798 results about "Knuckle" patented technology

A connecting rod assembly includes a crosshead for coupling a connecting rod to a plunger, the crosshead having a hole extending through the crosshead. The connecting rod assembly also includes a knuckle cage positioned within the crosshead, the knuckle cage extending through the hole and including a cutout to provide access to a passage formed in the knuckle cage. The connecting rod assembly further includes a knuckle positioned within the passage of the knuckle cage, the knuckle having a mounting surface that is substantially planar, the mounting surface coupling to the connecting rod at a mating end with a substantially planar mating end surface.

The invention discloses a five-finger bionic dexterous hand with distributed touch perception and a control method. The five-finger bionic dexterous hand comprises a palm part; fingers of the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit respectively comprise a three-stage series flexion and extension mechanism which is sequentially composed of a third knuckle, a second knuckle and a first knuckle from a metacarpophalangeal joint, and each three-stage series flexion and extension mechanism has three flexion and extension freedom degrees and one deflection freedom degree; the tendon rope driving units are arranged in the palm part; the palm center camera is integrated on the front face of the palm part and used for collecting visual information of an operation area; the 15 air pressure type touch sensor modules are installed on the third knuckles, the second knuckles and the first knuckles of all the finger units in a distributed mode, and each air pressure type touch sensor module is integrated with a pressure and temperature double sensing unit and used for sensing contact pressure and environment temperature; the control module is integrated on the back face of the palm part and is in signal connection with the palm center camera, the air pressure type touch sensor modules and the tendon rope driving unit.

Creped fibrous structures having pillows and knuckles, wherein the creped fibrous structures may exhibit improved knuckle properties, such as Knuckle Roughness Ra, Knuckle Roughness Rq, and Knuckle Creping Frequency and methods for making same are provided, and / or may comprise elongate knuckles comprising discrete pillows and / or elongate pillows between first and second elongate knuckles.

The invention provides a rigid-flexible coupling humanoid manipulator which comprises a humanoid rigid-flexible coupling manipulator mechanical body, a wrist tube connected with a hand body and a driving control system and a hand body driving control system, a thumb and palm connecting piece drives a thumb to do palm-facing movement, and a steering engine module is in transmission connection with fingers and the thumb through a plurality of driving ropes. The fingers and the thumb can do flexion or abduction movement, and the fingers can do lateral deviation abduction movement; and elastic ligaments are connected to joints of the fingers and the thumb. Through the autonomous variable-stiffness metacarpophalangeal joints, the bionic interphalangeal joint system and the hand-simulated hand movement system of the elastic envelope structure, dexterous movement and contact compliance of the manipulator in a complex operation task are achieved, and the dynamic balance requirement of the manipulator between dexterous operation and rigid maintenance is met; the invention has the advantages of excellent movement performance, strong environmental adaptability, low manufacturing cost and the like.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problems that the dexterous hand capable of realizing motion decoupling between two degrees of freedom of bending and side swaying of the dexterous hand finger is complex in structure and poor in reliability. The dexterous hand finger comprises a side swing assembly, a first knuckle, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly. The side swing assembly, the first knuckle, the first connecting rod assembly, the second connecting rod assembly and the first driving assembly form a space crank sliding block mechanism so as to drive the knuckles to rotate around the second axis, and bending of the first knuckle is achieved. And the knuckles can rotate around the first axis under the driving of the second driving assembly, so that the lateral swinging of the first knuckles is realized. The first end of the second connecting rod assembly and the second end of the first connecting rod assembly form a spherical pair, motion decoupling between the two freedom degrees of bending and side swing is achieved, the structure is simple, and the reliability of the dexterous hand finger is improved.

