Modular multi-degree-of-freedom anthropomorphic five-fingered hand

Abstract

The application discloses a modular multi-freedom-degree artificial human five-finger dexterous hand, which comprises a palm part and five finger parts, the five finger parts comprise a thumb structure and four finger structures, and each finger part is a modular independent driving structure. The metacarpophalangeal joint of each finger structure simultaneously has flexion and side swing active freedom degrees, and the two freedom degree movement axes intersect at a decoupling ball center to realize movement decoupling; the proximal interphalangeal joint has a flexion active freedom degree, and the distal interphalangeal joint realizes a flexion driven freedom degree through a connecting rod coupling. The thumb structure has a palm turning freedom degree, a rotation freedom degree and a metacarpophalangeal flexion freedom degree, and each freedom degree is driven by an independent worm gear driving mechanism. Each of the four fingers has three active freedom degrees and one driven freedom degree, the thumb has four active freedom degrees and one driven freedom degree, and the whole hand has a total of 21 freedom degrees. The application adopts a modular design, has direct transmission and accurate control, and has high humanization flexibility and good maintainability.

Description

Technical Field

[0001] This invention belongs to the field of robotic hand technology, and in particular relates to a modular, multi-degree-of-freedom humanoid five-fingered dexterous hand. Background Technology

[0002] With the continuous development of robotics technology, humanoid robots are increasingly widely used in industry, medicine, and service sectors. As a crucial medium for humanoid robots to interact with their environment, manipulate objects, and collect information, the humanoid dexterous hand needs to possess high flexibility, precise manipulation capabilities, and good adaptability to meet the demands of various complex tasks. However, existing humanoid dexterous hands have some structural shortcomings, such as limited joint range of motion, low force feedback accuracy, redundant and bulky structures, and high overall costs, which limit their widespread adoption in practical applications. Specifically, dexterous hands using tendons and ligaments move the drive components away from the hand to achieve highly free and flexible omnidirectional motion. However, this results in complex structures and controls, low force transmission efficiency, and a small grip-to-weight ratio. Furthermore, issues such as tendon deformation and pretension lead to lag in motion transmission, insufficient power transmission stiffness, and significant deficiencies in position and force control accuracy. While the linkage-based transmission structure has solved some problems, due to size limitations, this transmission method can generally only achieve 5-6 degrees of freedom of movement. Therefore, it can only achieve limited grasping and operation modes. In particular, when realizing two-degree-of-freedom joints such as metacarpophalangeal joint flexion and lateral swing, the lateral swing motion usually has to be ignored, thus restricting the dexterous hand from achieving flexible movements similar to those of the human hand. Summary of the Invention

[0003] The purpose of this invention is to provide a modular, multi-degree-of-freedom, humanoid five-fingered dexterous hand to solve the aforementioned technical problems.

[0004] To solve the above-mentioned technical problems, the specific technical solution of the present invention for a modular multi-degree-of-freedom humanoid five-fingered dexterous hand is as follows: A modular, multi-degree-of-freedom humanoid five-fingered dexterous hand, comprising a palm and five fingers. The five-finger section includes a thumb structure and four finger structures, and each finger section is a modular, independently driven structure. Each finger has three phalanges and corresponding joints. Its metacarpophalangeal joints have both flexion and lateral swing degrees of freedom, and the axes of motion of the two degrees of freedom intersect at one point to achieve motion decoupling. The proximal interphalangeal joint of the finger structure has an active degree of freedom of flexion, while the distal interphalangeal joint achieves a passive degree of freedom of flexion through linkage coupling. The thumb structure has a palmar degree of freedom, a rotational degree of freedom, and a palmar finger flexion degree of freedom, and each degree of freedom is driven by an independent worm gear drive mechanism.

