High-performance dexterous hand with 27 active degrees of freedom, featuring topological homeomorphism of kinematics and anatomy to human hand

Abstract

A high-performance dexterous hand with 27 active degrees of freedom, featuring topological homeomorphism of kinematics and anatomy to the human hand, the high-performance dexterous hand comprising: a lunate bone (10), a triquetral bone (20), a hamate bone and a fixing metacarpal bone (30) therefor, a capitate bone and a fixing metacarpal bone (40) therefor, a trapezoid bone and a fixing metacarpal bone (50) therefor, a trapezium bone (60) and a scaphoid bone (70), which are articulated in sequence, a first driving unit (100), a second driving unit (110), and a third driving unit (120). The lunate bone (10) is configured to connect to a forearm unit (230); the hamate bone and the fixing metacarpal bone (30) therefor, the capitate bone and the fixing metacarpal bone (40) therefor, and the trapezoid bone and the fixing metacarpal bone (50) therefor are all configured to connect to four-finger units (80), and the trapezium bone (60) is configured to connect to a thumb unit (90); the first driving unit (100) is articulated to the lunate bone (10), and a driving shaft of the first driving unit (100) is articulated to the scaphoid bone (70); the second driving unit (110) is arranged on the lunate bone (10), and the second driving unit (110) is used to drive the first driving unit (100) to rotate; and the third driving unit (120) is arranged on the lunate bone (10), and the third driving unit (120) is used to drive the triquetral bone (20) to rotate. The dexterous hand integrates high dexterity, high load-bearing capacity and high precision, and has a compact structure. Further provided is a robot comprising the dexterous hand.

Description

A high-performance dexterous hand with 27 active degrees of freedom based on the topological homeomorphism of human hand movement anatomy. Technical Field

[0001] This invention relates to the field of robotics, and in particular to a high-performance dexterous hand with 27 active degrees of freedom based on the topological homeomorphism of human hand motion anatomy. Background Technology

[0002] In the field of robotic end effectors, the technical performance of dexterous hands largely determines a robot's ability to perform complex tasks. Current dexterous hand designs often treat the hand as a single, rigid structure, lacking independent degrees of freedom, which limits its application in real-world human-like operations within complex industrial scenarios.

[0003] The lack of freedom of the wrist restricts the improvement of the overall operation performance and the expansion of the application range of the robotic hand. The fixed relative position between the fingers makes the operation space of the whole hand very limited. During the grasping process, the palm can only serve as a passive support base and cannot actively adjust its configuration or posture to adapt to the target object according to the task requirements, which seriously weakens the dexterous hand's ability to adapt to different scenarios.

[0004] Existing dexterous hand technology solutions do not provide a topological functional mapping with 27 active degrees of freedom that is completely consistent with the distribution of human hand degrees of freedom. In addition, it is difficult to meet application requirements such as high dexterity, high load capacity, high precision, and compact integration.

[0005] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a high-performance dexterous hand with 27 active degrees of freedom based on the topological homeomorphism of human hand movement anatomy, aiming to solve the problem that existing dexterous hands have limited application scenarios and cannot meet diverse usage requirements due to insufficient structural flexibility of the palm position.

[0007] The technical solution of the present invention is as follows:

[0008] A high-performance dexterous hand with 27 active degrees of freedom based on the topological homeomorphism of human hand movement anatomy, comprising:

[0009] The lunate bone, triquetrum bone, hamate bone and its fixed metacarpals, capitate bone and its fixed metacarpals, trapezium bone and its fixed metacarpals, trapezium bone and its fixed metacarpals, and scaphoid bone are hinged in sequence; the lunate bone is used to connect the forearm unit; the hamate bone and its fixed metacarpals, the capitate bone and its fixed metacarpals, and the trapezium bone and its fixed metacarpals are all used to connect the four-finger unit, and the trapezium bone is used to connect the thumb unit;

[0010] A first drive unit is hinged to the lunate bone; and the drive shaft of the first drive unit is hinged to the scaphoid bone.

[0011] A second drive unit is disposed on the lunar bone; the second drive unit is used to drive the first drive unit to rotate.

[0012] A third drive unit is disposed on the lunar bone; the third drive unit is used to drive the triangular bone to rotate.

[0013] The human hand is a 27-DOF high-performance dexterous hand with anatomical topology homeomorphism, wherein the first drive unit and the lunar bone are connected by a first revolute joint.

[0014] The lunate bone and the triangular bone are connected by a second revolute joint;

[0015] The triangular bone and the hamate bone and their fixed metacarpals are connected by a third revolute joint;

[0016] The hamate bone and its fixed metacarpal bones and the capitate bone and its fixed metacarpal bones are connected by a fourth revolute joint;

[0017] The capitate bone and its fixed metacarpals and the trapezium and its fixed metacarpals are connected by a fifth revolute joint;

[0018] The small polygonal bone and its fixed metacarpal bone and the large polygonal bone are connected by a sixth revolute joint;

[0019] The trapezium and the scaphoid are connected by a seventh revolute joint;

[0020] The scaphoid and the first drive unit are connected via an eighth revolute joint;

[0021] The axes of the first revolute joint, the second revolute joint, the third revolute joint, the fourth revolute joint, the fifth revolute joint, the sixth revolute joint, the seventh revolute joint, and the eighth revolute joint are all located on the same plane.

[0022] The described 27-DOF high-performance dexterous hand with topologically homeomorphic human hand kinematics, wherein the axes of the first, second, third, and fourth revolute joints intersect at the center of a first sphere; and / or,

[0023] The axes of the fifth, sixth, seventh, and eighth revolute joints intersect at the center of the second sphere.

[0024] The described 27-DOF high-performance dexterous hand, based on the anatomical topology of the human hand, comprises a lunate bone, a triquetrum bone, a hamate bone and its fixed metacarpals, and a capitate bone and its fixed metacarpals forming an ulnar spherical four-bar linkage; and / or,

[0025] The capitate bone and its fixed metacarpals, the trapezium and its fixed metacarpals, the trapezium and the scaphoid bone form a radial spherical four-bar linkage.

[0026] The described 27-DOF high-performance dexterous hand with topologically isomorphic human hand movement anatomy includes, wherein the lunate bone comprises:

[0027] Base;

[0028] A first tilting platform protrudes from the base; the interior of the first tilting platform is hollow to accommodate the third drive unit; and the first tilting platform is provided with an opening for the drive shaft of the third drive unit to extend out to hinge the triangular bone.

[0029] A second inclined platform protrudes from the first inclined platform; a mounting hole is formed on the second inclined platform for fitting the first drive unit.

[0030] A third tilting platform is disposed on the first tilting platform and protrudes laterally; the third tilting platform is used to assemble the second drive unit.

[0031] The aforementioned 27-DOF high-performance dexterous hand with topological homeomorphism of human hand movement anatomy, wherein the first drive unit comprises:

[0032] The housing has a first rotating shaft at one end and an end hole at the other end; moreover, a second rotating shaft protrudes from the side wall of the housing and is used to be inserted into the mounting hole.