The invention relates to the technical field of robots, in particular to a dexterous hand and a robot, and solves the problems that the dexterous hand in the related technology is insufficient in rigidity and bearing capacity and cannot independently control joint movement. Two first driving assemblies of the dexterous hand are connected in parallel to drive two first swing arm assemblies to rotate, and the two first swing arm assemblies drive a thumb base to rotate around a first axis or drive a thumb knuckle assembly to rotate around a second axis through two first connecting rod assemblies. Therefore, the independent control of the movement of the thumb knuckle assembly in four directions, namely bidirectional side swaying, stretching and bending, is realized. Besides, the second axis and the first axis are perpendicular and not coplanar, so that the thumb knuckle assembly can resist lateral force borne by the thumb knuckle assembly in the stretching and bending process, the thumb knuckle assembly has higher rigidity and bearing capacity, the rigidity and bearing capacity of the dexterous hand are improved, and the flexibility of the dexterous hand is improved. And the requirements of fine operation and power output of the dexterous hand are met.

The present application provides a joint module, a finger, a dexterous robot hand, and a robot. The joint module comprises a driving mechanism and a transmission mechanism, wherein an output end of the driving mechanism is connected to an input portion of the transmission mechanism, and an output portion of the transmission mechanism serves as an output portion of the joint module to transmit power. Since each joint module comprises a driving mechanism, the joint movement of each knuckle can be controlled independently to output torque, thereby increasing the response speed, precision, and torque of each joint movement. When multiple joint modules are applied to a finger, the strength of the entire finger and the coordination precision and flexibility of a finger action can be improved, and the wiring between the joint modules and the wiring between the joint modules and a fingertip module in the finger are more convenient.

The invention discloses a coupling self-adaptive under-actuated bionic dexterous manipulator finger, and relates to the technical field of manipulator fingers. The knuckle assembly comprises a far-end knuckle, a middle-end knuckle and a near-end knuckle which are mutually cooperated and matched and are connected in sequence; the driving assembly comprises a side swing-flexion and extension module and a grabbing driving module, and the side swing-flexion and extension module and the grabbing driving module each comprise a multi-stage connecting rod structure and are used for driving the knuckle assembly to complete specified actions; according to the manipulator finger, the passive adaptive capacity of the finger is effectively improved, more natural envelope grabbing is achieved, and the finger has a larger grabbing space while the structure is kept simple and compact.

The invention provides a method for quickly positioning the instant center of a finger joint and a rehabilitation glove following the instant center, the method for quickly positioning the instant center of the finger joint comprises the following steps: A, keeping a finger in a half-bending state, and making a straight line collinear with the outer contour of each knuckle of the finger; b, folding lines of all joints are made through straight lines and finger knuckles, and geometric center lines of the fingers are made through the folding lines; c, making a positioning circle tangent to the fold lines of the joints and the geometric center line of the finger in an acute angle space formed by the fold lines of the joints and the geometric center line of the finger; d, the positioning circle radius R1 at the metacarpophalangeal joint of the finger is larger than or equal to 1 mm and smaller than or equal to 2.5 mm, and the positioning circle radius R2 of the near-end interphalangeal joint and the far-end interphalangeal joint of the finger is larger than or equal to 0.5 mm and smaller than or equal to 2 mm; e, in engineering application, the equivalent instantaneous center of the metacarpophalangeal joint varies within the range of a positioning circle with the radius being R1, and the equivalent instantaneous centers of the near-end interphalangeal joint and the far-end interphalangeal joint varies within the range of a positioning circle with the radius being R2.

The dexterous finger comprises at least two knuckles which are hinged to each other and a first driving mechanism which drives one of the two adjacent knuckles to rotate around a first shaft relative to the other knuckle, and at least one knuckle is connected with a connecting part through a second driving mechanism. The second driving mechanism drives the knuckles to move linearly in the length direction of the knuckles and / or enables the knuckles to rotate around the axes of the knuckles, and the remaining parts of the second driving mechanism are arranged on the knuckles. The dexterous finger has the advantages that the driving mechanisms capable of extending and swinging the whole dexterous finger in multiple directions are additionally arranged between the knuckles, so that the dexterous finger not only can be bent in a single plane, but also can be expanded and flexibly swung on different planes, and the movement range and the flexibility of the finger are greatly improved; and moreover, grabbed objects with different shapes and sizes can be better adapted.

