36 results about "First phalanx" patented technology

The application relates to the technical field of robots, in particular to a finger module, a dexterous hand, a clamping jaw and a robot, and solves the problem that the finger structure of a dexterous hand or a clamping jaw is poor in universality and cannot be adapted to various dexterous hands or clamping jaws. The finger module comprises a first phalanx, a first driving assembly, a second phalanx and a second driving assembly. The first driving assembly is connected with the first phalanx and is configured to drive the first phalanx to rotate around a first axis, the second phalanx is rotatably connected with the first phalanx around a second axis, the second driving assembly is arranged on the first phalanx and is connected with the second phalanx and is configured to drive the second phalanx to rotate around the second axis, that is, the second driving assembly is built-in the first phalanx and does not need to be installed on a palm, the modularity of the finger module is realized, the finger module can be conveniently installed on various dexterous hands or clamping jaws, and the finger module can be flexibly configured and arranged according to different application conditions.

The utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

This invention discloses a flexible cable-driven, fully actuated, anthropomorphic dexterous hand finger mechanism, comprising a base, a first phalanx, a first joint, a second phalanx, a second joint, a third phalanx, a third joint, a fourth phalanx, and a fourth joint. The first phalanx is connected to the base via the first joint; the second phalanx is connected to the first phalanx via the second joint; and the third phalanx is connected to the second phalanx via the third joint. Flexible cable pulley mechanisms are installed at the second and third joints, driving the third phalanx to rotate around the third joint, the second phalanx to rotate around the second joint, and the first phalanx to swing around the first joint. The fourth phalanx is connected to the third phalanx via the fourth joint, and the third phalanx drives the fourth phalanx to rotate around the fourth joint via a four-bar linkage. This invention achieves anthropomorphism and modularity in anthropomorphic dexterous fingers, meeting the requirements for end-effector motor capabilities in dexterous operations.

Valgus correction device, comprising at least one lower insole (1) provided on top with a counter-insole (2) and a positioning lever (3) fixed to the lower insole (1) along the area accomodating the big toe when worn, and having an elongated S-shape, passing through the first phalanx and then through a point between the end of the metatarsals and the beginning of the cuneiforms, including a connection band (5), an adjustment element (6) associated, on the one hand, with the lower insole (1), in a section where the latter supports the medial arch of the foot, and on the other hand, with the said connection band (5), where the fulcrum of the lever (4) is located at a point between the second phalanx and the metatarsal of the big toe.

This application relates to the field of humanoid robot technology, specifically to a mechanical thumb, a mechanical hand, and a robot. The mechanical thumb includes a root, a first phalanx, and a second phalanx, with the first phalanx connected between the root and the second phalanx. A first support is rotatably mounted on the root about a first axis. The first phalanx includes a first link and a second link, both hinged between the first support and the second phalanx, and the first and second links are arranged intersectingly. A first drive assembly is also mounted on the root. The first output end of the first drive assembly includes a thrust block that rotates about a second axis. The thrust block abuts against at least one of the first and second links through a convex curved surface. This application, by configuring a linkage mechanism, achieves the linkage between the first and second phalanxes, which can reduce the number of actuators while ensuring the flexibility of the mechanical thumb's movement, thereby simplifying the structure and reducing the size of the mechanical hand.

The invention provides a finger of a dexterous hand, and relates to the technical field of artificial intelligence, the finger of the dexterous hand comprises at least two knuckles, and the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged in the direction from the finger root to the fingertip in the axial direction of the finger; the first knuckles are provided with first driving modules used for driving the first knuckles, and the second knuckles are provided with second driving modules used for driving the second knuckles. Wherein the second knuckle comprises a fingertip and a connecting part, the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the invention, each knuckle is directly driven, the transmission path is short, and the control precision can be improved. And through the detachable fingertips, the fingertips can be quickly replaced according to actual scene requirements, the whole hand does not need to be replaced, and the cost is reduced.

