124 results about "Robotic finger" patented technology

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 relates to the field of manipulators, and discloses a bionic manipulator which comprises a mechanical palm, mechanical fingers and a first driving mechanism, the mechanical fingers comprise a thumb unit and an index finger unit, and the index finger unit is connected with the mechanical palm; the first driving mechanism is connected to the thumb unit and the mechanical palm, and the first driving mechanism is configured to drive the thumb unit to be close to or away from the index finger unit so as to adjust the distance between the thumb unit and the index finger unit; and the thumb unit is driven to swing towards the palm center of the mechanical palm or swing away from the palm center of the mechanical palm relative to the index finger unit. Thus, by means of the bionic mechanical arm, the distance between the thumb unit and the index finger unit can be adjusted, the thumb unit can swing towards the center of the mechanical palm or swing away from the center of the mechanical palm, more complex operation instructions can be completed easily, and use is convenient.

The invention relates to the technical field of bionic manipulators, in particular to an electromagnetic pull-in wire drawing system for a bionic manipulator, which comprises a bottom plate, a brushless direct current motor fixed at the top of the bottom plate; the linkage rod is connected to the end part of an output shaft of the brushless direct current motor, and the output shaft of the brushless direct current motor is connected with the linkage rod in a taper fit manner; the motor connecting rod fixing device is fixed at the top of the bottom plate and is used for mounting the linkage rod; five bionic manipulator fixing devices, wherein all the bionic manipulator fixing devices are fixedly provided with bionic mechanical fingers; the five action driving assemblies are used for driving the bionic mechanical fingers to act; the central processing unit is used for controlling the starting of the action driving assembly to carry out action control; when the device is driven by the brushless direct current motor, single-motor-driven multi-degree-of-freedom control is realized, the problem of redundancy of a power unit is solved, and the volume and the weight of the system are favorably reduced.

The invention provides a self-adaptive grabbing system and method based on photoelectric sensing and material recognition. The system comprises a manipulator, a mechanical arm, a front-end processor and an upper computer controller. The manipulator is driven by a torque-adjustable motor, and an optical sensor module based on a photoelectric sensing principle is mounted on a fingertip of the manipulator; the optical sensor module is used for acquiring a texture grayscale image and sliding micro-displacement information of the surface of a grabbed object; the front-end processor is used for collecting data of the optical sensor module and transmitting the data to the upper computer controller; the upper computer controller recognizes the material of the object and matches the friction coefficient, the optimal clamping force increment is calculated according to the sliding micro-displacement information and the friction coefficient, and the motor is controlled to achieve self-adaptive grabbing. According to the system, the manipulator can be controlled to increase the clamping force in an optimal clamping force increment mode according to the sliding amplitude and the friction characteristic of the object, and self-adaptive stable grabbing of the object is achieved.

The invention discloses a single-motor-driven two-finger clamping jaw with a parallel clamping and self-adaption function, and relates to the technical field of industrial robots. A winding groove is integrally formed in the center of the tail end of each far knuckle and hinged to the top end of the corresponding near knuckle through a front joint shaft, the tail end of each near knuckle is hinged to the top end of the corresponding root knuckle through a rear joint shaft, and the far knuckles apply eversion torque. The winding wheel disc is installed on the rear joint shaft and provided with a reset clockwork coil spring, the driving connecting piece is connected with the tail end of the far knuckle and the edge of the winding wheel disc, and the coupling rope is connected with the edge of a winding groove of the far knuckle and the top end of the root knuckle. The linear motor drives a sliding block in a longitudinal sliding groove in the middle of the base, the two mechanical fingers are symmetrically installed on the two transverse sides of the base, the middle of the driving rope penetrates through the sliding block, and the two ends of the driving rope are fixed and wound on the winding wheel disc. The two two-degree-of-freedom mechanical fingers are driven by a single motor, flexible switching between parallel clamping grabbing and self-adaptive grabbing is achieved, the grabbing efficiency, stability and environment adaptability are improved, and the control difficulty is reduced.

A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a gripper or other moldable robotic finger similarly formed. The robotic fingers include one or more collapsible structures on the surface of an inner pad of the two or more fingers. The collapsible structures are curved structures that support a grasped object and collapse when an object is pulled in an outward direction, the outward direction including from a base to the to the tip of the two or more fingers. A servo motor may control the movement of the fingers or the movement of the collapsible structures.

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 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 utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

The utility model discloses a clamping mechanical hand device, especially a brick clamping mechanical hand device of automatic wall building equipment, and its stepper motor or servo motor is fixed to the baffle of three -axis air cylinder through support, three -axis air cylinder drives stepper motor or servo motor to make reciprocating linear motion on the stroke of its piston rod, fixes the guide frame on the support, and rack of gear and rack mechanism is supported and the effect of guiding, motor shaft of stepper motor or servo motor and gear and rack mechanism gear drive connection to drive rack of gear and rack mechanism always make reciprocating linear motion, and mechanical finger and rack correspond one by one, and are fixed to its corresponding rack respectively, and mechanical finger and the jack on clamping fixture correspond one by one and are inserted and are driven to make clamping fixture hold brick by the mutual movement of mechanical finger. Its solved "brick clamping mechanical hand device structure simplification, the technical problem of reducing manufacturing cost", and its structure is simpler, and the manufacturing cost is lower.