[0033] A rotating sleeve, one end of which is fitted onto the first rotating shaft, and the other end of which is provided with a connecting post;

[0034] A first servo motor is disposed inside the housing; the drive shaft of the first servo motor is inserted into the end hole.

[0035] Wherein, one end of the scaphoid bone is hinged to the trapezium bone, and the other end is hinged to the drive shaft of the first servo motor; the scaphoid bone is also provided with a socket for inserting the connecting post; and / or,

[0036] The second drive unit includes:

[0037] The second servo motor is mounted on the third tilting platform; the drive shaft of the second servo motor is arranged parallel to the second rotating shaft.

[0038] The first synchronous pulley is mounted on the drive shaft of the second servo motor;

[0039] The second synchronous pulley is fitted onto the second rotating shaft;

[0040] The timing belt has one end connected to the first timing pulley and the other end connected to the second timing pulley.

[0041] The described 27-DOF high-performance dexterous hand, based on human hand kinematic anatomical topology, includes a hollow first inclined platform forming a receiving cavity; the third drive unit comprises:

[0042] A third servo motor is disposed in the receiving cavity; the drive shaft of the third servo motor is arranged perpendicular to the first tilting platform; and the drive shaft of the third servo motor is provided with threads.

[0043] A fixing nut is screwed onto the drive shaft of the third servo motor to lock the triangular bone.

[0044] The aforementioned 27-DOF high-performance dexterous hand with topological homeomorphism of human hand movement anatomy, wherein the four-finger unit comprises:

[0045] The central Hooke's hinge is located on the hamate bone and its fixed metacarpals, the capitate bone and its fixed metacarpals, or the trapezium bone and its fixed metacarpals.

[0046] A finger hinge, which is hinged to the central Hooke's hinge; the finger hinge includes a finger bone, a phalanx and a fingertip hinged in sequence;

[0047] The first telescopic mechanism has one end universally hinged to the hook bone and its fixed metacarpal, the capitate bone and its fixed metacarpal, or the trapezium and its fixed metacarpal, and the other end universally hinged to the phalanx, for driving the finger hinge to rotate.

[0048] A first link assembly is located at the central Hooke's hinge; the first link assembly is used to hinge with the knuckle.

[0049] The second telescopic mechanism has one end universally hinged to the hook bone and its fixed metacarpal bone, the capitate bone and its fixed metacarpal bone, or the trapezium and its fixed metacarpal bone, and the other end universally hinged to the first connecting rod assembly, for driving the phalanx to rotate;

[0050] The second link assembly is located at the central Hooke's hinge; the second link assembly is used to hinge with the fingertip.

[0051] The third telescopic mechanism has one end universally hinged to the hamate bone and its fixed metacarpals, the capitate bone and its fixed metacarpals, or the trapezium and its fixed metacarpals, and the other end universally hinged to the second linkage assembly, for driving the fingertip to rotate; and / or

[0052] The thumb unit includes:

[0053] The base of the finger is hinged to the aforementioned trapezium;

[0054] A first link, a second link, a third link, and a fourth link are connected end to end; the first link, the second link, the third link, and the fourth link form a four-bar linkage; wherein, the first link is hinged to the finger root;

[0055] The first telescopic structure has one end hinged to the polygonal bone and the other end hinged to the first rod. The first telescopic structure is used to drive the first rod to rotate.

[0056] The second telescopic structure has one end hinged to the finger root and the other end hinged to the second rod. The second telescopic structure is used to drive the second rod to rotate.

[0057] The described 27-DOF high-performance dexterous hand with topologically homeomorphic human hand movement anatomy includes, wherein the forearm unit comprises:

[0058] Fixed base;

[0059] A rotation drive component is mounted on the fixed base;

[0060] A rotating platform is rotatably mounted on the fixed base; the output shaft of the rotation drive component is connected to the rotating platform to drive the rotating platform to rotate.

[0061] A wrist platform, hinged to the rotating platform, is located at the end of the rotating platform opposite to the fixed base; the wrist platform is used to connect the lunate bone; and a transverse shaft is provided on the wrist platform.

[0062] The first telescopic component and the second telescopic component are both disposed on the rotating platform; and the first telescopic component and the second telescopic component are symmetrically disposed on both sides of the rotating platform, for respectively hinged to the two ends of the transverse shaft, so as to drive the wrist platform to rotate.

[0063] This application also discloses a robot comprising a 27-DOF high-performance dexterous hand with a human hand kinematic anatomical topology as described in any of the preceding claims.

[0064] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0065] This invention discloses a 27-DOF high-performance dexterous hand, referencing the structure of the human hand. The lunate, triquetrum, hamate and their fixed metacarpals, capitate and its fixed metacarpals, trapezium and its fixed metacarpals, trapezium and its fixed metacarpals, and scaphoid bone are sequentially connected to form the supporting framework of the entire hand. During control, through the coordinated drive of the first, second, and third drive units, at least some of the lunate, triquetrum, hamate and their fixed metacarpals, capitate and its fixed metacarpals, trapezium and its fixed metacarpals, trapezium and its fixed metacarpals, and scaphoid bone can be rotated controllably. This controls the position of the four-finger and thumb units, enabling relative positional changes between the fingers and thumb to map complex hand gestures formed by the human wrist and palm. It possesses high dexterity and high controllability, making it suitable for diverse application scenarios. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 is a schematic diagram of the structure of the 27-degree-of-freedom high-performance dexterous hand with human hand kinematic anatomical topology homeomorphism in this invention.

[0068] Figure 2 is a partial structural schematic diagram of the 27-DOF high-performance dexterous hand with human hand kinematic anatomical topology homeomorphism in this invention.

[0069] Figure 3 is a partial structural schematic diagram of the 27-degree-of-freedom high-performance dexterous hand with human hand kinematic anatomical topology homeomorphism in this invention.

[0070] Figure 4 is a simplified spatial structure diagram of the spatial seven-bar double-ball-center mechanism in this invention;

[0071] Figure 5 is a partial exploded view of the 27-DOF high-performance dexterous hand with human hand kinematic anatomical topology homeomorphism in this invention.

[0072] Figure 6 is a schematic diagram of the structure of the lunar bone in this invention;

[0073] Figure 7 is an exploded view of the structure of the first driving unit in this invention;

[0074] Figure 8 is an exploded view of the structure of the second driving unit in this invention;

[0075] Figure 9 is an exploded view of the four-finger unit in this invention;

[0076] Figure 10 is an exploded view of the thumb unit in this invention;

[0077] Figure 11 is a schematic diagram of the forearm unit in this invention.