This utility model discloses a multi-rotor drone capture and recovery manipulator, relating to the technical field of drones. The multi-rotor drone capture and recovery manipulator includes a robotic arm, a support component, and a gripping component. The support component is fixed to the output end of the robotic arm. The gripping component includes at least four robotic fingers, each including a first phalanx and a second phalanx. The first phalanx is rotatably connected to the support component, and the second phalanx is rotatably connected to the corresponding first phalanx. The first phalanx has a rotation angle range of -135° to 105°, and the second phalanx has a rotation angle range of -178° to 151°. This utility model addresses the problems of traditional 3-6 degree-of-freedom planar gripper manipulators, such as the inability of the end-effector to accurately engage with the horizontal support at the bottom of the drone, the difficulty in stably capturing drones weighing over 10kg due to the generally low single-finger load capacity (below 5kg), and the tendency for the drone to tip over during recovery, thus improving capture adaptability, load capacity, and stability, and increasing recovery efficiency.

This utility model discloses a finger mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The finger mechanism, robotic hand, and robot of this utility model, by driving a flexion-extension drive to rotate a flexion-extension worm gear, allows the first phalanx to rotate relative to the mounting base. Simultaneously, under the action of a connecting rod, the second phalanx rotates along with and relative to the first phalanx. By changing the rotation direction of the flexion-extension worm gear, the finger mechanism can perform flexion-extension movements, allowing the finger mechanism to switch between a bent and extended state. Furthermore, the flexion-extension worm gear and the flexion-extension worm gear have a self-locking function; after the finger mechanism bends and presses against the object to be grasped, the flexion-extension drive stops working, allowing the finger mechanism to maintain a firm grip on the object, thereby achieving the goal of reducing energy consumption.

The invention discloses a movable anthropomorphic palm device, which comprises a palm part and five fingers, the five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, each finger comprises a first knuckle and a second knuckle, and one end of each first knuckle is rotatably connected to the palm part and is driven by a driving mechanism; the second knuckles are rotationally connected to the ends, away from the palm part, of the first knuckles, the first knuckles and the second knuckles are in linkage through linkage mechanisms, and the second knuckles can deflect along with the first knuckles. According to the scheme, the palm device is composed of the palm part and the five movable fingers, each finger is provided with a driving motor and an encoder, and the rotation angle of the finger can be independently controlled. Wherein the thumb is provided with two phalanges, and a two-stage planet synchronous belt transmission mechanism is adopted. Each of the other four fingers is provided with three phalanges, and a three-stage planetary synchronous belt transmission mechanism is adopted.

This invention proposes a mechanical finger, a robotic hand, and a robot, relating to the field of robot manufacturing technology. It includes: a differential connection structure connecting a first phalanx structure and a second phalanx structure; two drive gears rotatably mounted on the first phalanx structure; and one of two driven gears fixed to the second phalanx structure and the other rotatably mounted on the second phalanx structure. The two drive gears are adapted to drive the second phalanx structure to rotate relative to the first phalanx structure about a first direction when rotating in the same direction, and to drive the second phalanx structure to rotate relative to the first phalanx structure about a second direction when rotating in opposite directions. In this embodiment of the mechanical finger, the second phalanx structure can rotate relative to the first phalanx structure about either the first or second direction, increasing the degree of freedom, occupying less space, ensuring motion stability, and thus guaranteeing reliability and greater flexibility.

This invention relates to the field of robotics and proposes a rigid-flexible coupling robotic mechanical finger structure, including a fixed plate and two sets of gripping fingers. Each gripping finger comprises a first phalanx, a second phalanx, and a fingertip that rotate sequentially from end to end. The first phalanx is rotatably mounted on the fixed plate. The structure also includes a gripping airbag, a drive mechanism, and a gripping mechanism. The gripping airbag is fixedly mounted on the end of the fingertip, and an air pump is installed inside the fingertip. The gripping airbag is connected to an inflation valve and a deflation valve, which are used to inflate the airbag. Four drive mechanisms are provided, each driving two first phalanxes and two second phalanxes to rotate. The gripping mechanism drives the fingertip to rotate in order to grip objects. This technical solution addresses the problem in existing technologies where the excessive gripping force of mechanical fingers causes damage to some objects.