[0005] Furthermore, the finger structure includes a base joint support, a lateral swing base, a proximal phalanx, a middle phalanx, and a distal phalanx. The base joint support is fixed to the palm portion. The lateral swing base is rotatably connected to the base joint support. The proximal phalanx is rotatably connected to the lateral swing base, and the connection point forms a metacarpophalangeal joint. The middle phalanx is rotatably connected to the proximal phalanx, and the connection point forms a proximal interphalangeal joint. The distal phalanx is rotatably connected to the middle phalanx, and the connection point forms a distal interphalangeal joint.

[0006] Furthermore, the lateral swing degree of freedom of the metacarpophalangeal joint is driven by a worm gear direct drive mechanism. The worm gear direct drive mechanism includes a mounting base, a lateral swing drive motor, a worm gear, and a worm wheel. The mounting base is fixed to the back of the palm portion. The lateral swing drive motor is mounted on the mounting base and its output end is fixedly connected to the worm gear. The worm wheel is rotatably mounted on the mounting base and meshes with the worm gear. The shaft of the worm wheel is fixedly connected to the center of the lateral swing base.

[0007] Furthermore, the flexion degree of freedom of the metacarpophalangeal joint is driven by a spatial linkage mechanism, which includes a flexion drive motor, a V-shaped eccentric block, a V-shaped eccentric block, and a decoupling ball. The flexion drive motor is fixed to the base joint support, and its output end is connected to one end of the V-shaped eccentric block. The other end of the V-shaped eccentric block is axially connected to one end of the V-shaped eccentric block. The other end of the V-shaped eccentric block is axially connected to the bottom of the proximal phalanx. The decoupling ball is fixed on the connecting shaft between the proximal phalanx and the lateral swing base, and the V-shaped eccentric block is rotatably connected to the decoupling ball. The motion axis of the lateral swing degree of freedom and the motion axis of the flexion degree of freedom intersect at the center of the decoupling ball.

[0008] Furthermore, the active degree of freedom of flexion of the proximal interphalangeal joint and the passive degree of freedom of flexion of the distal interphalangeal joint are coupled and driven by a worm gear direct drive mechanism and a connecting rod.

[0009] Furthermore, the worm gear direct drive mechanism II includes a mounting base II, a flexion drive motor II, a worm II, and a worm wheel II. The mounting base II is fixed inside the middle phalanx. The output end of the flexion drive motor II is fixedly connected to the worm II. The worm wheel II meshes with the worm II. The two ends of the rotating shaft of the worm wheel II are connected to the two ends of the mounting base II. One end of the connecting rod is fixedly connected to the rotating shaft of the worm wheel II, and the other end is connected to the bottom shaft of the distal phalanx. The distal phalanx, the connecting rod, the middle phalanx, and the proximal phalanx constitute a cross four-bar linkage mechanism.

[0010] Furthermore, the bottom of the connecting rod is provided with a limiting groove. When the proximal interphalangeal joint is extended, the connecting shaft between the proximal phalanx and the middle phalanx abuts in the limiting groove to limit the maximum range of extension of the connecting rod.

[0011] Furthermore, the thumb structure includes a thumb joint base, an opposition base, a rotation base, a proximal phalanx, a middle phalanx, and a distal phalanx. The opposition base is rotatably connected to the thumb joint base, the rotation base is rotatably connected to the opposition base, the proximal phalanx and the rotation base are rotatably connected to form a metacarpophalangeal joint, the middle phalanx and the proximal phalanx are rotatably connected to form a proximal interphalangeal joint, and the distal phalanx and the middle phalanx are rotatably connected to form a distal interphalangeal joint.

[0012] Furthermore, the palmar degree of freedom is driven by the third worm gear direct drive mechanism, the rotational degree of freedom is driven by the fourth worm gear direct drive mechanism, and the palmar finger flexion degree of freedom is driven by the fifth worm gear direct drive mechanism; the driving directions of the third worm gear direct drive mechanism and the fourth worm gear direct drive mechanism are perpendicular to each other.