[0078] Among them, 10. Lunate bone; 11. Base; 12. First inclined platform; 1201. Receiving cavity; 13. Second inclined platform; 131. Mounting hole; 14. Third inclined platform; 20. Triquetrum; 30. Hamate and its fixed metacarpals; 40. Capitol and its fixed metacarpals; 50. Trapezium and its fixed metacarpals; 60. Trapezium; 70. Scaphoid; 80. Four-finger unit (index, middle, ring, and little fingers); 81. Central Hooke's joint; 82. Finger hinge; 821. Finger bone; 822. Finger joint; 823. Finger tip; 83. First telescopic mechanism; 84. First linkage assembly; 85. Second telescopic mechanism; 86. Second linkage assembly; 87. Third telescopic mechanism; 90. Thumb unit; 91. Finger root; 92. First link; 93. Second link; 94. Third link; 95. Fourth link; 96. First telescopic structure; 97. Second telescopic structure; 100. First drive unit; 101 1011. Housing; 1012. First rotating shaft; 1013. End hole; 1014. Second rotating shaft; 1015. Rotating sleeve; 1026. Connecting post; 107. First servo motor; 108. Second drive unit; 119. Second servo motor; 100. First synchronous pulley; 111. Second synchronous pulley; 112. Synchronous belt; 113. Third drive unit; 124. Third servo motor; 125. Fixing nut; 126. First rotating joint; 127. Second rotating joint; 150. Third revolute joint; 160. Fourth revolute joint; 170. Fifth revolute joint; 180. Sixth revolute joint; 190. Seventh revolute joint; 200. Eighth revolute joint; 210. First ball center; 220. Second ball center; 230. Forearm unit; 231. Fixed base; 232. Rotation drive component; 233. Rotation platform; 234. Wrist platform; 2341. Lateral shaft; 235. First telescopic component; 236. Second telescopic component. Detailed Implementation

[0079] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0081] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0082] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0083] For ease of description, spatial relational terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relational terms are intended to encompass not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways, and the spatial relational terms used herein will be interpreted accordingly.

[0084] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0085] Referring to Figures 1, 2, 3, 4, and 5, one embodiment of this invention discloses a 27-DOF high-performance dexterous hand with a topologically isomorphic human hand movement anatomy. This hand comprises, in sequence, a lunate 10, a triquetrum 20, a hamate and its fixed metacarpals 30, a capitate and its fixed metacarpals 40, a trapezium and its fixed metacarpals 50, a trapezium 60, and a scaphoid 70; a first drive unit 100; a second drive unit 110; and a third drive unit 120. The lunate 10 is used to connect to a forearm unit 230. The hamate and its fixed metacarpals 30, the capitate and its fixed metacarpals 40, and the trapezium and its fixed metacarpals 50 are all used to connect to a four-finger unit 80, and the trapezium 60 is used to connect to a thumb unit 90.

[0086] This embodiment discloses a 27-DOF high-performance dexterous hand, referencing the structure of the human hand and inspired by the structure of the human wrist bones. It employs a spatial seven-bar double-ball-centered mechanism for the wrist and palm, isomorphic to the human wrist bones, to address the lack of degrees of freedom and low dexterity in the existing robotic dexterous hand and palm sections. By topologically abstracting the structure and function of the human wrist bones, radius, ulna, and radiocarpal joint, a spatial seven-bar double-ball-centered mechanism is proposed, as shown in Figures 3 and 4. This mechanism includes sequentially hinged lunate 10, triquetrum 20, hamate and its fixed metacarpals 30, capitate and its fixed metacarpals 40, trapezium and its fixed metacarpals 50, trapezium 60, and scaphoid 70, forming the supporting framework for the entire hand.

[0087] Specifically, four four-finger units 80 and one thumb unit 90 are respectively provided on the hamate bone and its fixed metacarpals 30, the capitate bone and its fixed metacarpals 40, the trapezium bone and its fixed metacarpals 50, and the trapezium bone 60 to simulate human fingers and mimic human hand movements. The first drive unit 100 is hinged to the lunate bone 10; and the drive shaft of the first drive unit 100 is hinged to the scaphoid bone 70; the second drive unit 110 is disposed on the lunate bone 10; the second drive unit 110 is used to drive the first drive unit 100 to rotate; the third drive unit 120 is disposed on the lunate bone 10; the third drive unit 120 is used to drive the triquetrum bone 20 to rotate.

[0088] During the control process, under the coordinated drive of the first drive unit 100, the second drive unit 110 and the third drive unit 120, at least some of the lunate bone 10, triquetrum 20, hamate bone and its fixed metacarpals 30, capitate bone and its fixed metacarpals 40, trapezium bone and its fixed metacarpals 50, trapezium bone 60 and scaphoid bone 70 can be rotated in a controllable manner to control the position of the four-finger unit 80 and the thumb unit 90, so that the four-finger unit 80 and the thumb unit 90 can achieve relative pose changes of the fingertips 823 to map the complex gestures formed by the human wrist and palm.

[0089] In summary, the 27-DOF high-performance dexterous hand based on the topological homeomorphism of human hand movement anatomy disclosed in this embodiment is a cellular anthropomorphic wrist based on the anatomical homeomorphism of human hand. It is realized by a spatial seven-bar double-sphere mechanism, which forms a closed loop composed of multiple links. The axial arrangement and link parameter design are based on the human wrist bones. Through topological abstraction and scalar design, a flexible and rotatable planar configuration is formed, which improves the flexibility of the palm area of ​​the dexterous hand. It can map more angles of pitch and rotation of the human hand, increase the subtle changes in hand movements, and has strong load-bearing capacity. It has a stronger adaptability to complex and generalized tasks, which is conducive to meeting diverse usage needs and adapting to diverse application scenarios.

[0090] As shown in Figure 4, in another embodiment of this application, the first driving unit 100 and the lunate bone 10 are connected by a first revolute joint 130; the lunate bone 10 and the triquetrum 20 are connected by a second revolute joint 140; the triquetrum 20 and the hamate bone and its fixed metacarpal 30 are connected by a third revolute joint 150; the hamate bone and its fixed metacarpal 30 and the capitate bone and its fixed metacarpal 40 are connected by a fourth revolute joint 160; the capitate bone and its fixed metacarpal 40 and the trapezium and its fixed metacarpal 50 are connected by a fifth revolute joint 170. The trapezium and its fixed metacarpal 50 and the trapezium 60 are connected by a sixth revolute joint 180; the trapezium 60 and the scaphoid 70 are connected by a seventh revolute joint 190; the scaphoid 70 and the first drive unit 100 are connected by an eighth revolute joint 200; the axes of the first revolute joint 130, the second revolute joint 140, the third revolute joint 150, the fourth revolute joint 160, the fifth revolute joint 170, the sixth revolute joint 180, the seventh revolute joint 190 and the eighth revolute joint 200 are all located on the same plane.

[0091] In this embodiment, all eight revolute joints can be connected using a shaft and a shaft hole. The axes of all eight revolute joints in the dexterous hand are located in the same plane, which helps maintain structural stability under load, distributes stress, and thus improves the load-bearing capacity of the dexterous hand. During movement, the eight revolute joints are interconnected, allowing multiple four-finger units 80 and thumb units 90 to move collaboratively, thereby mapping the movements of a human hand to perform actions such as grasping, tilting, closing, and unfolding, increasing flexibility and enhancing the anthropomorphic effect.

[0092] As shown in Figure 4, in another embodiment of this application, the axes of the first revolute joint 130, the second revolute joint 140, the third revolute joint 150 and the fourth revolute joint 160 intersect at the first sphere center 210; the axes of the fifth revolute joint 170, the sixth revolute joint 180, the seventh revolute joint 190 and the eighth revolute joint 200 intersect at the second sphere center 220.