A robotic gripper includes: a base; a first finger including a first phalanx connected to the base by a joint and a tip portion remote from the base; a second finger including a first phalanx connected to the base by a joint and a tip portion remote from the base, wherein the first and second fingers are opposite each other, the first finger including an inner surface facing the second finger, and the second finger including an inner surface facing the first finger; wherein the tip portion of one of the fingers includes a nail projection that can be deployed between an deployed configuration and an undeployed configuration.

The application provides a mechanical finger, a dexterous hand and a robot, and relates to the technical field of robots.The mechanical finger comprises at least one first phalanx, each first phalanx comprising a first phalanx body and a second phalanx body, the first phalanx body of each first phalanx being provided with a first clamping part, the second phalanx body of each first phalanx being provided with a second clamping part, and the first clamping part being clamped with the second clamping part.In this way, the assembly process of each first phalanx does not need to use screws and additional tools, which not only helps to simplify the assembly process of the mechanical finger and improve the production efficiency of the dexterous hand, but also helps to reduce the weight of the dexterous hand.

This utility model discloses a grooved anti-collision finger mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The grooved anti-collision finger mechanism, robotic hand, and robot of this utility model, by rotating a rotating component, allow the driving part to abut against the inner wall of the first groove, thereby driving the first phalanx to rotate. The elastic component undergoes elastic deformation, and under the action of the connecting rod, the second phalanx rotates along with the first phalanx and also rotates relative to the first phalanx, thus enabling the grooved anti-collision finger mechanism to perform a bending action. When the grooved anti-collision finger mechanism switches from a bent state to an extended state, the rotating component rotates in the opposite direction, while the driving part remains abutting against the inner wall of the first groove. The grooved anti-collision finger mechanism can extend and return to its original position under the combined action of the elastic force of the elastic component and the force applied by the driving part to the first side wall. When the rotating component is not rotating, the grooved anti-collision finger mechanism can bend under external force to avoid collision damage.

This application discloses a finger, relating to the field of robotics. The finger includes a drive device and a phalanx. The drive device includes a bracket, a first output shaft, a driver, and a transmission assembly. The first output shaft is rotatably connected to the bracket, the driver is mounted on the bracket, and the driver includes a second output shaft. The transmission assembly spans the first and second output shafts. A phalanx is provided on the first output shaft to drive the phalanx to rotate around the first output shaft. The transmission assembly is disengaged from the phalanx. The phalanx provided on the first output shaft is the first phalanx. The first phalanx is positioned outside the bracket of the drive device so that it can be removed from the drive device without disassembling it. This reduces the difficulty and time required for finger repair.

The invention discloses a finger exoskeleton unit free of shear force and self-adaptive to a joint rotation center and a hand exoskeleton, and relates to the technical field of rehabilitation medical instruments. The existing finger exoskeleton can only realize large-angle flexion and extension of a large phalanx and is difficult to realize large-angle flexion and extension of a small phalanx. The end executing mechanism comprises a first connecting rod seat which is assembled to a first phalanx and can move in the length direction of the first phalanx; the transmission connecting rod mechanism comprises a driving connecting rod and a first transmission connecting rod, a second transmission connecting rod, a third transmission connecting rod and a fourth transmission connecting rod which are sequentially connected end to end, a hinge point is formed between every two adjacent transmission connecting rods, and connecting lines of the four hinge points form a deformable parallelogram. The third transmission connecting rod is located at the knuckle position of the first phalanx and fixed, and the tip of the first transmission connecting rod is hinged to the first connecting rod seat; one end of the driving connecting rod is hinged to the fourth transmission connecting rod, and the other end can bear driving force in the length direction of the rod. The hand rehabilitation training device is used for hand rehabilitation training.

