386 results about "Knuckle" patented technology

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.

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 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.

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 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 utility model provides a hand-simulated operation device, and relates to the technical field of manipulators, the hand-simulated operation device comprises a plurality of finger-simulated structures used for grabbing a target object, the finger-simulated structures at least comprise fingertip knuckles, and the tops of the fingertip knuckles are special-shaped curved surfaces; an electronic skin is attached to each fingertip knuckle, the electronic skin is arranged to be of a stretchable and bendable flexible structure, and the electronic skin is configured to be capable of generating interactive perception with the target object when the target object is grabbed; the electronic skin is attached to the fingertip knuckles and at least covers the front faces and the tops of the fingertip knuckles. The defect that in the prior art, when a human hand operation simulating device grabs the target object, perceptual information of the target object is not accurate is overcome.

The embodiment of the utility model provides a dexterous hand finger, a dexterous hand and a robot, the dexterous hand finger comprises a cross shaft assembly, the cross shaft assembly comprises a first rotating shaft and a first shaft sleeve, the first rotating shaft is fixedly connected with the first shaft sleeve, and the minimum included angle between a first axis and a second axis is larger than or equal to 80 degrees; the first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the first shaft sleeve; a first driving assembly is arranged in the knuckle assembly, and the output end of the first driving assembly is in transmission connection with the first rotating shaft; a second driving assembly is arranged in the metacarpal bone assembly, and the output end of the second driving assembly is in transmission connection with the first shaft sleeve; therefore, the arranged cross shaft assembly comprises the first rotating shaft and the first shaft sleeve, and the minimum included angle between the first axis and the second axis is larger than or equal to 80 degrees, so that the degree of freedom that the fingers of the dexterous hand bend towards the palm center and extend away from the palm center can be achieved through the first shaft sleeve; and the degree of freedom of abduction and adduction of the fingers of the dexterous hand is realized through the first rotating shaft.

The utility model relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot to solve the problem that in the prior art, the size of the dexterous hand finger is large. In the dexterous hand finger, a first knuckle is rotatably connected with a supporting piece around a first axis, a first driving assembly can drive a first meshing piece to rotate around a second axis, a second meshing piece is rotatably connected with the supporting piece around a third axis and is meshed with the first meshing piece, the second axis is perpendicular to the third axis, and the third axis is parallel to the first axis. In the rotating process of the second meshing piece, the poking part can abut against the poked part of the first knuckle, the poked part is poked to rotate around the first axis, the first knuckle is made to rotate towards the palm side, the first meshing piece and the second meshing piece are driven by the first driving assembly to rotate, the poking part of the second meshing piece pokes the first knuckle to rotate around the first axis, and therefore the first knuckle rotates towards the palm side. The finger bending device is simple and compact in structure, and the size of the fingers of the dexterous hand can be reduced.

A pressure measurement assembly for sensing a force acting on an end portion of a robot nail, and a bionic finger, said pressure measurement assembly comprising an end knuckle (1), an artificial nail (2), and a processing module. The artificial nail (2) is mounted on the end knuckle (1), the rigidity of the artificial nail (2) is set above Mohs 2, a nail front edge (21) extends outwards beyond a fingertip of the knuckle, and an end portion of the nail front edge (21) serves as a first force acting area (21a) to be in physical contact with an external object. The artificial nail (2) is slidably connected to the end knuckle (1) in a direction along the fingertip. Under a force acting on the first force acting area (21a), the artificial nail (2) slides toward the knuckle. At least one first pressure sensor (212) capable of autonomous elastic recovery after being pressed is fixed on the sliding path for measuring a first one-dimensional force. The size of the outer diameter of the pressure sensor (212) is configured to be at most 100% of the maximum size of the artificial nail (2). The processing module is coupled to the first pressure sensor (212) for outputting, on the basis of the first one-dimensional force, the applied force acting on the first force acting area (21a).

The invention provides a knuckle, a finger, a dexterous hand and a robot, and relates to the field of robotics.The knuckle comprises a bottom wall, a top wall and a side wall, the side wall is connected with the bottom wall and the top wall, a wiring channel is formed in the top wall and penetrates through the two opposite ends of the top wall, and two rows of guide columns are arranged in the wiring channel; a limiting gap for a tendon rope to penetrate through is formed between the two rows of guide columns, and receding notches used for receding the tendon rope are formed in the two opposite ends of the top wall.