[0093] The dexterous hand disclosed in this embodiment references the movements of a human hand. Its movement is divided into two parts: the axes of the first revolute joint 130, the second revolute joint 140, the third revolute joint 150, and the fourth revolute joint 160 intersect at the first sphere center 210, thus maintaining linkage between these three joints; the axes of the fifth revolute joint 170, the sixth revolute joint 180, the seventh revolute joint 190, and the eighth revolute joint 200 intersect at the second sphere center 220, also maintaining linkage between these three joints. Overall, the dexterous hand is a spatial flagpole double-sphere center mechanism. Therefore, during rotation, by controlling the first drive unit 100, the second drive unit 110, and the third drive unit 120, three active degrees of freedom of rotation can be achieved. Through the movement of different revolute joints, various human hand movements can be mapped, improving dexterity and controllability.

[0094] Specifically, as another embodiment of this application, a ulnar spherical four-bar linkage is disclosed, comprising the lunate 10, the triquetrum 20, the hamate and its fixed metacarpals 30, and the capitate and its fixed metacarpals 40; and a radial spherical four-bar linkage is disclosed, comprising the capitate and its fixed metacarpals 40, the trapezium and its fixed metacarpals 50, the trapezium 60, and the scaphoid 70. In this embodiment, the lunate 10 serves as the frame and remains stationary, while the triquetrum 20, hamate and its fixed metacarpals 30, and capitate and its fixed metacarpals 40 can rotate. The ulnar spherical four-bar linkage can drive the rotation of the four-finger unit 80 to map the movements of the little finger, ring finger, middle finger, etc., of the human hand. The radial spherical four-bar linkage drives the rotation of the four-finger unit 80 and the thumb unit 90 to map the movements of the index finger, thumb, etc., of the human hand. Therefore, by abstracting and decomposing hand movements and linking them together, this embodiment can accurately and vividly mimic human hand movements, achieving a high degree of dexterity.

[0095] Specifically, it should also be noted that in this embodiment, the line connecting the first ball center 210 and the second ball center 220, i.e. the pitch axis of the dexterous hand, achieves the forward tilting action of the dexterous hand when the ulnar spherical four-bar mechanism and the radial spherical four-bar mechanism rotate simultaneously toward the palm of the hand; conversely, it achieves the backward tilting action.

[0096] Specifically, in another embodiment of this application, using the lunar bone 10 as the frame, the spatial seven-bar double-ball-center mechanism, driven by the first drive unit 100, the second drive unit 110, and the third drive unit 120, has three active degrees of freedom, capable of driving the first revolute joint 130, the second revolute joint 140, and the eighth revolute joint 200 to rotate, respectively. Based on this, in this embodiment, different variable-cell bifurcations are derived from the coplanar axes of adjacent revolute joints. When the motion reaches the bifurcation point, it enters different motion branches, forming seven different variable-cell configurations, i.e., seven motion branches. Specifically as follows:

[0097] The first type is a double-sphere seven-bar linkage, in which all eight kinematic pairs can move simultaneously. In addition to spherical motion, the radial and ulnar four-bar linkages under this linkage also possess cooperative motion capabilities. The amplitude of motion of each link in this linkage is relatively large, making it suitable for mapping subtle changes in various hand gestures.

[0098] The second type, the second motion branch, is a double-ball-center six-R mechanism, achieved by locking the first revolute joint 130 and the eighth revolute joint 200, and the joint angle of the third revolute joint 150 is greater than 0°. In this case, the second revolute joint 140 is the active rotation axis. When the second revolute joint 140 moves towards the palm side, the phalanges 821 converge towards the palm, and the fingertips of each of the four finger units 80 all point towards the palm, which is conducive to forming an envelope-type gesture.

[0099] The third type, the third motion branch, is a double-ball-center six-R mechanism, realized through the first revolute joint 130 and the eighth revolute joint 200, and the joint angle of the third revolute joint 150 is less than 0°. In this case, the second revolute joint 140 is the active rotation axis. When the second revolute joint 140 moves towards the palm side, the phalanges 821 produce a large-amplitude movement, and each of the four finger units 80 produces a large-angle downward swing along the line connecting the first ball center 210 and the second ball center 220, forming a radial downward swing type gesture.

[0100] The fourth type of motion branch is a double-ball-center six-R mechanism, which is achieved by locking the second rotary joint 140 and the eighth rotary joint 200. In this case, the first rotary joint 130 is the active rotating shaft. When the first rotary joint 130 moves towards the palm side, each of the four-finger units 80 and the thumb unit 90 produces a large-angle downward swing, forming a ulnar-side downward swing gesture.

[0101] The fifth type, the fifth branch of motion, is a spherical four-bar linkage, achieved by locking the first revolute joint 130 and the second revolute joint 140. In this case, the eighth revolute joint 200 is the active axis of rotation. At this time, the ulnar spherical mechanism does not have motion capability, and the spatial seven-bar double-sphere-center mechanism is equivalent to the radial spherical four-bar linkage. When the eighth revolute joint 200 moves towards the palm side, the trapezium 60 rotates around the trapezium lesser and its fixed metacarpal 50, which is manifested as the thumb unit 90 rotating around the four-finger unit 80 from a flattened state to a closed state, which is conducive to generating a pinching gesture between the thumb and index finger.

[0102] The sixth type, the motion branch six, is a double-ball-center 7R mechanism, achieved by locking the first revolute joint 130. In this case, the second revolute joint 140 and the eighth revolute joint 200 are the active rotating axes. When the second revolute joint 140 and the eighth revolute joint 200 move towards the palm side at the same time, the hamate bone and its fixed metacarpal 30, the capitate bone and its fixed metacarpal 40, and the trapezium bone and its fixed metacarpal 50 can coordinate to perform a radial deflection movement, achieving a small relative movement between the little finger and the index finger; at the same time, the trapezium bone 60 retracts towards the palm, which is conducive to generating grasping and holding gestures.

[0103] The seventh type, the motion branch seven, is a double-ball-center 7R mechanism two, achieved by locking the second revolute joint 140. In this case, the first revolute joint 130 and the eighth revolute joint 200 are the active rotating axes. When the first revolute joint 130 and the eighth revolute joint 200 move towards the palm side at the same time, the hamate bone and its fixed metacarpal 30 and the capitate bone and its fixed metacarpal 40 tilt towards the ulnar side, while the trapezium bone and its fixed metacarpal 50 and the trapezium bone 60 retract towards the palm, which is beneficial for generating the ulnar envelope gesture.

[0104] In summary, the dexterous hand disclosed in this embodiment has high flexibility, can map the subtle movements of the ulnar and radial sides of the human hand, and, in conjunction with the four-finger unit 80 and the thumb unit 90, can complete complex movements such as grasping, pitching, and turning of the human hand. It has a large active workspace, high controllability, and good load performance; it can complete grasping and manipulation tasks in various environments and meet diverse usage needs.