[0013] Furthermore, each of the four finger structures has 3 active degrees of freedom and 1 passive degree of freedom, and the thumb structure has 4 active degrees of freedom and 1 passive degree of freedom, for a total of 21 degrees of freedom for the entire hand.

[0014] The modular, multi-degree-of-freedom, humanoid five-fingered dexterous hand of the present invention has the following advantages: (a) Motion decoupling, high flexibility By intersecting the lateral swing axis and flexion axis of the metacarpophalangeal joint at the center of the decoupling sphere, and driving them separately using independent worm gear direct drive mechanisms and spatial linkage mechanisms, the motion decoupling of the two active degrees of freedom of lateral swing and flexion is achieved. The two degrees of freedom can be controlled independently and performed simultaneously without mutual interference, giving the fingers flexible movement capabilities similar to those of a human hand, enabling them to adapt to various complex grasping and manipulation postures.

[0015] (ii) Direct transmission and precise control The entire hand uses worm gear direct drive or spatial linkage transmission, eliminating the motion lag and insufficient rigidity problems caused by tendon deformation and preload changes in traditional tendon cable transmission structures. The power transmission path is short and the rigidity is high, significantly improving the accuracy of position and force control. At the same time, the worm gear mechanism itself has a self-locking characteristic, which can maintain the joint position in the absence of power, improving the safety of use.

[0016] (iii) Modular design for easy maintenance Each of the five fingers adopts a modular, independently driven structure, allowing each finger to be assembled, adjusted, replaced, or repaired independently without disassembling the entire hand. The structure is consistent across different fingers (except the thumb), resulting in high component interchangeability, significantly reducing manufacturing costs and maintenance complexity, and facilitating mass production and engineering applications.

[0017] (iv) The degree of freedom is reasonably configured, taking into account both performance and cost. Each of the four fingers has 3 active degrees of freedom and 1 passive degree of freedom, and the thumb has 4 active degrees of freedom and 1 passive degree of freedom, for a total of 21 degrees of freedom for the entire hand. This configuration effectively controls the number of drive components and the complexity of the control system while ensuring sufficient gripping flexibility and operational versatility, avoiding excessive redundancy and achieving a good performance-cost balance.

[0018] (v) Compact structure and high integration The drive motor, worm gear mechanism, and sensors are all integrated inside the palm or finger bones, with no cumbersome tendons or connecting rods exposed on the outside. The overall structure is simple and lightweight, and the shape is highly anthropomorphic, which is conducive to use in confined spaces or environments where close human collaboration is required.

[0019] (vi) Limit protection, safe and reliable A limiting groove is set at the bottom of the connecting rod. The maximum / minimum range of joint extension or bending is precisely limited by the abutting fit between the connecting shaft and the groove. This not only simulates the natural movement limit of human joints, but also effectively prevents mechanical damage or motor stalling caused by excessive movement, thus improving the long-term reliability of the system. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the modular multi-degree-of-freedom humanoid five-fingered dexterous hand of the present invention. Figure 2 A partial cross-sectional schematic diagram of the metacarpophalangeal joint lateral swing drive mechanism for a single finger structure (index finger, middle finger, ring finger, or little finger); Figure 3 An exploded three-dimensional diagram of the metacarpophalangeal joint flexion drive mechanism for a single finger structure; Figure 4 A schematic diagram of the internal structure of the flexion mechanism that couples the proximal and distal interphalangeal joints of a single finger. Figure 5 for Figure 4 A partial schematic diagram of the middle connecting rod and connecting shaft in the joint extension state; Figure 6 A cross-sectional schematic diagram of the palmar degree-of-freedom drive mechanism for the thumb structure; Figure 7 A schematic diagram of the assembly of the thumb joint base, the opposing base, and the rotating base of the thumb structure; Figure 8 A cross-sectional schematic diagram of the rotational degree of freedom drive mechanism of the thumb structure; Figure 9 A partial cross-sectional schematic diagram of the palmar finger flexion degree-of-freedom drive mechanism for the thumb structure; Figure 10 This is a cross-sectional schematic diagram of the coupling flexion mechanism between the proximal and distal interphalangeal joints of the thumb structure.