The invention discloses a knuckle mechanism of a touch finger, the touch finger applying the knuckle mechanism, a bionic palm and a bionic robot, the knuckle mechanism comprises a mounting framework, elastic skin and a plurality of magnetic touch assemblies, and an inclined mounting surface is arranged at the mounting end of the mounting framework; the elastic skin is connected with the mounting end in a sleeving manner and covers the mounting surface; the plurality of magnetic touch assemblies are arranged on the mounting surface and are arranged at intervals in the length direction and / or the width direction of the mounting surface, and the magnetic touch assemblies abut against the elastic skin so as to be used for collecting deformation data when the elastic skin makes contact with an external object. According to the application, the plurality of magnetic touch assemblies abutting against the elastic skin are arranged on the inclined mounting surface of the mounting framework at intervals along the length direction and / or the width direction, so that local deformation generated when the elastic skin is in contact with an external object is easily differentially transmitted to the corresponding magnetic touch assemblies along the inclined direction; and a more accurate detection effect can be realized.

The utility model relates to the technical field of manipulators, and provides a speed reducing mechanism for a mechanical finger, the mechanical finger and a manipulator. The speed reducing mechanism comprises at least one set of transmission pair, each transmission pair comprises a front-end tooth-shaped component and a rear-end tooth-shaped component, the rear-end tooth-shaped component is at least partially in meshing transmission with the front-end tooth-shaped component, and the diameter of a meshing reference circle of the front-end tooth-shaped component is smaller than that of a meshing reference circle of the rear-end tooth-shaped component; the front-end tooth-shaped component, located at the foremost transmission end, in all the front-end tooth-shaped components is used for being matched with a driving mechanism or a transmission mechanism for controlling knuckles to act in the mechanical finger, and the rear-end tooth-shaped component, located at the rearmost transmission end, in all the rear-end tooth-shaped components is used for being matched with an executing mechanism in the mechanical finger. On the basis, the torque between the adjacent knuckles is increased by arranging the speed reducing mechanism, the force of the mechanical finger can be enhanced, and therefore operation actions such as grabbing, holding, pressing and clicking can be smoothly achieved.

The invention provides a dexterous finger module and a dexterous hand, the dexterous finger module comprises a finger structure and a finger root base, the finger structure comprises a plurality of knuckle shells and a plurality of knuckle steering engines arranged in the knuckle shells, the knuckle shells are rotationally connected in sequence, and the knuckle shells are rotationally connected with the knuckle steering engines; each knuckle steering engine drives the corresponding knuckle shell to rotate, one knuckle steering engine is a first steering engine for driving the finger structure to rotate relative to the finger root base, the finger structure further comprises a first connecting piece and a first transmission assembly, and the first steering engine is connected with the first transmission assembly; the motion output end of the first transmission assembly is fixedly connected with the first connecting piece. According to the dexterous finger module and the dexterous hand, more active freedom degrees are achieved, the knuckle shell does not need to be driven to rotate in a rope-driven coupling mode, the service life is long, and the control difficulty is low. In addition, the dexterous finger module is an independent module and is convenient to maintain and replace.

The invention provides a dexterous hand thumb and a manipulator, and relates to the technical field of manipulators. The dexterous hand thumb comprises a first driving device, a thumb side-sway support, a second driving device, a thumb introversion support, a third driving device and a knuckle shell. The first driving device is connected with the thumb side-sway bracket and drives the thumb side-sway bracket to swing around the axis I; the second driving device is installed on the thumb side-sway support, the second driving device is connected with the thumb introversion support and drives the thumb introversion support to swing around an axis II, and the axis I is perpendicular to the axis II; the third driving device is installed in the knuckle shell, the third driving device is connected with the thumb introversion support and used for driving the knuckle shell to swing around the axis III relative to the thumb introversion support, and the axis II is perpendicular to the axis III. Multi-degree-of-freedom driving of the thumb is realized in a compact space, and the driving flexibility is improved, so that the operation performance of the thumb when the thumb is used for grasping is improved.