[0105] As shown in Figure 6, in another embodiment of this application, the lunar bone 10 is disclosed to include a base 11, a first tilting platform 12, a second tilting platform 13, and a third tilting platform 14. The first tilting platform 12 protrudes from the base 11; the interior of the first tilting platform 12 is hollow to accommodate the third drive unit 120; and the first tilting platform 12 has an opening for extending the drive shaft of the third drive unit 120 to hinge the triangular bone 20; the second tilting platform 13 protrudes from the first tilting platform 12; the second tilting platform 13 has a mounting hole 131 for fitting the first drive unit 100; the third tilting platform 14 is disposed on the first tilting platform 12 and protrudes laterally; the third tilting platform 14 is used to assemble the second drive unit 110.

[0106] In this embodiment, the lunar bone 10 serves as a frame, bearing the weight of the entire dexterous hand. It can be made of a high-hardness alloy material to improve structural rigidity. Specifically, the lunar bone 10 can connect to humanoid components such as the ulna and radius of the robot, serving a connecting function.

[0107] Specifically, referring to the structure and shape of the human hand, a first tilting platform 12, a second tilting platform 13 and a third tilting platform 14 are set to tilt and hinge the triangular bone 20, and the first drive unit 100, the second drive unit 110 and the third drive unit 120 are arranged in an alternating manner to improve the integration of the control structure of the hand and reduce mutual interference, and effectively utilize the space on the lunar bone 10.

[0108] As shown in Figure 7, in another embodiment of this application, the first drive unit 100 includes a housing 101, a rotating sleeve 102, and a first servo motor 103. One end of the housing 101 is provided with a first rotating shaft 1011, and the other end is provided with an end face 1012. Moreover, a second rotating shaft 1013 protrudes from the side wall of the housing 101 and is used to insert into the mounting hole 131. One end of the rotating sleeve 102 is sleeved on the first rotating shaft 1011, and the other end is provided with a connecting post 1021. The first servo motor 103 is disposed inside the housing 101. The drive shaft of the first servo motor 103 is inserted into the end face 1012. One end of the scaphoid 70 is hinged to the trapezium 60, and the other end is hinged to the drive shaft of the first servo motor 103. The scaphoid 70 is also provided with an insertion hole for inserting the connecting post 1021.

[0109] In this embodiment, the second rotating shaft 1013 can be directly integrally formed on the housing 101. When the second driving unit 110 drives the second rotating shaft 1013, the housing 101 will rotate synchronously, thereby driving the scaphoid 70, trapezium 60, etc. to rotate together, achieving a linkage effect.

[0110] In this embodiment, the connection between the scaphoid 70 and the first drive unit 100 is achieved by inserting the connecting post 1021 on the rotating sleeve 102 into the insertion hole. The first drive unit 100 provides support for the scaphoid 70. Simultaneously, the rotating sleeve 102 is rotatable, without affecting the free movement of the scaphoid 70. In this embodiment, a first servo motor 103 is assembled inside the housing 101, forming a hollow cup motor structure. The first servo motor 103 provides power, driving the scaphoid 70 to rotate around the housing 101 as an axis, thus realizing the movement of the eighth rotating joint 200. During rotation, the rotating sleeve 102 also rotates synchronously, maintaining support for the scaphoid 70.

[0111] As can be seen, in this embodiment, the lunate 10 and the scaphoid 70 are connected by the first drive unit 100, and the first revolute joint 130 and the eighth revolute joint 200 are coupled, which makes the scaphoid 70 have a larger range of rotation in space and increases its flexibility.

[0112] As shown in Figure 8, as another embodiment of this application, the second drive unit 110 is disclosed, including a second servo motor 111, a first synchronous pulley 112, a second synchronous pulley 113, and a synchronous belt 114. The second servo motor 111 is disposed on the third tilting platform 14. The drive shaft of the second servo motor 111 is arranged parallel to the second rotating shaft 1013. The first synchronous pulley 112 is sleeved on the drive shaft of the second servo motor 111. The second synchronous pulley 113 is sleeved on the second rotating shaft 1013. One end of the synchronous belt 114 is sleeved with the first synchronous pulley 112, and the other end is sleeved with the second synchronous pulley 113.

[0113] The second drive unit 110 disclosed in this embodiment is a worm gear reduction mechanism. The torque is provided by the second servo motor 111, and the transmission structure composed of the first synchronous pulley 112, the second synchronous pulley and the synchronous belt 114 transmits the torque to the second rotating shaft 1013, thereby achieving the effect of high-precision control.

[0114] Specifically, the diameter of the first synchronous pulley 112 is smaller than the diameter of the second synchronous pulley 113, and the synchronous belt 114 is provided with teeth to engage with the grooves provided on the first synchronous pulley 112 and the second synchronous pulley 113, thereby improving the transmission accuracy and reducing slippage.

[0115] Specifically, as another embodiment of this application, the first tilting platform 12 is disclosed to be hollow, forming a receiving cavity 1201; the third drive unit 120 includes a third servo motor 121 and a fixing nut 122, the third servo motor 121 is disposed in the receiving cavity 1201; the drive shaft of the third servo motor 121 is arranged perpendicular to the first tilting platform 12; and the drive shaft of the third servo motor 121 is provided with threads; the fixing nut 122 is screwed to the drive shaft of the third servo motor 121 for locking the triangular bone 20.

[0116] The third servo motor 121, the second servo motor 111, and the first servo motor 103 disclosed in this embodiment can use the same type of motor to facilitate a unified control method, reduce operational difficulty, and lower costs. A triangular rib 20 is sleeved on the drive shaft of the third servo motor 121, and a fixing nut 122 is screwed in to achieve a stable connection.

[0117] As shown in Figure 9, as another embodiment of this application, the four-finger unit 80 is disclosed, including a central Hooke's hinge 81, a finger hinge 82, a first telescopic mechanism 83, a first link assembly 84, a second telescopic mechanism 85, a second link assembly 86, and a third telescopic mechanism 87. The central Hooke's hinge 81 is disposed on the hamate bone and its fixed metacarpal 30, the capitate bone and its fixed metacarpal 40, or the trapezium bone and its fixed metacarpal 50. The finger hinge 82 is hinged to the central Hooke's hinge 81. The finger hinge 82 includes a finger bone 821, a phalanx 822, and a fingertip 823 that are hinged sequentially. One end of the first telescopic mechanism 83 is universally hinged to the hamate bone and its fixed metacarpal 30, the capitate bone and its fixed metacarpal 40, or the trapezium bone and its fixed metacarpal 50, and the other end is universally hinged to the finger bone 821, for driving the finger hinge 82 to rotate. The first link assembly 84 is located at the central Hooke's hinge 81; the first link assembly 84 is hinged to the phalanx 822. One end of the second telescopic mechanism 85 is universally hinged to the hamate bone and its fixed metacarpal 30, the capitate bone and its fixed metacarpal 40, or the trapezium bone and its fixed metacarpal 50, and the other end is universally hinged to the first link assembly 84, for driving the phalanx 822 to rotate. The second link assembly 86 is located at the central Hooke's hinge 81; the second link assembly 86 is hinged to the fingertip 823. One end of the third telescopic mechanism 87 is universally hinged to the hamate bone and its fixed metacarpal 30, the capitate bone and its fixed metacarpal 40, or the trapezium bone and its fixed metacarpal 50, and the other end is universally hinged to the second link assembly 86, for driving the fingertip 823 to rotate.

