Under-actuated manipulator with thumb device

By designing an independently driven rotation and flexion mechanism, the traditional thumb drive structure of the robotic hand is simplified, enabling flexible rotation and precise grasping of the thumb, thus improving the grasping flexibility and adaptability of the robotic hand.

CN224544582UActive Publication Date: 2026-07-24GUANGDONG LAB OF ARTIFICIAL INTELLIGENCE & DIGITAL ECONOMY (SZ)
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Patent Information

Application Number
CN202521826013.4
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Priority Date
2025-07-24
Filing Date
2025-08-26
Publication Date
2026-07-24
Estimated Expiration
2035-08-26

AI Technical Summary

Technical Problem

The design of the thumb in traditional robotic arms requires multiple drive sources to achieve flexion, extension and rotation movements, resulting in complex structure and cumbersome drive mechanism, which affects grasping ability and flexibility.

Method used

The design of the underactuated manipulator adopts independent drive of the rotation mechanism and the thumb flexion-extension mechanism. The thumb joint is independently controlled by the thumb drive rope and the thumb flexion-extension component, which simplifies the drive structure.

Benefits of technology

The structure of the robotic arm was reduced, the gripping flexibility and adaptability were improved, the thumb was able to rotate flexibly and grasp precisely, and the overall gripping ability and reliability were enhanced.

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Abstract

The utility model relates to the technical field of robot bionic actuators, in particular to an under-actuated manipulator with a thumb device, which comprises a hand plate structure and the thumb device. The thumb device comprises a thumb mechanism, a thumb flexion and extension mechanism and a rotating mechanism; the thumb mechanism comprises a thumb connecting seat and a plurality of thumb joints; the thumb bending and stretching mechanism is arranged on the hand plate structure, the thumb bending and stretching mechanism is in transmission connection with the multiple thumb joints and used for driving the multiple thumb joints to be unfolded or bent, and the rotating mechanism is movably connected to the hand plate structure and the thumb mechanism and used for driving the thumb mechanism to rotate relative to the hand plate structure. According to the under-actuated mechanical arm with the thumb device, independent driving of the rotating mechanism and the thumb bending and stretching mechanism is achieved, the complex situation that in traditional design, a single driving source needs to give consideration to thumb bending and stretching and rotating actions is avoided, and the structure of the driving mechanism is effectively simplified.
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