The invention belongs to the field of robots, and particularly relates to a three-degree-of-freedom rigid-flexible coupling dexterous finger and a dexterous hand, and the dexterous finger comprises a finger knuckle module, a double-end spherical hinge connecting rod, a palm inner finger driving module, a driving transmission mechanism and an arm inner finger driving module. By fusing a rigid space connecting rod mechanism and a flexible driving transmission mechanism, the contradiction that a traditional rigid structure lacks flexibility and a flexible structure is insufficient in rigidity is ingeniously solved. Two degrees of freedom of flexion and extension and adduction and abduction of fingers at metacarpophalangeal joints are realized by utilizing a spatial connecting rod mechanism formed by a knuckle supporting frame, a proximal phalanx, a deflection transverse shaft and a double-end spherical hinge connecting rod; meanwhile, the power of the finger driving module in the arm is efficiently transmitted to the interphalangeal joints through the driving transmission mechanism, the middle joint and the distal phalanx are driven to achieve coupling or self-adaptive buckling, and therefore the third degree of freedom is obtained, and the problem that the contradiction exists between insufficient flexibility of a traditional rigid structure and insufficient rigidity of a flexible structure is solved.

The invention discloses a non-active finger exoskeleton and a non-active hand exoskeleton. The finger exoskeleton comprises a fixed seat, an upper pull rod, a lower pull rod and knuckles. And the far end of the upper pull rod is connected with the middle ends of the knuckles and the near end of the central pull rod. The near end of the lower pull rod is connected with the fixed seat, and the far end is connected with the knuckle near end. A unique ergonomic design is adopted, a user is allowed to control the exoskeleton through simple hand actions without depending on external power, complex holding and operation tasks are completed, and the life self-care ability of a person with finger amputation or insufficiency is remarkably improved.

The invention discloses a thumb bionic mechanical finger, a gear driving type bionic mechanical finger and a bionic manipulator thereof, and belongs to the field of manipulators. Comprising a supporting part, a first finger section, a second finger section, a third finger section, a first driving part, a second driving part, a first gear transmission part and a second gear transmission part. The first finger section is connected with the supporting part, the second finger section is connected with the first finger section, and the third finger section is connected with the second finger section; the first gear transmission part is arranged between the supporting part and the first finger section, and the second gear transmission part is arranged between the first finger section and the second finger section; the first driving piece is connected with the first gear transmission piece, and the second driving piece is connected with the second gear transmission piece. The mechanical arm has the beneficial effects that the two independent driving parts are matched with the two bevel gear transmission parts to drive the first finger section and the second finger section correspondingly, and independent and accurate control over the metacarpophalangeal joint and the middle joint is achieved. The design allows the fingers to move complexly and flexibly, and is suitable for fine operation tasks.

The application relates to the technical field of robots and discloses a multi-ring mixed connection four-degree-of-freedom active full-drive high-skill high-load mechanical finger, which comprises a wrist metacarpal base, a center hooke joint, a finger hinge, a first telescopic mechanism, a first multi-link structure, a second telescopic mechanism, a second multi-link structure and a third telescopic mechanism, the center hooke joint is arranged on the wrist metacarpal base; the finger hinge is hinged to the center hooke joint; the finger hinge comprises a phalanx, a knuckle and a fingertip; the first multi-link structure and the second multi-link structure are both arranged on the center hooke joint; one end of the first telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the phalanx; one end of the second telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the first multi-link structure; one end of the third telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the second multi-link structure. The multi-ring mixed connection mechanism has the motion decoupling characteristics, so that the finger has high skill and high load capacity.

This invention discloses a finger joint angle detection mechanism and a method for constructing a 3D model of an object; belonging to the field of exoskeletons for human finger joints, it consists of a fabric substrate, a data storage module, a displacement sensor, and a transmission mechanism, including five sets of three-segment skeletons. The thumb skeleton includes a fingertip joint rod, a root joint rod, a back-of-hand rod, and a wrist rod; the other finger skeletons include a fingertip joint rod, a middle joint rod, a root joint rod, and a back-of-hand rod. Each pair of skeleton segments is connected by a transmission mechanism and a cylindrical pin. The glove does not affect the natural movement of the human hand, and when collecting finger joint data through grasping or other methods, it ensures flexible hand movement, and the range of joint bending angles is unrestricted. When the human hand wears the glove to grasp an object, the bending angles of each finger joint are collected and converted into bending angle images. A convolutional neural network is used to fuse the bending angle images with multi-angle captured object images to achieve accurate 3D reconstruction of the object.