[0021] Explanation of markings in the diagram: 1. Palm part; 2. Finger part; 21. Thumb structure; 22. Finger structure; 211. Thumb joint base; 212. Opposition base; 213. Rotating base; 214. Worm gear direct drive mechanism three; 215. Worm gear direct drive mechanism four; 216. Worm gear direct drive mechanism five; 221. Base joint support; 222. Side-swing base; 223. Worm gear direct drive mechanism one; 2231. Mounting base; 2232. Side-swing drive motor; 2233. Worm one; 2234. Worm gear one; 224. Spatial connection 2241. Bend drive motor one; 2242. V-shaped eccentric block one; 2243. V-shaped eccentric block two; 2244. Decoupling ball center; 2245. Bend shaft; 225. Worm gear direct drive mechanism two; 2251. Mounting base two; 2252. Bend drive motor two; 2253. Worm two; 2254. Worm gear two; 226. Connecting rod; 2261. Limiting groove; 227. Connecting shaft; A. Proximal phalanx; B. Middle phalanx; C. Distal phalanx; a. Metacarpophalangeal joint; b. Proximal interphalangeal joint; c. Distal interphalangeal joint. Detailed Implementation

[0022] To better understand the purpose, structure, and function of this invention, the following detailed description of a novel humanoid five-fingered dexterous hand, in conjunction with the accompanying drawings, is provided.

[0023] like Figure 1 As shown, the present invention discloses a novel humanoid five-fingered dexterous hand, comprising a palm portion 1 and five finger portions 2, which imitates the shape of a human hand and has an anthropomorphic structure. It integrates drive components, sensors and transmission components to provide support and power transmission for the fingers.

[0024] The palm section 1 primarily provides mounting locations for drive components such as motors and circuit boards. The proximal end of the palm section 1 connects to the robotic arm and controller, which is used to control the operation of the internal drive components.

[0025] The five-finger section 2 includes a thumb structure 21 and four finger structures 22 for the little finger, ring finger, middle finger, and index finger. The five-finger section 2 adopts a modular design, and each can work independently, making it easy to maintain and replace. Each finger section 2 has three phalanges, corresponding to the proximal phalanx A, middle phalanx B, and distal phalanx C of the human hand. The phalanges are connected by joints to achieve flexion and extension movements.

[0026] All four finger structures 22 are the same size, with each finger staggered to achieve an anthropomorphic length setting. Each finger structure 22 includes a base joint support 221, a lateral swing base 222, and three phalanges. The base joint support 221 is fixedly connected to the palm part 1 by fasteners. The lateral swing base 222 is rotatably connected to the base joint support 221. The proximal phalanx A is rotatably connected to both sides of the lateral swing base 222 by pins. The connection between the proximal phalanx A and the lateral swing base 222 is the metacarpophalangeal joint a. The lower left and right sides of the middle phalanx B are rotatably connected to the upper left and right sides of the proximal phalanx A by pins. This connection is the proximal interphalangeal joint b. The lower left and right sides of the distal phalanx C are rotatably connected to the upper left and right sides of the middle phalanx B by pins. This connection is the distal interphalangeal joint c.

[0027] The metacarpophalangeal joints a of the four fingers 22 can achieve two active degrees of freedom of movement: flexion and lateral swing. The proximal interphalangeal joints b can achieve an active degree of freedom of movement in flexion, and the distal interphalangeal joints c can achieve a passive degree of freedom of movement in flexion. Each finger has 3 active degrees of freedom and 1 passive degree of freedom, for a total of 16 degrees of freedom for the four fingers.

