611 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 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 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 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.

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 relates to a pressure detection assembly for sensing the stress of the fingernail end part of a robot, which comprises a tail end knuckle, an artificial fingernail and a processing module, the artificial fingernail is installed on the tail end knuckle, the rigidity of the fingernail is 2 Morse or above, the front edge of the fingernail extends outwards to form a knuckle fingertip, and the end of the front edge of the fingernail serves as a first stress area to make physical contact with an external object; the artificial nail is connected to the tail end knuckle in a sliding mode in the fingertip direction, the artificial nail slides towards the knuckle under the stress of the first stress area, and at least one first pressure sensor with the automatic elastic recovery function after being pressed is fixed to a sliding path to be used for detecting first one-dimensional force; the outer diameter size of the pressure sensor is configured to be up to 99.8% of the maximum size of the fingernail; the processing module is coupled with the first pressure sensor and used for outputting the acting force borne by the first stress area according to the first single-dimensional force.

The invention belongs to the technical field of humanoid robots, and discloses a full-connecting-rod-driven 21-degree-of-freedom humanoid five-finger dexterous hand which comprises a palm base and a five-finger executing mechanism. Each of the four fingers has four active degrees of freedom, so that near knuckle side sway, near knuckle bending and middle and far knuckle coupling bending are realized respectively; the thumb has five active degrees of freedom and can independently complete palm aligning, forward falling, abduction and knuckle bending movement. All motions are converted into linear motions through a motor driving lead screw and then converted into rotary motions of knuckles through a push rod and a connecting rod mechanism, and full-connecting-rod transmission is achieved. According to the multi-degree-of-freedom parallel mechanism, the double-fish-eye connecting rods, the universal joints and other structures are adopted to ensure that movement among multiple degrees of freedom does not interfere with one another, the far knuckles have passive self-adaptive bending capacity through the design of the compressible push rods, and the multi-degree-of-freedom parallel mechanism has high load, high precision, high bionic performance and grabbing adaptability and is suitable for fine operation of a robot.

The invention discloses a robot arm, a control method thereof and a robot. The robot arm comprises two fingers and three fingers. The two-section finger comprises a first driving assembly, a first movable seat, a first movable knuckle and a first end knuckle; the three-section finger comprises a second driving assembly, a second movable seat, a second movable knuckle, a third movable knuckle and a second end knuckle; the first driving assembly drives the first movable seat to move and drives the first movable knuckle and the first end knuckle to move. The movement of the first movable knuckles and the first end knuckles comprises integral lateral rotation and linkage bending; the second driving assembly drives the second movable seat to move and drives the second movable knuckle, the third movable knuckle and the second end knuckle to move. The movement of the second movable knuckle, the third movable knuckle and the second end knuckle comprises overall lateral rotation and linkage bending. According to the robot arm, the two kinds of fingers are arranged, each finger achieves overall lateral rotation and linkage bending through the driving assembly, and the overall structure of the robot arm is more compact and not bloated.

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 invention relates to the technical field of metal cutting, in particular to a metal cutting device for mechanical part manufacturing, which comprises an operation table and a rotary cutting disc, two first rails are symmetrically mounted on one side of the top end of the operation table, and first electric sliding blocks are slidably connected to the tops of the two first rails; a conveying mechanism comprising second electric sliding blocks is slidably arranged at the top of the second rail; a mounting frame is fixedly mounted at the top of the operation table; a rotating shaft is rotatably mounted at the top of the mounting frame; a rotating frame is fixedly connected to the top of the rotating shaft; the tail end of the knuckle is fixedly connected with a mounting plate, a rotary cutting disc is fixedly mounted on the side wall of the mounting plate, and an adjusting mechanism is arranged on the side, close to the rotary frame, of the mounting plate. The rotating cutting disc is connected with the rotating frame through the steering knuckle, and the cutting angle of the rotating cutting disc can be adjusted through the adjusting mechanism, so that the rotating cutting disc can cut the metal plate to form a V-shaped edge.

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.

The full-drive dexterous hand comprises a palm mechanism, a thumb mechanism and a finger mechanism, the thumb mechanism comprises a metacarpal bone, a thumb near knuckle and a thumb far knuckle which are sequentially distributed, the metacarpal bone obtains bending and rolling freedom degrees through gear transmission, and the thumb near knuckle and the thumb far knuckle both obtain bending freedom degrees through motor direct drive; the finger mechanism comprises a finger near knuckle, a finger middle knuckle and a finger far knuckle which are sequentially distributed, the finger near knuckle obtains bending and side-sway freedom degrees through gear transmission, and the finger middle knuckle and the finger far knuckle obtain bending freedom degrees through motor direct drive. A full-drive humanoid manipulator framework is adopted, high-precision motion mapping is achieved through 20 independent controllable degrees of freedom, the bionic core is that the ball joint design is adopted, the composite motion capacity of human fingers is highly simulated, fine actions such as grabbing, kneading and rotating of a human hand can be accurately reproduced, and the flexibility degree of the human hand is deeply restored.