The utility model provides a finger structure and a robot. The finger structure comprises: a frame; the first knuckle is hinged to the rack through a first hinge part; the second knuckles are hinged to the first knuckles through second hinge parts; the third knuckles are hinged to the second knuckles through third hinge parts; the driving assembly is arranged on the rack and used for driving the first knuckles to rotate around the first direction or a second direction opposite to the first direction; the first end of the first tendon rope is connected with the rack, and the second end of the first tendon rope sequentially bypasses the first hinge part and the second hinge part in the first direction and the second direction and then is connected with the second knuckle; the first end of the second tendon rope is connected with the second knuckle, and the second end of the second tendon rope is connected with the third knuckle after bypassing the second hinge part and the third hinge part in the first direction and the second direction in sequence; when the driving assembly drives the first knuckles to rotate in the first direction, the first tendon ropes pull the second knuckles to rotate in the first direction, and the second tendon ropes pull the third knuckles to rotate in the first direction.

1. The name of the design product: knuckle (10801144BP2). 2. The use of the design product: the design product is used for automobile steering parts. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The present application relates to a kind of mechanical dexterous hand fingers and dexterous hand, which includes: palm base;Finger knuckles, which includes sequentially connected finger root knuckles, middle knuckles and distal knuckles;Finger root component, which includes finger root pivot installed on the palm base, spherical bearing is set on the finger root pivot and matches the installation finger root knuckles;Bending transmission mechanism, which includes driving bevel gear, driven bevel gear, finger root transmission member and finger flexion shaft;Side swing transmission mechanism, which includes side swing drive installed on palm base, and side swing transmission shaft is connected with the side swing drive, and the side swing transmission shaft keeps contact with the finger root knuckles in side swing operation.Compared with prior art, the present application can satisfy the side swing of dexterous hand finger joint, bending, while ensuring that it occupies small volume while providing certain gripping force and durability.

The utility model discloses a toggle type transmission mechanism which comprises a lathe bed, a transmission shaft, a transmission mechanism and a connecting rod with a sliding block, the transmission shaft is matched with the lathe bed in a rotating mode, the connecting rod is hinged to the transmission shaft, the transmission mechanism comprises a power wheel, a driving wheel and a driving rod, the driving wheel is matched with the lathe bed in a rotating mode, and the driving rod is hinged to the driving wheel. The power wheel is used for driving the driving wheel to rotate, one end of the driving rod is hinged to the driving wheel, the end of the driving rod and the driving wheel are arranged in an eccentric fit mode, and the other end of the driving rod is hinged to the transmission shaft and used for driving the transmission shaft to swing. Toggle type transmission can be achieved through the arranged driving wheel and the driving rod, namely, the transmission shaft can be driven to swing, and then the connecting rod is driven to drive the sliding block to move up and down for punching. Meanwhile, compared with a traditional punching machine, the pressure maintaining capacity in the punching process can be effectively improved through the design.

The utility model discloses a knuckle, front suspension system and car, including the knuckle body of casting forming, knuckle body is equipped with by the bearing mounting hole of outside extension to the back side, the back side of knuckle body is equipped with the recessed cavity of recessing to the outside side in the position of corresponding bearing mounting hole, the cavity wall of recessed cavity forms encircling type reinforcing rib, the top of knuckle body is equipped with damper mounting part, and the damper mounting part extends upward from the top of knuckle body, and the inside of damper mounting part is equipped with hollow recess, and hollow recess forms hollow entrance in the cavity wall of recessed cavity. The utility model discloses through the implementation of large -area's hole digging weight reduction, and the recessed design is suitable simultaneously, forms certain depth thin wall four -corner surrounding structure, and the reinforcing rib of suitable whole circle slender encircling type, has promoted strength and durability, realizes the balance of light weight and performance. Meanwhile, the hollow casting structure is used to the damper mounting part, and the weight is reduced greatly through the hollow structure.