[0118] The central Hooke's hinge 81 disclosed in this embodiment is assembled on the metacarpal bone of a dexterous hand. The central Hooke's hinge 81 provides universal adjustment, allowing the finger hinge 82, the first link assembly 84, and the second link assembly 86 to rotate synchronously. The first telescopic mechanism 83, the second telescopic mechanism 85, and the third telescopic mechanism 87 can extend or retract, maintaining support when stationary and stabilizing the finger hinge 82. During movement, because both ends of the first telescopic mechanism 83, the second telescopic mechanism 85, and the third telescopic mechanism 87 are universally hinged, the transmission effect is unaffected by the posture of the finger hinge 82.

[0119] Specifically, when the second telescopic mechanism 85 and the third telescopic mechanism 87 are stopped and the first telescopic mechanism 83 is active, the finger bone 821 can rotate to achieve pitch or lateral movement, thereby achieving the effect of inward or outward movement or lateral movement of the entire finger hinge 82, having two degrees of freedom; when the first telescopic mechanism 83 and the third telescopic mechanism 87 are stopped and the second telescopic mechanism 85 is active, the first linkage assembly 84 can independently control the rotation of the knuckle 822, having one degree of freedom; when the first telescopic mechanism 83 and the second telescopic mechanism 85 are stopped and the third telescopic mechanism 87 is active, the second linkage assembly 86 can further independently control the rotation of the fingertip 823, having one degree of freedom.

[0120] In summary, the entire four-finger unit 80 has four degrees of freedom. Without affecting its own volume and meeting size requirements, the movement parts of the knuckle 822 and the fingertip 823 are decoupled. When controlling the movement of the four-finger unit 80, the force transmission efficiency is higher, the flexibility is better, the control precision is higher, and the active working space and load capacity of the fingers are increased.

[0121] The four-finger unit 80 disclosed in this embodiment adopts a design concept based on the human hand. The hamate bone and its fixed metacarpal bone 30, the capitate bone and its fixed metacarpal bone 40 or the trapezium bone and its fixed metacarpal bone 50 correspond to the metacarpal bones (MC) of the human hand. The central Hooke's joint 81 corresponds to the metacarpophalangeal joint (MCP) of the human hand. The phalanx 821 corresponds to the proximal phalanx (PP) of the human hand. The phalanx 822 corresponds to the middle phalanx (MP) of the human hand. The fingertip 823 corresponds to the distal phalanx (DP) of the human hand. The hinge between the phalanx 821 and the phalanx 822 corresponds to the proximal interphalangeal joint (PIP) of the human hand. The phalanx 822 and the fingertip 823 correspond to the distal interphalangeal joint (DIP) of the human hand.

[0122] Specifically, the first linkage assembly 84 is a seven-bar linkage mechanism that transmits thrust. When the second telescopic mechanism 85 is active, it can pull the knuckle 822, thereby decoupling the rotation of the knuckle 822 from the rotation of the phalanx 821, improving the flexibility of the four-finger unit 80 rotation and facilitating operation.

[0123] In addition, the partial decoupling of the four-finger unit 80 in this embodiment helps to shorten the stroke of the first telescopic mechanism 83 and the second telescopic mechanism 85, enabling the four-finger unit 80 to achieve a better anthropomorphic effect and further optimize the transmission effect. Therefore, the overall structure has good stability and strong load capacity, and optimizes the structural mechanical performance of the first linkage assembly 84 under extreme working conditions.

[0124] Specifically, the second linkage assembly 86 is an eight-bar linkage mechanism, which can stably support and control the movement of the fingertip 823, further improving the load capacity and control flexibility of the four-finger unit 80. It also helps to shorten the stroke of the third telescopic mechanism 87, making the transmission effect of the four-finger unit 80 better and achieving a better anthropomorphic effect.

[0125] As shown in Figure 10, as another embodiment of this application, the thumb unit 90 is disclosed, including a finger root 91, a first rod 92, a second rod 93, a third rod 94, and a fourth rod 95 connected end-to-end, a first telescopic structure 96, and a second telescopic structure 97. The finger root 91 is hinged to the trapezium 60. The first rod 92, the second rod 93, the third rod 94, and the fourth rod 95 form a four-bar linkage. The first rod 92 is hinged to the finger root 91. One end of the first telescopic structure 96 is hinged to the trapezium 60, and the other end is hinged to the first rod 92. The first telescopic structure 96 is used to drive the first rod 92 to rotate. One end of the second telescopic structure 97 is hinged to the finger root 91, and the other end is hinged to the second rod 93. The second telescopic structure 97 is used to drive the second rod 93 to rotate.

[0126] The finger root 91 unit and phalanx 822 unit disclosed in this embodiment can simulate the structure of a human thumb. The four-bar linkage acts as an interphalangeal joint (IP joint). Through the cooperation of the first telescopic structure 96 and the second telescopic structure 97 with the four-bar linkage, the first link 92 and the second link 93 in the four-bar linkage can actively rotate, driving the third link 94 and the fourth link 95 to rotate in coordination, thereby achieving the effect of driving the finger root 91 unit and the phalanx 822 unit to rotate, realizing the pitch and lateral movements of the thumb, as well as the pitch movement of the IP linkage, improving the flexibility of the mechanical thumb.

[0127] Specifically, the first telescopic structure 96 and the second telescopic structure 97 can be operated simultaneously or separately to complete different action commands.

[0128] In the first configuration, when the first telescopic structure 96 is active and the second telescopic structure 97 is stationary, the second telescopic structure 97 connects to the finger root 91 unit, serving only a supporting function and keeping the second rod 93 stationary, thus stabilizing the shape of the knuckle 822 unit. At this time, the finger root 91 unit, the knuckle 822 unit, and the second telescopic structure 97 rotate together. When the first telescopic structure 96 extends or shortens, the first rod 92 is pulled laterally, causing the finger root 91 unit, the knuckle 822 unit, and the second telescopic structure 97 to tilt simultaneously, achieving either a pitching motion of the entire thumb unit 90, or a lateral swinging motion of the entire thumb unit 90, or a lateral swinging motion of the knuckle 822 unit of the thumb unit 90. The entire structure exhibits high flexibility.

[0129] The second type is that when the first telescopic structure 96 and the second telescopic structure 97 move simultaneously, they can work together to realize the pitching or lateral movement of the thumb unit 90, thus enabling flexible rotation in space.

[0130] Thirdly, when the first telescopic structure 96 is stationary and the second telescopic structure 97 is active, the first link 92 remains stable through the support of the first telescopic structure 96 and the finger root 91 unit. At this time, the extension or shortening of the second telescopic structure 97 can drive the second link 93 to rotate, causing the shape of the four-bar linkage to change, adjusting the positions of the third link 94 and the fourth link 95. The fourth link 95 can be designed to mimic the shape of a human fingertip 823 to achieve the effect of simulating the bending action of the human thumb fingertip 823.

