The present invention discloses a fully manipulatory
manipulator comprising a finger-operating module II, a posture metamorphic module I that drives the finger-operating module II to move, rotate, and pick up objects, and a connecting mechanism III that accommodates the synchronous movement between the finger-operating module II and the posture metamorphic module I. N finger-operating modules II are mounted in a circular array or in a relative arrangement on a drive
system composed of the posture metamorphic module I and the connecting mechanism III. The fully manipulatory
manipulator of the present invention achieves decoupled motion with
multiple degrees of freedom, reducing control difficulty and simplifying the
operating system. The spatial arrangement of the wheels is altered by the metamorphic mechanism, enabling the grasping of various objects, such as planar objects, flexible surfaces, cylinders, cubes, and spheres. Different metamorphic
modes can be switched for different objects to improve the success rate of manipulation. The nonholonomic constraint characteristics of the wheel group motion are utilized to achieve in-hand dexterous manipulation of
multiple degrees of freedom of grasped objects, similar to the twisting motion of the human hand.