[0028] like Figure 2 As shown, the lateral swing motion of the metacarpophalangeal joint a is achieved using a worm gear direct drive mechanism 223, with each metacarpophalangeal joint a controlled individually. The worm gear direct drive mechanism 223 is fixedly mounted on the back of the palm portion 1 via a mounting base 2231. It includes a lateral swing drive motor 2232, a worm gear 2233, and a worm wheel 2234. The lateral swing drive motor 2232 is mounted on the mounting base 2231, and its output end is fixedly connected to the worm gear 2233, driving the worm gear 2233 to rotate. The worm wheel 2234 is rotatably mounted on the mounting base 2231 and meshes with the worm gear 2233. The shaft of the worm wheel 2234 is fixedly connected to the center of the lateral swing base 222. The rotation of the lateral swing drive motor 2232 drives the worm gear 2233 to rotate, which in turn drives the worm wheel 2234 to rotate, thereby causing the lateral swing base 222 to swing left and right, thus realizing the lateral swing motion of the metacarpophalangeal joint a. Each of the four fingers is driven by an independent worm gear direct drive mechanism 223, which decouples the lateral swing motion and makes the lateral swing motion of the fingers more flexible.

[0029] like Figure 3As shown, the flexion movement of the metacarpophalangeal joint a employs a spatial linkage mechanism 224, including a flexion drive motor 2241, a V-shaped eccentric block 2242, a second V-shaped eccentric block 2243, and a decoupling ball 2244. The flexion drive motor 2241 is fixedly mounted on the base joint support 221, and its output end is fixedly connected to one end of the first V-shaped eccentric block 2242. The other end of the first V-shaped eccentric block 2242 is axially connected to one end of the second V-shaped eccentric block 2243. The other end of the second V-shaped eccentric block 2243 is rotatably connected to the bottom of the proximal phalanx A via a bearing. The decoupling ball 2244 is fixedly mounted on the flexion axis 2245 of the proximal phalanx A, making the decoupling ball 2244 concentric with the flexion axis of the proximal phalanx A. The second V-shaped eccentric block 2243 encloses the decoupling ball 2244 and is rotatably connected to the decoupling ball 2244.

[0030] The flexion drive motor 2241 rotates, causing the V-shaped eccentric block 2242 to rotate. The other end of the V-shaped eccentric block 2242 makes a circular motion, causing the V-shaped eccentric block 2243 to rotate around the decoupling ball 2244, which in turn causes the proximal phalanx A to move back and forth, thereby realizing the flexion movement of the metacarpophalangeal joint a of the finger.

[0031] The present invention provides a lateral swing base 222 for the metacarpophalangeal joint a, and controls the swing of the finger by swinging the lateral swing base 222. The spatial linkage mechanism 224 that controls the flexion movement of the metacarpophalangeal joint a is provided on the base joint support 221 and the proximal phalanx A. The lateral swing axis and the flexion movement axis of the metacarpophalangeal joint a intersect at the center of the decoupling ball 2244. The structure realizes the decoupling of the two movements, so that the lateral swing movement and the flexion movement do not interfere with each other and can be performed simultaneously, which greatly improves the finger flexibility.

[0032] like Figure 4 Figure 5As shown, the flexion movement of the proximal interphalangeal joint b and the distal interphalangeal joint c is achieved by a worm gear direct drive mechanism 225 and a connecting rod 226 to achieve coupled flexion of the two joints. The worm gear direct drive mechanism 225 is fixedly installed in the middle phalanx B through a mounting base 2251, and includes a flexion drive motor 2252, a worm gear 2253, and a worm wheel 2254. The output end of the flexion drive motor 2252 is fixedly connected to the worm gear 2253, the worm wheel 2254 meshes with the worm gear 2253, and both ends of the rotating shaft of the worm wheel 2254 are connected to the two ends of the mounting base 2251. One end of the connecting rod 226 is fixedly connected to the rotating shaft of the worm wheel 2254, and the other end is connected to the bottom shaft of the distal phalanx C. Because the distal phalanx C is connected to the middle phalanx B on both sides, and the middle phalanx B is connected to the proximal phalanx A on both sides, the distal phalanx C, connecting rod 226, middle phalanx B, and proximal phalanx A form a cross-bar linkage. The rotation of the flexion drive motor 2252 drives the worm gear 2253 to rotate, which in turn drives the worm wheel 2254 to rotate, thereby causing the connecting rod 226 to flex. Under the action of the cross-bar linkage, the distal phalanx C follows suit, thus achieving the flexion of the middle phalanx B and the distal phalanx C, mimicking the natural bending motion of the human hand fingers.