The invention discloses a tendon-rope-driven dexterous hand finger for metacarpophalangeal joint movement decoupling. A flexion and extension rotating joint and a side-sway rotating joint of the tendon-rope-driven dexterous hand finger are both of a bidirectional rotating structure controlled by a rope driver; the side-sway rotating joint is of a rolling meshing structure formed by two toothed plate components, rope guide wheels are arranged on the two toothed plate components, the two rope guide wheels are used for guiding and outputting a flexion and extension driving rope of the flexion and extension rotating joint and a side-sway driving rope of the side-sway rotating joint, and the winding directions of the flexion and extension driving rope on the two rope guide wheels are opposite. The two free ends of the side-sway driving rope are guided by the rope guide wheels to be arranged in a staggered mode. After the scheme is adopted, a transmission link capable of realizing side-sway motion and flexion-extension motion is decoupled, so that the effective length change of the flexion-extension driving rope caused by the side-sway motion is completely compensated geometrically, and the effective length of the flexion-extension link is kept constant at any side-sway angle; and the action stability and the repeated positioning performance of the fingers of the dexterous hand under the multi-posture and multi-load conditions are improved.

An integrated light multi-functional tactical glove is composed of a finger part, a palm part and a wrist part in sequence; the palm part is composed of a palm surface part and a backhand part, the palm surface part is stacked by a palm surface inner lining layer, a palm surface protection intermediate layer and a palm surface anti-skid layer from inside to outside in sequence, and the backhand part is stacked by a backhand inner lining layer, a backhand protection intermediate layer and an outer protection layer from inside to outside in sequence; the finger part includes a finger inner lining layer, a finger protection intermediate layer and a finger function layer from inside to outside in sequence; the finger function layer includes a finger anti-skid layer and a touch screen layer, the touch screen layer is arranged on the finger pulp and the finger side outside the finger protection intermediate layer, an anti-extrusion buffer layer is arranged on the finger joint corresponding to the back of the finger except the finger tip, and the finger anti-skid layer is arranged on the rest part; a protection hard shell layer is arranged at the position corresponding to the knuckle peak at the transition between the finger part and the palm part; the palm part and the wrist part are provided with a plurality of interface structures for adding external functional modules; the wrist part is provided with a tightening structure.

1. Name of the product in this design: Steering knuckle (10801726). 2. Application of this design: This design is intended for use in automotive steering components. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention provides a steering knuckle structure optimization method and device, a storage medium and an electronic device.The method comprises the steps that CAE simulation is conducted on an initial steering knuckle under multiple design working conditions, and a first coordinate result matrix is obtained through solving; determining a performance parameter set of the initial steering knuckle; adopting the performance parameter set to construct a design safety threshold value of structure optimization; respectively carrying out CAE simulation on the middle steering knuckle under a plurality of design working conditions, and solving to obtain a second coordinate result matrix; calculating according to the second coordinate result matrix and a design safety threshold to obtain a threshold solution domain; and adopting the threshold solution domain and the first coordinate result matrix to calculate and obtain a target coordinate matrix of mass distribution of the target knuckle after structure optimization. Through the embodiment of the invention, the technical problem that the structure of the steering knuckle cannot be optimized through software simulation in the prior art is solved, the design quality is minimized, the size of the steering knuckle is reduced, and the material and the cost of the steering knuckle are saved.

The utility model discloses a manipulator, which belongs to the technical field of bionic robots and is characterized in that a palm center is arranged on one side of a palm body along the thickness direction of the palm body; the fingers are arranged on the palm body, a first output shaft of the driving device is provided with knuckles to drive the knuckles to rotate, at least one knuckle is a buffering knuckle, and second matching parts and receding grooves of the buffering knuckles are arranged in the circumferential direction of the first output shaft. The first matching part of the first output shaft is at least partially located in the receding groove and moves relative to the corresponding buffering knuckle in the circumferential direction of the first output shaft so as to make contact with or be separated from the second matching part, and the torsional spring is connected with part of the structure of the driving device and the buffering knuckle. Torsion of the torsional spring enables the buffering knuckles or the driving device to have the tendency of rotating away from the palm center. The finger knuckles or the driving device can be bent close to the center of the palm under the action of external force, the first matching part and the second matching part are separated, the first matching part partially moves in the avoiding groove, and therefore buffering is achieved.