Dexterous finger, dexterous hand, and robot

Abstract

Provided in the embodiments of the present application are a dexterous finger, a dexterous hand, and a robot. The dexterous finger comprises: a cross-axis assembly which comprises a first rotating shaft and a first shaft sleeve, wherein the first rotating shaft is fixedly connected to the first shaft sleeve, and the minimum included angle between a first axis and a second axis is greater than or equal to 80°, with the first axis being the central axis of the first rotating shaft and the second axis being the central axis of the first shaft sleeve; a phalanx assembly having a first driving assembly arranged therein, wherein an output end of the first driving assembly is in transmission connection with the first rotating shaft; and a metacarpal assembly having a second driving assembly arranged therein, wherein an output end of the second driving assembly is in transmission connection with the first shaft sleeve. In this way, because the cross-axis assembly comprises a first rotating shaft and a first shaft sleeve, and the minimum included angle between the first axis and the second axis is greater than or equal to 80°, after completing the degree of freedom of flexion towards and extension away from the palm by means of the first shaft sleeve, the dexterous finger can achieve the degree of freedom of abduction and adduction by means of the first rotating shaft.

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