The invention discloses an under-actuated manipulator based on hybrid transmission of a gear and a tendon rope mechanism, and relates to the technical field of manipulators. One end of the middle connecting mechanism is provided with the floating platform under-actuated mechanism, and the other end of the middle connecting mechanism is provided with three identical finger mechanisms; the floating platform under-actuated mechanism comprises a tendon rope lifting device, a floating platform, a tendon rope winding wheel and a driving motor, a tendon rope penetrates through the lifting device to be connected with the floating platform and then reaches the finger mechanism, and synchronous control over the finger mechanism is achieved; the finger mechanism sequentially comprises a wrist joint, an MP joint and a near-end knuckle and is driven by a single motor to achieve rotary motion. The near-end knuckles are sequentially connected with the DIP joints, the middle knuckles, the PIP joints and the far-end knuckles in series, transmission is achieved through tendon ropes, flexible belts are installed on the inner sides of the near-end knuckles, and self-adaptive grabbing and gripping are achieved. Meanwhile, a torsional spring and a limiting device are arranged at a joint, so that resetting and self-locking functions are realized. The under-actuated manipulator is high in adaptive capacity, high in flexibility and good in stability.

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

The invention provides a knuckle module and a dexterous hand. The knuckle module comprises a first knuckle section, a motor, a control circuit board, a reversing mechanism and a speed reducer, wherein the motor and the control circuit board are arranged in the first knuckle section, and the reversing mechanism and the speed reducer are arranged in the end portion of one end of the first knuckle section. The direction of an output shaft of the motor is parallel to the length direction of the first knuckle section, the direction of an output shaft of the speed reducer is perpendicular to the direction of the output shaft of the motor, and the reversing mechanism is arranged between the motor and the speed reducer and used for converting rotation of the output shaft of the motor into rotation of an input shaft of the speed reducer. The control circuit board is arranged at the end, away from the reversing mechanism, of the motor and electrically connected with the motor. According to the knuckle module provided by the invention, the use requirements of light weight and miniaturization of finger joints can be met, the motion control precision of the finger joints is greatly improved, meanwhile, modularization is realized, a plurality of knuckle modules can be stacked to be connected into a finger, and the knuckle module is convenient to disassemble and assemble and easy to maintain.

The invention provides a humanoid robot and a dexterous hand thereof. The humanoid robot comprises a palm shell defining a containing cavity; the thumb comprises a first rotary actuator, a second rotary actuator, a transmission assembly and a thumb assembly, the first rotary actuator and the second rotary actuator are fixedly connected to the inner wall of the containing cavity, the transmission assembly is in transmission connection between the first rotary actuator and the second rotary actuator, and at least part of the thumb assembly extends out of the containing cavity; the thumb component is in transmission connection with the transmission component; each finger comprises a finger piece and a linear actuator, the linear actuators are fixedly connected to the cavity wall of the containing cavity, at least part of each finger piece extends out of the palm shell, and each finger piece comprises a connecting base, a finger near knuckle, a finger far knuckle, a finger far knuckle and a finger far knuckle rubber coating; and a connector board electrically connected to the first rotary actuator, the second rotary actuator, and the linear actuator. The dexterous hand is compact in layout, small in occupied space and high in movement precision, and the grabbing force of the dexterous hand is improved.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problem that a dexterous hand in the related technology cannot have a relatively high degree of freedom and a relatively small size at the same time. The dexterous hand finger comprises a finger base assembly, a rotary driving assembly, a finger knuckle assembly, two parallel driving pieces, two finger swing arms and two finger connecting rods. According to the dexterous hand finger, the rotation driving assembly is used for driving the finger base assembly to rotate around the first axis, rotation of the finger knuckle assembly of the dexterous hand finger is achieved, and the two parallel driving pieces, the two finger swing arms and the two finger connecting rods are used for driving the finger knuckle assembly of the dexterous hand finger to swing laterally and bend and stretch. Therefore, three degrees of freedom of the finger knuckle assembly of the dexterous hand finger are realized. Meanwhile, the rotation axes of the three degrees of freedom are concentrated on the finger base assembly, the structure is compact, and the dexterous hand finger has the high degree of freedom and the small size.

