The invention provides an under-actuated
coupling driving finger-imitating mechanism, in particular to a finger-imitating mechanism on the
manipulator of a
robot. The invention solves the problems of poor
harmonization of all knuckles, being difficult to keep holding shape,
slow speed when wrapping the article to be held, poor adaptability, etc. when the existing
manipulator finger carries out a holding motion. One end of the invention, which is close to a
knuckle connecting rod (23), is connected with a basic
joint moment sensor (22); the other end close to the
knuckle connecting rod (23) is connected with the shaft disc (54) of a central joint shaft; one end of a
coupling connecting rod (28) is connected with a left plate (25) close to the
knuckle and a right plate (4) close to the knuckle; the other end of the
coupling connecting rod (28) is connected with a fingertip (14); a central knuckle left plate (26) and a central knuckle right plate (2) are connected with the shaft disc (54) of the central knuckle shaft by a coupling central knuckle shaft (30). By adopting the coupling transmission way, the central knuckle and the fingertip of the invention have the advantages of good motion harmony when the finger is bent,
fast speed and convenient pre-tightening when the article to be held is wrapped.