[0033] Preferably, the bottom rear end of the connecting rod 226 has a limiting groove 2261. After the middle phalanx B is straightened, the connecting shaft 227 between the proximal phalanx A and the middle phalanx B abuts in the limiting groove 2261 of the connecting rod 226 to limit the maximum range of extension of the connecting rod 226.

[0034] like Figure 7 As shown, the thumb structure 21 includes a thumb joint base 211, an opposition base 212, a rotation base 213, and three phalanges. The thumb joint base 211 is fixedly installed inside the palm part 1. The opposition base 212 is rotatably connected to the thumb joint base 211. The rotation base 213 is rotatably connected to the opposition base 212. The proximal phalanx A is rotatably connected to both sides of the rotation base 213 by a pin. The connection between the proximal phalanx A and the thumb joint base 211, opposition base 212, and rotation base 213 is the metacarpophalangeal joint a. The lower left and right sides of the middle phalanx B are rotatably connected to the upper left and right sides of the proximal phalanx A by a pin. This connection is the proximal interphalangeal joint b. The lower left and right sides of the distal phalanx C are rotatably connected to the upper left and right sides of the middle phalanx B by a pin. This connection is the distal interphalangeal joint c.

[0035] The metacarpophalangeal joint 'a' has three degrees of freedom: opposition, rotation, and flexion. The proximal interphalangeal joint 'b' allows for active flexion, and the distal interphalangeal joint 'c' allows for passive flexion. The thumb has four active degrees of freedom and one passive degree of freedom, for a total of five degrees of freedom. The entire hand has a total of 21 degrees of freedom.

[0036] like Figure 6 Figure 7 As shown, the palmar motion freedom is achieved through a worm gear direct drive mechanism 214. The worm gear direct drive mechanism 214 is fixedly installed at the bottom of the thumb joint base 211 via a mounting base 2141. The worm gear direct drive mechanism 213 includes a palmar drive motor 2142, a worm gear 2143, and a worm wheel 2144. The palmar drive motor 2142 is fixedly installed on the mounting base 2141, and its output end is fixedly connected to the worm gear 2143. The worm gear 2143 meshes with the worm wheel 2144. The shaft of the worm wheel 2144 is fixedly connected to the axis of the palmar base 212. The rotation of the palmar drive motor 2142 drives the worm gear 2143 to rotate, which in turn drives the worm wheel 2144 to rotate. The palmar base 212 follows the movement, thereby allowing the thumb structure 21 to move closer to or further away from the palm part 1.

[0037] like Figure 8 As shown, the rotational degree of freedom is achieved through the worm gear direct drive mechanism 215. The driving direction of the worm gear direct drive mechanism 215 is perpendicular to that of the worm gear direct drive mechanism 214, enabling different degrees of freedom of movement in two directions. The worm gear direct drive mechanism 215 is fixedly installed in the palm base 212 via the mounting base 2151. It includes a rotary drive motor 2152, a worm gear 2153, and a worm wheel 2154. The rotary drive motor 2152 is fixedly installed in the mounting base 2151, and its output end is fixedly connected to the worm gear 2153. The worm gear 2153 meshes with the worm wheel 2154. The shaft of the worm wheel 2154 is fixedly connected to the axis of the rotating base 213. The rotation of the rotary drive motor 2152 drives the worm gear 2153 to rotate, which in turn drives the worm wheel 2154 to rotate. The rotating base 213 follows the rotation, thereby enabling the thumb structure 21 to rotate around its own axis.

