The bio-soft grasping mechanism relies on rotational movement with flexible finger angles and shapes.

Abstract

The invention relates to a biomimetic soft grasping mechanism based on rotational motion with a flexible angle and type of finger comprising a soft skin (17) embracing the fingers (4); a fingernail (1) attached to the finger (4); the finger (4) having a hole running along the inside; a finger wire (3) with one end fixed by the lower wire clamp (2) and the other end knotted, the lower wire clamp (2) locking tightly to the finger (4); a connecting wire (15) with one end attached to the wire connecting clamp (16) and the other end fixed by the upper wire clamp (10), the upper wire clamp (10) fitted tightly to the outer pillar (9); the finger wire (3) and connecting wire (15) connected to each other through a knot and wire connecting clamp (16); the finger (4) fitted into the finger holder (5) and fixed by a quick-change pin (14); The finger mount (5) is fixed to the base plate (6) by bolts (7) and bolt (13) and its angle can be changed by the curved bean-shaped groove on the base plate (6); the outer column (9) rotates around the inner column (8); the camera (11) is fixed to the base plate (6) by the camera mount (12).

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