The utility model discloses a finger structure and a dexterous hand, and relates to the technical field of dexterous hands, the finger structure comprises a first driving device and a linkage finger, the first driving device comprises a first driving piece and a transmission mechanism which are arranged on a palm part, and the transmission mechanism comprises a first transmission piece and a second transmission piece which are matched with each other; the first transmission part is arranged on an output rotating shaft of the first driving part, and the second transmission part is driven by the first transmission part to rotate around a first axis; the linkage finger comprises a phalanx part and a linkage piece, the phalanx part at least comprises a first phalanx part and a second phalanx part, the first phalanx part is fixedly arranged on the second transmission piece, and the second phalanx part is rotationally connected to the end, away from the first driving device, of the first phalanx part and can be driven by the linkage piece to rotate around a second axis; the first axis and the second axis are arranged in parallel. According to the technical scheme, the overturning range of the finger structure can be enlarged when the finger structure is overturned relative to the palm.

Disclosed is a biomimetic finger (1000), the biomimetic finger comprising a mounting base (100), a first phalanx (200), a second phalanx (300) and a first elastic member (410). The mounting base comprises a first connecting arm assembly (110) and a second connecting arm assembly (120) located at the side of the first connecting arm assembly close to a holding side (1001). The first phalanx comprises a linear drive member (210) and a housing (220); the end of a main body structure (211) of the linear drive member away from an output shaft (212) of the linear drive member is rotatably connected to the first connecting arm assembly; the end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly. The second phalanx comprises a third connecting arm assembly (310) and a fourth connecting arm assembly (320) located on the side of the third connecting arm assembly close to the holding side; the third connecting arm assembly is rotatably connected to the output shaft; the fourth connecting arm assembly is rotatably connected to the end of the housing away from the second connecting arm assembly. The first elastic member acts between the housing and the second connecting arm assembly. Further disclosed are a biomimetic hand and a robot, which comprise the biomimetic finger. The biomimetic finger can improve the degree of fit with an object to be taken, thus improving the stability of gripping.

The utility model discloses a direct drive type finger and a full direct drive type dexterous hand, and relates to the technical field of dexterous hands, and the finger comprises a first mounting seat connected with a palm part, and a first joint, a first phalanx, a second joint and a second phalanx which are sequentially connected outwards from the palm part; the first joint comprises a first driving unit, the first driving unit comprises a first shell, a first motor and a first rotating shaft mounted on the first shell, the first phalanx is fixedly arranged on the first shell, the first shell is connected with the first mounting seat through the first rotating shaft, and the first motor drives the first shell through the first rotating shaft; the first shell is turned over around the axis of the first rotating shaft relative to the first mounting seat, and fingers can be turned over towards the palm inner surface; the second joint can drive the second phalanx so that the fingers can bend towards the metacarpal inner face. According to the technical scheme provided by the utility model, the problem that fingers cannot turn over to the maximum extent can be solved.

The invention relates to the technical field of manipulators, and particularly discloses a dexterous mechanical finger and a manipulator, the dexterous mechanical finger comprises a fixed seat, a driving mechanism, a palm finger knuckle, a first knuckle, a second knuckle, a third knuckle, a crank transmission mechanism and a first pull rod; wherein the driving mechanism and the palm finger knuckles are arranged on the fixed seat, the palm finger knuckles, the first knuckles, the second knuckles and the third knuckles are sequentially hinged end to end, the crank transmission mechanism is hinged to the driving mechanism, the palm finger knuckles and the second knuckles at the same time, and the first pull rod is hinged to the crank transmission mechanism and the third knuckles at the same time; through collaborative design of the crank transmission mechanism and the first pull rod, reciprocating linear motion of the driving mechanism is converted into coupling rotation of the first knuckle, the second knuckle and the third knuckle; and a single driving mechanism is adopted for providing power, an independent driving motor does not need to be configured for each knuckle, the fault risk of the dexterous mechanical finger is reduced, the operation stability of the dexterous mechanical finger is improved, and the service life of the dexterous mechanical finger is prolonged.