[0038] like Figure 9 As shown, the metacarpophalangeal flexion degree of freedom is achieved through a worm gear direct drive mechanism 216. This mechanism 216 is fixedly mounted on the proximal end of the proximal phalanx A via a mounting base 2161. It includes a metacarpophalangeal flexion drive motor 2162, a worm gear 2163, and a worm wheel 2164. The metacarpophalangeal flexion drive motor 2162 is fixedly mounted on the mounting base 2161, and its output end is fixedly connected to the worm gear 2163. The worm gear 2163 meshes with the worm wheel 2164, which is fixedly mounted on the connecting shaft between the proximal phalanx A and the rotating base 213, and is coaxial with the connecting shaft. The rotation of the metacarpophalangeal flexion drive motor 2162 drives the worm gear 2163 to rotate, which in turn drives the worm wheel 2164 to rotate, thereby causing the proximal phalanx A to rotate around the connecting shaft, thus realizing the metacarpophalangeal flexion movement of the thumb structure 21.

[0039] like Figure 10As shown, the flexion movement of the proximal interphalangeal joint b and the distal interphalangeal joint c of the thumb structure 21 is achieved using the same worm gear direct drive mechanism 225 and connecting rod 226 as the four fingers. Details will not be elaborated here, but the difference lies in the fact that the bottom front end of the connecting rod 226 has a limiting groove 2261. After the middle phalanx B bends, the connecting shaft 227 between the proximal phalanx A and the middle phalanx B abuts against the limiting groove 2261 of the connecting rod 226, thus limiting the minimum range of bending of the connecting rod 226.

[0040] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A modular, multi-degree-of-freedom humanoid five-fingered dexterous hand, comprising a palm portion (1) and five finger portions (2), characterized in that: The five finger parts (2) include a thumb structure (21) and four finger structures (22), and each finger part (2) is a modular independent drive structure; Each finger structure (22) has three phalanges and corresponding joints. Its metacarpophalangeal joint (a) has both flexion and lateral swing degrees of freedom, and the axes of motion of the two degrees of freedom intersect at one point to achieve motion decoupling. The proximal interphalangeal joint (b) of the finger structure (22) has an active degree of freedom of flexion, and the distal interphalangeal joint (c) achieves a passive degree of freedom of flexion through a link (226). The thumb structure (21) has palmar degree of freedom, rotational degree of freedom and palmar finger flexion degree of freedom, and each degree of freedom is driven by an independent worm gear drive mechanism.

2. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 1, characterized in that, The finger structure (22) includes a base joint support (221), a lateral swing base (222), a proximal phalanx (A), a middle phalanx (B), and a distal phalanx (C). The base joint support (221) is fixed to the palm portion (1). The lateral swing base (222) is rotatably connected to the base joint support (221). The proximal phalanx (A) is rotatably connected to the lateral swing base (222), and the connection point forms a metacarpophalangeal joint (a). The middle phalanx (B) is rotatably connected to the proximal phalanx (A), and the connection point forms a proximal interphalangeal joint (b). The distal phalanx (C) is rotatably connected to the middle phalanx (B), and the connection point forms a distal interphalangeal joint (c).

3. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 1, characterized in that, The lateral swing degree of freedom of the metacarpophalangeal joint (a) is driven by a worm gear direct drive mechanism (223). The worm gear direct drive mechanism (223) includes a mounting base (2231), a lateral swing drive motor (2232), a worm (2233), and a worm wheel (2234). The mounting base (2231) is fixed to the back of the palm part (1). The lateral swing drive motor (2232) is mounted on the mounting base (2231) and its output end is fixedly connected to the worm (2233). The worm wheel (2234) is rotatably mounted on the mounting base (2231) and meshes with the worm (2233). The shaft of the worm wheel (2234) is fixedly connected to the center of the lateral swing base (222).

4. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 3, characterized in that, The flexion degree of freedom of the metacarpophalangeal joint (a) is driven by a spatial linkage mechanism (224), which includes a flexion drive motor (2241), a V-shaped eccentric block (2242), a V-shaped eccentric block (2243), and a decoupling ball (2244). The flexion drive motor (2241) is fixed to the base joint support (221), and its output end is connected to one end of the V-shaped eccentric block (2242). The other end of the V-shaped eccentric block (2242) is connected to the other end of the V-shaped eccentric block (2242). One end of the V-shaped eccentric block (2243) is axially connected to one end of the V-shaped eccentric block (2243), and the other end of the V-shaped eccentric block (2243) is axially connected to the bottom of the proximal phalanx (A). The decoupling ball (2244) is fixed on the connecting shaft between the proximal phalanx (A) and the lateral swing base (222), and the V-shaped eccentric block (2243) and the decoupling ball (2244) are rotatably connected. The motion axis of the lateral swing degree of freedom and the motion axis of the flexion degree of freedom intersect at the center of the decoupling ball (2244).

5. The modular multi-degree-of-freedom humanoid five-fingered dexterous hand according to claim 1, characterized in that, The active flexion degree of freedom of the proximal interphalangeal joint (b) and the passive flexion degree of freedom of the distal interphalangeal joint (c) are coupled and driven by the worm gear direct drive mechanism (225) and the connecting rod (226).

6. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 5, characterized in that, The second worm gear direct drive mechanism (225) includes a second mounting base (2251), a second flexion drive motor (2252), a second worm (2253), and a second worm wheel (2254). The second mounting base (2251) is fixed inside the middle phalanx (B). The output end of the second flexion drive motor (2252) is fixedly connected to the second worm (2253). The second worm wheel (2254) meshes with the second worm (2253). The two ends of the rotating shaft of the second worm wheel (2254) are connected to the two ends of the mounting base (2251). One end of the connecting rod (226) is fixedly connected to the rotating shaft of the second worm wheel (2254), and the other end is connected to the bottom shaft of the distal phalanx (C). The distal phalanx (C), the connecting rod (226), the middle phalanx (B), and the proximal phalanx (A) constitute a cross four-bar linkage mechanism.

7. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 6, characterized in that, The bottom of the link (226) is provided with a limiting groove (2261). When the proximal interphalangeal joint (b) is straightened, the connecting shaft (227) of the proximal phalanx (A) and the middle phalanx (B) abuts in the limiting groove (2261) to limit the maximum range of extension of the link (226).

8. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 1, characterized in that, The thumb structure (21) includes a thumb joint base (211), an opposition base (212), a rotation base (213), a proximal phalanx (A), a middle phalanx (B), and a distal phalanx (C). The opposition base (212) is rotatably connected to the thumb joint base (211), and the rotation base (213) is rotatably connected to the opposition base (212). The proximal phalanx (A) and the rotation base (213) are rotatably connected to form a metacarpophalangeal joint (a). The middle phalanx (B) and the proximal phalanx (A) are rotatably connected to form a proximal interphalangeal joint (b). The distal phalanx (C) and the middle phalanx (B) are rotatably connected to form a distal interphalangeal joint (c).

9. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 1, characterized in that, The palmar degree of freedom is driven by the third worm gear direct drive mechanism (214), the rotational degree of freedom is driven by the fourth worm gear direct drive mechanism (215), and the palmar finger flexion degree of freedom is driven by the fifth worm gear direct drive mechanism (216); the driving directions of the third worm gear direct drive mechanism (214) and the fourth worm gear direct drive mechanism (215) are perpendicular to each other.

10. The modular multi-degree-of-freedom anthropomorphic five-fingered dexterous hand according to claim 1, characterized in that, The four finger structures (22) each have 3 active degrees of freedom and 1 passive degree of freedom, and the thumb structure (21) has 4 active degrees of freedom and 1 passive degree of freedom, for a total of 21 degrees of freedom for the whole hand.

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