The invention discloses a dexterous hand capable of demonstrating. The dexterous hand comprises a plurality of fingers, a palm skeleton, a connecting bracket, a demonstrator and an electric push rod box, the fingers are connected with the palm framework, the palm framework is connected with one side of the connecting support, and the other side of the connecting support is connected with the demonstrator and the electric push rod box. The demonstrator is provided with a plurality of pull rings, a plurality of finger rotating potentiometers and a handle, the pull rings are connected with finger joints through tendon ropes, the tendon ropes drive fingers to bend the freedom degree direction, the finger rotating potentiometers are used for controlling swing of the fingers, and the handle is used for driving and controlling the action of the thumb; a plurality of electric push rods are arranged in the electric push rod box and connected with finger joints through tendon ropes, and fingers are driven to bend in the freedom degree direction through the tendon ropes. Demonstration of freedom degrees in the swinging direction and the grabbing direction is completed through the demonstrator, double-channel tendon rope driving is achieved, the pulling force of the pull ring can be controlled, and therefore the grabbing force of fingers can be controlled, and grabbing force demonstration is achieved.

The invention relates to the technical field of robots, in particular to a chain transmission dexterous hand finger structure which comprises a connecting base, a pin shaft is rotationally connected to the connecting base and connected with a near knuckle, the near knuckle is connected with a chain wheel through a driving part, the chain wheel is in transmission connection with a second chain wheel through a chain, and the second chain wheel is connected with a middle knuckle through a second pin shaft. The middle knuckle is connected with a third chain wheel through a second driving piece, the third chain wheel is in transmission connection with a fourth chain wheel through a second chain, the fourth chain wheel is connected with the fingertip through a third pin shaft, and the device achieves rotation of the fingers of the dexterous hand in a chain transmission mode, and compared with a tendon rope and connecting rod transmission mode in the prior art, the device is small in size and convenient to transmit torque; the response speed and the working efficiency are high.

The invention belongs to the field of rehabilitation medical instruments, and particularly relates to a finger rehabilitation robot based on rope driving and a control method.The finger rehabilitation robot mainly comprises a base, a thumb assembly and a four-finger assembly, the thumb assembly is installed on the base through a torsional spring installation shaft, and the four-finger assembly is installed on the base through a rotating support and a switching hinge; the hand back is fixed to the base through the palm supporting strip, the fingers are worn in the four-finger assembly and the thumb assembly respectively, multi-dimensional driving modes such as a motor, an electric cylinder and a Bowden cable are fused, all the freedom degrees of motion of the fingers are covered, and multiple humanoid actions such as five-finger bending and stretching and finger adduction and abduction can be completed; multi-degree-of-freedom rehabilitation training aiming at fingers is accurately realized, and sufficient rehabilitation treatment is provided; meanwhile, a limiting block is arranged on the metacarpophalangeal joint support, so that injury caused by excessive bending or reverse bending of fingers in the rehabilitation process is avoided, and the safety of rehabilitation training is guaranteed.

The invention relates to a bionic finger, a bionic manipulator and a humanoid robot. The bionic finger comprises at least two knuckles which are sequentially connected in a pivoted mode, a first wiring channel and a second wiring channel are formed in the far knuckle, and third wiring channels are formed in the other knuckles; the roller comprises a first section and a second section, and the diameter of the first section is smaller than that of the second section; the first traction rope is arranged close to the palm side of the bionic finger, one end of the first traction rope is fixedly connected with the first limiting piece, and the other end of the first traction rope sequentially penetrates through the first wiring channel and the third wiring channel to be fixed to the first section; the second traction rope is arranged close to the back side of the bionic finger, one end of the second traction rope is fixedly connected with the second limiting piece, and the other end of the second traction rope sequentially penetrates through the second wiring channel and the third wiring channel to be fixed to the second section.

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 belongs to the related technical field of manipulators, and discloses a robot dexterous finger with anthropomorphic self-adaptive ability and a dexterous hand, the finger comprises a finger knuckle module, a finger driving module and a connecting rod structure; the finger knuckle module comprises a near knuckle assembly, a middle knuckle assembly and a fingertip assembly which are rotationally connected in sequence, the finger driving module comprises a base and a driving structure, and the near knuckle assembly is rotationally connected with the base; the connecting rod structure comprises a middle-section connecting rod and a near-section connecting rod assembly, the first end of the middle-section connecting rod is rotationally connected with the fingertip assembly, the second end of the middle-section connecting rod is rotationally connected with the near-section connecting rod assembly, the near-section connecting rod assembly comprises two hinged connecting rods, the first ends of the two connecting rods are rotationally connected with the middle-section connecting rod assembly, the second ends of the two connecting rods are rotationally connected with the base, and a near-section tension spring is arranged between the second ends of the two connecting rods. The driving structure is used for driving the connecting rod close to the second end to rotate. According to the invention, the finger compliance of simulating a human hand can be realized, the bionic flexibility is provided, and the object grabbing capability and adaptability of fingers are improved.

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 relates to the technical field of intelligent wearable equipment, and provides a hand motion capture data glove based on an IMU sensor. The thumb mechanism comprises a first thumb section, a second thumb section, a metacarpal bone shell and a connecting piece, the first thumb section and the second thumb section are connected in a sliding and rotating mode, and the metacarpal bone shell is connected with the main control board through the connecting piece; each finger mechanism comprises a first knuckle, a second knuckle, a third knuckle and a telescopic rotating connecting assembly, the first knuckles are in sliding rotating connection with the second knuckles, the second knuckles are in sliding rotating connection with the third knuckles, and the third knuckles are connected with the main control panel through the telescopic rotating connecting assemblies; the first thumb section, the second thumb section, the metacarpal bone shell, the first knuckle, the second knuckle and the third knuckle are each provided with an IMU sensor, each IMU sensor is electrically connected with the main control board, and the main control board is integrated with the IMU sensors. Therefore, production is simple, and cost is low.

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.