To provide a multi-degree-of-freedom bionic dexterous hand including a palm structure, a bionic thumb, a multi-functional bionic finger, and a dexterous bionic finger, where the present invention belongs to the technical field of robots.SOLUTION: A bionic thumb includes a first dactylus structure and a turntable rotatably disposed on a palmar structure, the first dactylus structure is hinge connected to the turntable, a rotation axis of the turntable is not parallel to a rotation axis of the first dactylus structure, a multifunctional bionic finger includes a second dactylus structure flexibly hinge connected to the palmar structure and capable of bending, stretching and swinging, and a dexterous bionic finger includes a third dactylus structure hinge connected to the palmar structure and capable of bending and stretching. The present invention allows the bionic dexterous hand to have multiple degrees of freedom, and enriching functions of the bionic dexterous hand.SELECTED DRAWING: Figure 1

In one aspect, a robotic hand is provided, the robotic hand comprising: a plurality of robotic fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and systems that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

The utility model relates to a mechanical finger joint, a mechanical finger and a robot hand, the mechanical finger joint comprises a first phalanx, a second phalanx, a rotating shaft assembly and a shielding piece, the rotating shaft assembly is arranged on the palm side of the second phalanx, and the first phalanx is in pivot connection with the second phalanx through the rotating shaft assembly; the end, rotationally connected with the second phalanx, of the first phalanx is a connecting end, one of the connecting end and the shielding piece is provided with a sliding part, the other one of the connecting end and the shielding piece is provided with a sliding groove, and the sliding part is arranged in the sliding groove in a sliding mode so that the shielding piece can be connected with the connecting end in a sliding mode; the shielding piece can rotate around the rotating shaft assembly, and in the whole process that the connecting end rotates in the direction gradually away from the second phalanx, the sliding part slides to the terminating end along the starting end of the sliding groove, so that the connecting end drives the shielding piece to rotate in the direction away from the second phalanx. According to the technical scheme, the rotating shaft assembly can be prevented from being directly exposed to the external environment when the mechanical finger is bent.

The invention relates to the technical field of mechanical bionics, and discloses an under-actuated finger unit and an under-actuated dexterous hand, the under-actuated finger unit comprises a fixed end, a first phalanx, a second phalanx, a first joint, a second joint, a first rope and a driving rope; the fixed end, the first phalanx and the second phalanx are sequentially pivoted through the first joint and the second joint; one end of the first rope is fixed in the fixed end, firstly bypasses a first joint on the outer side surface of the back of the hand and then penetrates into the first phalanx, penetrates out of the first phalanx, firstly bypasses a second joint on the inner side surface of the palm and then penetrates into the second phalanx and is fixed; one end of the driving rope is connected with the palm inner side face of the first phalanx, and the other end is in transmission connection with the first power assembly and used for pulling the first phalanx to rotate around the first joint towards the palm inner side face under pulling of the first power assembly. A friction driving mode in a traditional under-actuated finger unit is abandoned, the pulling force of the driving rope drives the joints to extrude the rope to generate pulling force, friction force transmission is replaced with pulling force transmission, and accurate grabbing is achieved.

The invention belongs to the technical field of manipulators, and particularly relates to a high-integration integrated skeleton manipulator which comprises an integrated skeleton and a driving structure, phalanx parts of the integrated skeleton are phalanx cylinders and phalanx cavities, phalanx power structures of the driving structure are located in the integrated skeleton, the integrated skeleton is integrally formed, and the driving structure is located in the integrated skeleton. Phalanx cylinders for containing the phalanx power structures are arranged on the palm side of the integrated skeleton at equal intervals, driving holes allowing the phalanx power structures to penetrate through and clamped with positioning bearings are formed in the bottoms of the phalanx cylinders, and finger holes fixed to the first phalanx joints are formed in the tops of the phalanx cylinders. When the structure bears the same load, the deformation is small, the dynamic response is more accurate, and the power transmission efficiency and the operation stability of the manipulator are greatly improved.

