaft (36) that passes through the rotating shaft (36), and the other end away from the rotating shaft (36) that is rotatably connected to the other end of the second follower link (342).

7. The multi-DOF underactuated rigid-flexible coupled dexterous hand finger according to claim 6, wherein, The lateral sway drive assembly (7) includes: A sliding seat (74), one end of which is slidably connected to the mounting base (1); The second driving member (71) is slidably connected to the mounting base (1); Active transmission component (72), which is connected to the output end of the second drive component (71); Driven transmission member (73), one end of which meshes with the active transmission member (72), and the other end passes through the rotating shaft (36) and is rotatably connected to the other end of the sliding seat (74), and the driven transmission member (73) is fixedly connected to the rotating shaft (36); When the second driving member (71) drives the active transmission member (72) to rotate, the driven transmission member (73) rotates synchronously with the active transmission member (72), thereby driving the rotating shaft (36) and the knuckle assembly (2) to swing synchronously around the axis of the driven transmission member (73); the axis of the driven transmission member (73) is the fourth axis.

8. The multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger according to claim 7, wherein, The rotation drive assembly (8) includes: The third driving component (81) is fixedly connected to the mounting base (1); Rotary transmission component (82), one end of which passes through the mounting base (1) and is fixedly connected to the second driving component (71), and the other end is connected to the output end of the third driving component (81); When the third driving member (81) drives the rotary transmission member (82) to rotate, the rotary transmission member (82) drives the side-swing drive assembly (7) to rotate on the mounting base (1) around the axis of the output end of the third driving member (81), thereby driving the knuckle assembly (2) to rotate synchronously around the axis of the output end of the third driving member (81); the axis of the output end of the third driving member (81) is the fifth axis.

9. The multi-degree-of-freedom underactuated rigid-flexible coupled dexterous hand finger according to claim 1, wherein, The dexterous hand fingers also include: a first buffer (4) disposed between the distal phalanx (21) and the middle phalanx (22) and a second buffer (5) disposed between the middle phalanx (22) and the proximal phalanx (23).

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