[0131] In summary, by integrating the first telescopic structure 96, the second telescopic structure 97, and the finger root 91 unit on the base, the finger joint 822 unit can be flexibly manipulated to perform pitching, lateral swinging, bending, and other movements. It is highly flexible, occupies little space, has a good compact design, is suitable for humanoid robots, and is more realistic.

[0132] Specifically, as another embodiment of this application, the first telescopic mechanism 83, the second telescopic mechanism 85, the third telescopic mechanism 87, the first telescopic structure 96, and the second telescopic structure 97 are all linear telescopic mechanisms. The linear telescopic mechanism includes a first universal joint, a housing, a linear motor, a lead screw, a lead screw nut, and a second universal joint. One end of the housing is connected to the first universal joint, and the other end forms a telescopic cavity. The linear motor is disposed in the telescopic cavity. The lead screw is connected to the output end of the linear motor via a coupling. The lead screw extends axially along the telescopic cavity. The lead screw nut is nested on the housing. One end of the lead screw nut is screwed to the lead screw, and the other end is provided with a second universal joint.

[0133] In this embodiment, the linear motor is powered by an external power source or by a battery placed inside the housing. The maximum output force of the linear motor is 200 Newtons (N). The torque generated by the linear motor is transmitted to the lead screw, and then the torque is further transmitted to the lead screw nut through the screwed connection between the lead screw and the lead screw nut, causing the lead screw nut to move relative to the housing, thereby achieving the extension or shortening of the entire structure. The overall transmission efficiency is high, the control precision is high, and the load performance is high.

[0134] Specifically, the first and second universal joints at both ends serve a dual purpose of connection and transmission, allowing free rotation without affecting the transmission effect at both ends.

[0135] Specifically, as another embodiment of this application, the first universal joint is disclosed as a ball joint or a Hooke joint; the second universal joint is a Hooke joint. Both ball joints and Hooke joints provide universal connection, facilitating efficient transmission of torque.

[0136] As shown in Figure 11, in another embodiment of this application, the forearm unit 230 includes a fixed base 231, a rotation drive component 232, a rotation platform 233, a wrist platform 234, a first telescopic component 235, and a second telescopic component 236. The rotation drive component 232 is disposed on the fixed base 231. The rotation platform 233 is rotatably disposed on the fixed base 231. The output shaft of the rotation drive component 232 is connected to the rotation platform 233 and is used to drive the rotation platform 233 to rotate. The wrist platform 234 is hinged to the rotation platform 233 and is located at one end of the rotation platform 233 away from the fixed base 231. The wrist platform 234 is used to connect the lunate bone 10. Furthermore, a transverse shaft 2341 is provided on the wrist platform 234. The first telescopic component 235 and the second telescopic component 236 are both disposed on the rotating platform 233; and the first telescopic component 235 and the second telescopic component 236 are symmetrically disposed on both sides of the rotating platform 233, for respectively hinged to the two ends of the transverse shaft 2341, so as to drive the wrist platform 234 to rotate.

[0137] The forearm unit 230 disclosed in this embodiment maps the rotational degree of freedom of the human forearm. By driving the rotation platform 233 through the rotation drive component 232, the yaw degree of freedom of the human wrist can be simulated, realizing the rotation of the entire hand relative to the axis of the forearm. The rotation drive component 232 can be a stepper motor, and a transmission gear is set on the output shaft of the rotation drive component 232 to achieve transmission with the rotation platform 233, so that the rotation platform 233 can rotate stably.

[0138] Specifically, in this embodiment, the wrist platform 234 is hinged to the lunate bone 10. When the wrist platform 234 rotates, the entire hand rotates. The first telescopic component 235 and the second telescopic component 236 can extend and retract simultaneously or individually, thereby driving the wrist platform 234 to achieve pitch or yaw rotation, to mimic the pitch and yaw degrees of freedom of the human wrist.

[0139] The first telescopic component 235 and the second telescopic component 236 disclosed in this embodiment can also adopt a linear telescopic mechanism. Since they need to support and drive the entire hand, they need to have strong pressure resistance. A hydraulic drive can be used to improve the accuracy and efficiency of operation.

[0140] Specifically, the 27-DOF high-performance dexterous hand based on the topological homeomorphism of human hand movement disclosed in this application provides 16 degrees of freedom by setting up four four-finger units 80 that can pitch, lateralize, and bend; 5 degrees of freedom by setting up a thumb unit 90 that can pitch, lateralize, and bend; 3 degrees of freedom by setting up three drive units; and 3 degrees of freedom by setting up a forearm unit 230 that can pitch, lateralize, and rotate. In total, it can achieve precise control of 27 degrees of freedom. Therefore, it has high simulation performance, high operational accuracy, good structural stability, broad application prospects, and excellent market competitiveness.

[0141] This application also discloses a robot comprising a 27-DOF high-performance dexterous hand with a human hand kinematic anatomical topology as described in any of the preceding claims.

[0142] In summary, this application discloses a 27-DOF high-performance dexterous hand with a topologically isomorphic kinematic structure, comprising a lunate 10, a triquetrum 20, a hamate and its fixed metacarpals 30, a capitate and its fixed metacarpals 40, a trapezium and its fixed metacarpals 50, a trapezium 60, and a scaphoid 70, all hinged sequentially; a first drive unit 100; a second drive unit 110; and a third drive unit 120. The lunate 10 is used to connect to the forearm unit; the hamate and its fixed metacarpals 30, the capitate and its fixed metacarpals 40, and the trapezium... The fixed metacarpals 50 are used to connect the four-finger unit 80, and the trapezium 60 is used to connect the thumb unit 90; the first drive unit 100 is hinged to the lunate 10; and the drive shaft of the first drive unit 100 is hinged to the scaphoid 70; the second drive unit 110 is disposed on the lunate 10; the second drive unit 110 is used to drive the first drive unit 100 to rotate; the third drive unit 120 is disposed on the lunate 10; the third drive unit 120 is used to drive the triquetrum 20 to rotate. Through the coordinated driving of the first driving unit 100, the second driving unit 110 and the third driving unit 120, at least some of the lunate bone 10, triquetrum 20, hamate bone and its fixed metacarpals 30, capitate bone and its fixed metacarpals 40, trapezium bone and its fixed metacarpals 50, trapezium bone 60 and scaphoid bone 70 can be rotated in a controllable manner to control the position of the four-finger unit 80 and the thumb unit 90. This allows the four-finger unit 80 and the thumb unit 90 to achieve relative positional changes between the fingers, thus mapping complex hand gestures formed by the human wrist and palm. This method has high dexterity and high controllability, which is conducive to adapting to diverse application scenarios.

[0143] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0144] It should be noted that this invention uses a 27-DOF high-performance dexterous hand with human hand kinematic anatomical topology as an example to introduce the specific structure and working principle of the invention. However, the application of this invention is not limited to the 27-DOF high-performance dexterous hand with human hand kinematic anatomical topology, and can also be applied to the production and use of other similar workpieces.