The invention belongs to the technical field of robots, and relates to a humanoid dexterous hand, which comprises a palm part, a thumb and four fingers, the four fingers are respectively an index finger, a middle finger, a ring finger and a little finger, the structures of the index finger, the middle finger, the ring finger and the little finger are the same, the lengths of all knuckles are different, each finger comprises a finger body and a finger mechanical transmission chain, the thumb comprises a thumb body and a thumb mechanical transmission chain, and each finger and the thumb can be independently installed on the palm or detached from the palm. According to the humanoid dexterous hand, all the driving motors can be direct-current servo motors or stepping motors, and when fingers or the thumb stops bending and stretching movement, if the servo motors are adopted, a servo control system has the electric locking capacity due to the fact that the servo motors are in a closed-loop control mode; if a stepping motor is adopted, the stepping motor has a torque holding function, and the holding torque is far higher than the driving torque; all the power assemblies are externally arranged, namely, the power assemblies are not arranged in finger knuckle cavities.

An improved glove has both anatomically correlating stress relief zones and / or reinforced zones to add support in areas opposite the stress relief zones to keep bunching or slipping of the glove from interfering with the bending of the user's joints. The glove may have corrugated relief zones over some or all of the joints and knuckles of the hand, wherein the relief zones are formed of peaks and valleys. A relief zone can also be provided over the webbing between the thumb and the palm. The vertical or longitudinal relief zones provide for improved glove quality while keeping manufacturing difficulty and costs at a minimum.

The invention discloses a tactile finger, a mechanical palm and a robot, and the tactile finger comprises a knuckle base body which is provided with a mounting surface arranged in a curved surface manner; the touch sensing assembly comprises a plurality of electrode attaching units used for sensing the external contact state and collecting pressure data, the electrode attaching units are arranged on the mounting surface at intervals, and each electrode attaching unit comprises a plurality of electrode plates which are communicated with one another; the flexible coating part is used for coating the plurality of electrode pasting and coating units; according to the invention, the plurality of electrode pasting units which are arranged at intervals are arranged on the knuckle base body with the curved mounting surface, and the sensing area is integrally covered by the flexible covering piece, so that compact integration and effective protection of the tactile sensing assembly are realized, the distribution rationality and conduction continuity of the sensing function are ensured, and the sensing effect is improved. The flexibility and adaptability of the whole structure of the tactile finger are also improved, and the tactile finger has good installation adaptability and engineering implementability.

An independent steering device includes: a knuckle coupled to a wheel; and a driving unit having the knuckle rotatably coupled to at least a portion thereof and providing a driving force for rotating the knuckle. The driving unit may include: a motor having a first rotating shaft; a reducer having a second rotating shaft and coupled to the knuckle; and a power transmission member connecting the first rotating shaft and the second rotating shaft and configured to transmit rotational force between the first rotating shaft and the second rotating shaft. The motor and the reducer may be disposed so that the first and second rotating shafts are parallel.

The invention relates to the technical field of man-machine interaction, in particular to a dexterous hand pose data acquisition method based on infrared optical motion capture, which comprises the following steps: initializing an infrared optical motion capture system and a bending value of each finger flexion and extension of each dexterous hand; constructing a hand model; modifying the message format of the VRPN communication protocol, obtaining the pose data of each mark point of the hand, calculating the rotation angle of each finger near-end fingertip joint of each hand under each task, taking the rotation angle as the rotation angle of each finger near-end fingertip joint of the dexterous hand corresponding to each hand under each task, and outputting the rotation angle of each finger near-end fingertip joint of the dexterous hand. And sequentially calculating the rotation angle of each finger palm knuckle, the bending value of each finger flexion and extension and the bending value of the thumb adduction and abduction under each task. According to the method, the grabbing success rate of the dexterous hand is increased, the reliability of the dexterous hand is improved, the capacity of capturing complex hand actions is enhanced, and the performance of the dexterous hand in a complex task scene is enhanced.