This disclosure relates to the field of robotics, specifically to a dexterous hand finger, a dexterous hand, and a robot, solving the problem of simultaneously achieving both grasping envelope and size in a dexterous hand finger. The dexterous hand finger includes a support component, a first phalanx component, a second phalanx component, a third phalanx component, a first link component, a second link component, and a drive component. The drive component drives the first phalanx component to rotate. The second phalanx component is rotatably connected to the first phalanx component, and the third phalanx component is rotatably connected to the second phalanx component. The first link component rotatably connects the support component to the second link component, and the second link component rotatably connects the first phalanx component to the third phalanx component. This achieves coupling and linkage of the first, second, and third phalanx components using a single drive component, first link component, and second link component, thereby improving grasping envelope while maintaining the finger's size.

The invention provides a tendon-driven mechanical finger, a manipulator and a robot. The tendon-driven mechanical finger comprises a first knuckle, a second knuckle, a first bent tendon rope, a second bent tendon rope and a reset tendon rope. The first end of the first knuckle is used for being connected to a mechanical palm, and the second end of the first knuckle is movably connected with the first end of the second knuckle; the first end of the first bent tendon rope is used for being connected to a first driving mechanism, and the second end of the first bent tendon rope is connected to the first knuckle and used for pulling the first knuckle to achieve bending. The first end of the second bent tendon rope is used for being connected to a second driving mechanism, and the second end of the second bent tendon rope is connected to the second knuckle and used for pulling the second knuckle to achieve bending. The first end of the reset tendon rope is used for being connected to a third driving structure, and the second end of the reset tendon rope is connected to the second knuckle and used for pulling the second knuckle to achieve finger straightening. According to the tendon-driven mechanical finger, independent movement control over all knuckles is achieved, and the weight of the finger is reduced.

In one aspect, provided is a robotic hand, comprising a plurality of robotic fingers; and a robotic palm, configured to operatively connect with the plurality of robotic fingers, wherein individual robotic finger comprises: a first phalanx; a second phalanx; and a first hydraulic actuator, configured to operatively connect the first phalanx with the second phalanx, wherein the first hydraulic actuator comprises a soft, bellows-type deformable body, such that when in operation, the first hydraulic actuator is switchable between at least a compression status and an extension status, in response to external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the disclosure provides robotic hands and systems that showed high degrees of compliance, adaptability, and precise control for robotic applications and addressed the challenge of achieving robotic fine in-hand manipulation.

The present application relates to a kind of three degrees of freedom dexterous hand finger compliance control method, comprising the following steps: establishing three degrees of freedom finger structure model;Passive joint constraint model and finger end kinematics model are constructed;In cartesian space, the compliance control model is constructed, and the end desired position offset is generated;Compliance control model is discretized;Lightweight kinematics inverse solution strategy is used, and only two active joints of third phalanx, second phalanx are solved, and the end desired position offset is mapped into the expected angle of active joint;According to the expected angle of active joint, motor control instruction is generated, third phalanx, second phalanx are driven to move, and first phalanx is driven to move by mechanical linkage, and end compliance interaction is realized;Contact force acquisition, compliance calculation, kinematics inverse solution and joint control step are cyclically executed, and real-time closed-loop control is completed.The method realizes the accurate mapping of end force, end position and active joint angle, and has good adaptability, real-time and compliance.

The embodiment of the invention relates to the technical field of manipulators, and particularly discloses a mechanical finger, a manipulator and a robot, a first knuckle group comprises a first knuckle, a rotating part and a swinging part, the first knuckle is arranged on the swinging part, the swinging part is rotatably connected to the rotating part, and the swinging part is configured to swing in a first axial direction; the second knuckle set comprises a first driving assembly and a second driving assembly, the second driving assembly is connected with the rotating part, drives the rotating part to rotate in the second axial direction and drives the first knuckles to rotate, and the first driving assembly is arranged on the second driving assembly and connected with the swing part; the first driving assembly is used for driving the swing part to swing in the first axial direction and driving the first knuckle to swing, and the first axial direction is perpendicular to the second axial direction. By means of the mode, the mechanical fingers can provide enough power output when bending action occurs through cooperation of the first driving assembly and the second driving assembly, and the grabbing capacity of the mechanical arm is improved.