[0145] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-performance dexterous hand with 27 active degrees of freedom based on the topological homeomorphism of human hand movement anatomy, characterized in that, include: The lunate bone, triquetrum bone, hamate bone and its fixed metacarpals, capitate bone and its fixed metacarpals, trapezium bone and its fixed metacarpals, trapezium bone and its fixed metacarpals, and scaphoid bone are hinged in sequence; the lunate bone is used to connect the forearm unit; the hamate bone and its fixed metacarpals, the capitate bone and its fixed metacarpals, and the trapezium bone and its fixed metacarpals are all used to connect the four-finger unit, and the trapezium bone is used to connect the thumb unit; A first drive unit is hinged to the lunate bone; and the drive shaft of the first drive unit is hinged to the scaphoid bone. A second drive unit is disposed on the lunar bone; the second drive unit is used to drive the first drive unit to rotate. A third drive unit is disposed on the lunar bone; the third drive unit is used to drive the triangular bone to rotate.

2. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to claim 1, characterized in that, The first drive unit and the lunar bone are connected via a first revolute joint; The lunate bone and the triangular bone are connected by a second revolute joint; The triangular bone and the hamate bone and their fixed metacarpals are connected by a third revolute joint; The hamate bone and its fixed metacarpal bones and the capitate bone and its fixed metacarpal bones are connected by a fourth revolute joint; The capitate bone and its fixed metacarpals and the trapezium and its fixed metacarpals are connected by a fifth revolute joint; The small polygonal bone and its fixed metacarpal bone and the large polygonal bone are connected by a sixth revolute joint; The trapezium and the scaphoid are connected by a seventh revolute joint; The scaphoid and the first drive unit are connected via an eighth revolute joint; The axes of the first revolute joint, the second revolute joint, the third revolute joint, the fourth revolute joint, the fifth revolute joint, the sixth revolute joint, the seventh revolute joint, and the eighth revolute joint are all located on the same plane.

3. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to claim 2, characterized in that, The axes of the first revolute joint, the second revolute joint, the third revolute joint, and the fourth revolute joint intersect at the center of the first sphere; and / or, The axes of the fifth, sixth, seventh, and eighth revolute joints intersect at the center of the second sphere.

4. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to claim 3, characterized in that, The lunate bone, the triquetrum bone, the hamate bone and its fixed metacarpals, and the capitate bone and its fixed metacarpals constitute an ulnar spherical four-bar linkage; and / or The capitate bone and its fixed metacarpals, the trapezium and its fixed metacarpals, the trapezium and the scaphoid bone form a radial spherical four-bar linkage.

5. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to any one of claims 1 to 4, characterized in that, The lunar bone includes: Base; A first tilting platform protrudes from the base; the interior of the first tilting platform is hollow to accommodate the third drive unit; and the first tilting platform is provided with an opening for the drive shaft of the third drive unit to extend out to hinge the triangular bone. A second inclined platform protrudes from the first inclined platform; a mounting hole is formed on the second inclined platform for fitting the first drive unit. A third tilting platform is disposed on the first tilting platform and protrudes laterally; the third tilting platform is used to assemble the second drive unit.

6. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to claim 5, characterized in that, The first driving unit includes: The housing has a first rotating shaft at one end and an end hole at the other end; moreover, a second rotating shaft protrudes from the side wall of the housing and is used to be inserted into the mounting hole. A rotating sleeve, one end of which is fitted onto the first rotating shaft, and the other end of which is provided with a connecting post; A first servo motor is disposed inside the housing; the drive shaft of the first servo motor is inserted into the end hole. Wherein, one end of the scaphoid bone is hinged to the trapezium bone, and the other end is hinged to the drive shaft of the first servo motor; the scaphoid bone is also provided with a socket for inserting the connecting post; and / or, The second drive unit includes: The second servo motor is mounted on the third tilting platform; the drive shaft of the second servo motor is arranged parallel to the second rotating shaft. The first synchronous pulley is mounted on the drive shaft of the second servo motor; The second synchronous pulley is fitted onto the second rotating shaft; The timing belt has one end connected to the first timing pulley and the other end connected to the second timing pulley.

7. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to claim 5, characterized in that, The first inclined platform is hollow, forming a receiving cavity; the third driving unit includes: A third servo motor is disposed in the receiving cavity; the drive shaft of the third servo motor is arranged perpendicular to the first tilting platform; and the drive shaft of the third servo motor is provided with threads. A fixing nut is screwed onto the drive shaft of the third servo motor to lock the triangular bone.

8. The 27-DOF high-performance dexterous hand with anatomical topology of human hand movement according to claim 1, characterized in that, The four-finger unit includes: The central Hooke's hinge is located on the hamate bone and its fixed metacarpals, the capitate bone and its fixed metacarpals, or the trapezium bone and its fixed metacarpals. A finger hinge, which is hinged to the central Hooke's hinge; the finger hinge includes a finger bone, a phalanx and a fingertip hinged in sequence; The first telescopic mechanism has one end universally hinged to the hook bone and its fixed metacarpal, the capitate bone and its fixed metacarpal, or the trapezium and its fixed metacarpal, and the other end universally hinged to the phalanx, for driving the finger hinge to rotate. A first link assembly is located at the central Hooke's hinge; the first link assembly is used to hinge with the knuckle. The second telescopic mechanism has one end universally hinged to the hook bone and its fixed metacarpal bone, the capitate bone and its fixed metacarpal bone, or the trapezium and its fixed metacarpal bone, and the other end universally hinged to the first connecting rod assembly, for driving the phalanx to rotate; The second link assembly is located at the central Hooke's hinge; the second link assembly is used to hinge with the fingertip. The third telescopic mechanism has one end universally hinged to the hamate bone and its fixed metacarpals, the capitate bone and its fixed metacarpals, or the trapezium and its fixed metacarpals, and the other end universally hinged to the second linkage assembly, for driving the fingertip to rotate; and / or The thumb unit includes: The base of the finger is hinged to the aforementioned trapezium; A first link, a second link, a third link, and a fourth link are connected end to end; the first link, the second link, the third link, and the fourth link form a four-bar linkage; wherein, the first link is hinged to the finger root; The first telescopic structure has one end hinged to the polygonal bone and the other end hinged to the first rod. The first telescopic structure is used to drive the first rod to rotate. The second telescopic structure has one end hinged to the finger root and the other end hinged to the second rod. The second telescopic structure is used to drive the second rod to rotate.

9. The 27-DOF high-performance dexterous hand with topologically homeomorphic human hand movement anatomy according to claim 1, characterized in that, The forearm unit includes: Fixed base; A rotation drive component is mounted on the fixed base; A rotating platform is rotatably mounted on the fixed base; the output shaft of the rotation drive component is connected to the rotating platform to drive the rotating platform to rotate. A wrist platform, hinged to the rotating platform, is located at the end of the rotating platform opposite to the fixed base; the wrist platform is used to connect the lunate bone; and a transverse shaft is provided on the wrist platform. The first telescopic component and the second telescopic component are both disposed on the rotating platform; and the first telescopic component and the second telescopic component are symmetrically disposed on both sides of the rotating platform, for respectively hinged to the two ends of the transverse shaft, so as to drive the wrist platform to rotate.

10. A robot, characterized in that, Including a 27-DOF high-performance dexterous hand with human hand kinematic anatomy and topological homeomorphism as described in any one of claims 1 to 9.

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