The application discloses a knuckle, which comprises a ring topology structure, a disc body and a front axle, the ring topology structure and the front axle are connected to the two sides of the disc body respectively, two pin holes are arranged on the ring topology structure and are located on the same axis, and the curved surface surrounded by the outer end of the ring topology structure is a saddle-shaped hyperboloid, and the two pin holes are arranged at the convex position of the saddle-shaped hyperboloid. The application further discloses a design method of the knuckle. The knuckle obtained by the application has a reasonable structure, and can avoid the problems of crack expansion and overall failure of components caused by the fracture of the root of the vertical rib on the knuckle in the prior art.

A robotic end effector or end-of-arm tool may take the form of a mechanical digit (e.g., mechanical finger), or employ one or more mechanical digits (e.g., mechanical fingers), controllable in multiple degrees of freedom, e.g., pitch, yaw, curl. The mechanical digit(s) advantageously comprise a skeleton and three (3) piston / cylinders combinations, one controlling curl, and the other two controlling pitch and / or yaw. Mechanical digits may comprises a number of rolling contact joints. A flexible printed circuit board (PCB) carrying a variety of sensors covers the skeleton, and runs inside the rolling contact joints to provide a zero length change path. Knuckle imitators may cause a membrane cast or sheath joint to resemble human knuckles.

The invention discloses a finger of a dexterous hand and the dexterous hand, and relates to the technical field of dexterous hands, the finger of the dexterous hand is mounted on a palm, and the finger comprises a knuckle shell, a mounting seat and a conductive wire harness. A functional assembly is arranged in the knuckle shell and can rotate around a first axis penetrating through the lower end of the knuckle shell. The near-end shell or the tail-end shell is connected with a palm through a mounting base, and the tops of the near-end shell and the tail-end shell are both provided with top wire passing channels. The conductive wire harness comprises a first extension section, a second extension section and a third extension section which are sequentially connected, and the first extension section and the third extension section extend in the vertical direction and are connected with the functional component and the subordinate component or a palm; the second section is coaxial with the first axis, and the three sections respectively pass through the bottom wire passing channel, the wire passing channel and the top wire passing channel. According to the technical scheme provided by the invention, the wire harness can be prevented from being repeatedly stretched, bent or twisted in the movement process of the dexterous hand.

The invention discloses a self-adaptive bionic manipulator and a differential motion pulley block mechanism, which are composed of a shell, a palm, four fingers, a thumb and a connecting flange, and comprise a first driving mechanism, a second driving mechanism and a third driving mechanism, and the four fingers comprise an index finger, a middle finger, a ring finger and a little finger which are all novel tendon rope connecting rod hybrid driven bionic mechanical fingers; the three knuckles of the bionic mechanical finger are driven by the tendon ropes to move regularly, so that consistent bending and self-adaptive grabbing of the finger are achieved. A set of differential motion pulley block mechanism is installed on the palm, the first driving mechanism drives the differential motion pulley block mechanism and drives the four fingers to move, and the mechanism not only solves the problem that a pulley block occupies a large space of the palm, but also can reduce the overall weight and achieve light weight. A second driving mechanism and a third driving mechanism are installed on the thumb and control rotation and buckling of the thumb respectively. The robot can grasp objects in a self-adaptive mode, and is high in self-adaptability, high in anthropomorphic degree, ingenious in structure and efficient in transmission.

The invention discloses a multi-degree-of-freedom full-drive dexterous hand and a robot, the multi-degree-of-freedom full-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, and the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor; wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, the movement of the finger joints is more direct and sensitive, finer and more complex actions can be achieved, and the flexibility of the fingers is greatly improved. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

Embodiments of the present disclosure provide a method and a system for determining a finger joint angle. The method includes obtaining first sensor data relating to at least two target finger joints of a user, the first sensor data is obtained using at least two strain sensors, each of the strain sensors is arranged in a glove body worn by the user and located at one target finger joints, and the at least two target finger joints include at least two adjacent metacarpophalangeal joints of the user; obtaining a first mapping relationship, wherein the first mapping relationship reflects a relationship between sensor data corresponding to the at least two target finger joints and joint angles of the at least two target finger joints; and determining a first joint angle of each of the at least two target finger joints based on the first sensor data and the first mapping relationship.

The invention relates to the technical field of robot end executors, in particular to a bionic flexible self-adaptive dexterous hand and a control method.The dexterous hand comprises a palm, bionic fingers, a driving assembly, a reset assembly and a sensing system, the bionic fingers comprise knuckles connected in series through joint mechanisms, and the bionic fingers are movably connected with the palm through finger root joints; a non-Newtonian fluid core-shell structure is arranged on the finger pulp side and comprises a flexible sealing shell and a non-Newtonian fluid inner core filled in the flexible sealing shell, the driving assembly drives the fingers to bend through tendon rope retracting and releasing, the reset assembly enables the fingers to recover stretching after driving force is relieved, and the sensing system integrates a flexible sensor to feed back the grabbing state in real time. The non-Newtonian fluid slowly flows under pressure, so that the flexible shell perfectly fits the outline of an object, the contact area and friction force are greatly increased, creep deformation is resisted due to high internal energy consumption, and the irregular and smooth object is stably grabbed.

The invention discloses a rigid-flexible coupled dexterous hand finger. The rigid-flexible coupled dexterous hand finger comprises a finger base part, a fingertip module and a plurality of knuckles, the fingertip module comprises a fingertip, a tendon, a fingertip base and a fingertip fixing frame, the tendon and the fingertip are made of flexible elastic materials, the fingertip is installed on the fingertip fixing frame, and the tendon is used for connecting the fingertip fixing frame and the fingertip base; each knuckle comprises a knuckle support and a knuckle steering engine fixedly installed on the knuckle support, and a finger base steering engine is further fixedly installed on the finger base. And according to the sequence from the finger base to the fingertip, the finger base steering engine is used for controlling the movement of the first knuckle, the last knuckle steering engine is used for controlling the movement of the fingertip base, and the other knuckle steering engines are used for controlling the movement of the next knuckle. The invention further discloses a control method of the rigid-flexible coupled dexterous hand finger.

The exoskeleton manipulator comprises an exoskeleton main body, the front end of the exoskeleton main body is connected with a finger four-finger part, the rear end of the exoskeleton main body is connected with a finger thumb part and a wrist wearing part, the exoskeleton main body is connected with a thumb metal rod and a four-finger knuckle rod, and a hand back liner is arranged on a palm part on the inner side of the exoskeleton main body; the four-finger part comprises an index finger stall, a middle finger stall, a ring finger stall and a little finger stall which are arranged on the four-finger knuckle rod in a sleeving manner, and the thumb part comprises a thumb stall arranged on the thumb metal rod in a sleeving manner; the wrist wearing part comprises a wide bandage with one end fixed to the exoskeleton body and a wrist guard arranged on the wide bandage. The invention further relates to a wearing method of the exoskeleton mechanical arm, wearing can be rapidly completed only through two steps after assembly is completed, and the problem that the exoskeleton mechanical arm is simple to wear and good in adaptability cannot be achieved at the same time is solved.

The invention discloses an under-actuated robot finger based on hybrid transmission of connecting rods and tendon rope mechanisms, and relates to the technical field of intelligent robots. The front end of the base is hinged to the bottom of the lower swing rod, the rear end of the base is connected with the root joint shaft, the lower swing rod is sleeved with the sleeve, and the connecting pin is fixed to the top of the lower swing rod. The driving wheel and the root joint shaft are coaxial and connected with the tendon rope. Connecting pins are fixed to the top of the upper swing rod, a top joint shaft is arranged above the upper swing rod, knuckle shells at the root end, the middle and the tip end are rotationally connected with the corresponding joint shafts at the bottoms respectively, a torsional spring is installed on the middle joint shaft, and the two connecting pins are connected with the corresponding knuckle shells respectively. The connecting rod and tendon rope hybrid transmission is adopted, the transmission efficiency is improved, the smaller size and the lower weight are achieved through the under-actuated control strategy, the coupling-self-adaptive movement function is achieved, and the flexibility and the response speed are improved.