The application provides a driving rope and mechanical hand system with force sensing capability, and belongs to the technical field of bionic mechanical hands. The system is composed of a tensile strain sensor and a driving rope. The tensile strain sensor is arranged on the surface of the driving rope and is bonded with the front section by using a flexible adhesive to be arranged in a mechanical hand. The tensile strain sensor and the driving rope are separated at the rear section. The separated driving rope is used for connecting a motor, and the tensile strain sensor is used for connecting a control system. In this way, the tensile strain of the driving rope can be measured in real time while power is transmitted, and the gripping force of a mechanical finger is obtained, so that the "sensing and driving integration" mode of a bionic tendon is realized.

The utility model discloses a fingertip assembly and a manipulator. The fingertip assembly is used for the mechanical arm and comprises a fingertip body, an elastic piece and a sensing assembly, a mounting groove is formed in one side of the fingertip body, and the mounting groove extends out of the tip end of the fingertip body; the elastic piece is connected with the fingertip body and covers the mounting groove; the sensing assembly is located in the mounting groove and arranged between the fingertip body and the elastic piece. Wherein the sensing assembly comprises a first pressure sensor and a second pressure sensor, the first pressure sensor is closer to the tip of the fingertip body relative to the second pressure sensor and closer to the other side of the fingertip body, and the sensitive surface of the first pressure sensor and the sensitive surface of the second pressure sensor are arranged at an angle; therefore, the first pressure sensor and the second pressure sensor can respectively detect forces in different directions. The elastic piece can deform under the action of external force so as to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor.

The embodiment of the invention provides a mechanical finger joint miniature encoder mounting structure for improving control precision, and belongs to the technical field of medical instrument robot dexterous hands and high-precision sensing. The structure comprises a hollow annular magnetic encoder, a customized mounting base and an error compensation mechanism. The MPT-8-20 series encoder is directly integrated on a rotating shaft of a finger joint through the customized mounting base; the mounting base is provided with a positioning interface which is precisely matched with an encoder shell and a joint part, so that the concentricity and a constant air gap of an encoder sensing unit and a rotating part are ensured; the error compensation mechanism is integrated in the base and is used for passively inhibiting installation errors and environmental interference. According to the invention, the measurement precision of less than 0.01 degree in an extremely limited space is realized based on a commercial encoder, high anti-interference performance and reliability are realized, the integration problem of high-precision and high-reliability pose feedback of the miniature dexterous hand joint is effectively solved, and the miniature dexterous hand joint is suitable for miniature dexterous hands.

The invention provides a reel type under-actuated mechanical finger, aims to solve the problems of heavy structure and low take-up efficiency in the prior art, and realizes compact structure, light weight and efficient take-up. The finger is mainly composed of a miniature reel, a rack, a near knuckle, a middle knuckle, a far knuckle, a motor, a spring and a traction cable. The knuckles are connected through hinges, a pull wire is adopted to penetrate through wire guide holes in the knuckles from the pin positions of the fingertips far away from the knuckles in an equal-diameter winding mode, and finally the pull wire is fixed to small holes of the miniature reels. Miniature limiting devices and pin holes are designed on the surfaces of the knuckles, knuckle bearings are arranged in the knuckles, spring grooves are formed in the knuckles, and tension springs are arranged in the spring grooves. The scroll is designed to comprise an axial through hole and a radial threaded hole. Through unique design and cooperative cooperation of all the components (especially equal-diameter winding, built-in miniature limiting, spring grooves, tension springs, knuckle bearings and reel structures), the take-up device is light and simple successfully in a limited space, the rope storage efficiency and reliability are remarkably improved, and the take-up device is suitable for being popularized and applied. And the defects of a traditional device are effectively overcome, an innovative thought is provided for miniaturization development of the line-driven mechanical arm, and wide application prospects are achieved.

The utility model relates to the technical field of clothing manufacturing, in particular to a picking module for clothing manufacturing and a robot, which comprise a mechanical finger, a manipulator, a magnet piece and an electromagnet, and the mechanical finger is arranged at one end of the manipulator; the manipulator drives the mechanical fingers to move; the iron attracting sheets are used for bearing materials; the electromagnets are arranged on the mechanical fingers and used for attracting the iron attracting pieces. According to the utility model, the material is clamped between the mechanical finger and the iron attracting sheet through the cooperation of the electromagnet and the iron attracting sheet, so that the problems of material slippage or deformation caused by the use of a sucker and material damage caused by the needling fixation are solved, the integrity of the material is protected, and the sewing precision is improved.

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

The present application provides an automatic picking device for Flammulina velutipes, comprising: a material frame conveying device for conveying the material frame from a growing workshop to a position to be picked; a positioning and clamping device arranged on the conveying device for positioning and clamping the material frame at the position to be picked; a first grabbing assembly comprising a pair of arc-shaped clamping jaws, the arc-shaped clamping jaws being opposite to clamp a cylindrical object and being capable of clamping the Flammulina velutipes and the culture medium apart; a second grabbing assembly comprising oppositely rotatable mechanical fingers, the mechanical fingers being capable of clamping a flaky cylinder to separate the cylindrical mushroom-containing piece from the Flammulina velutipes; and a mushroom-containing piece conveying device for conveying the separated cylindrical mushroom-containing piece to a storage and arrangement part. The device can automatically pick the cylindrical mushroom-containing piece from the bottle opening of the culture bottle and realize automatic picking, weight separation, harvesting and the like of the Flammulina velutipes, optimizes the operation process and helps to improve the growing efficiency.

This invention relates to the field of conveying device technology, and in particular to a processing platform and PCB board conveying and processing equipment. The processing platform uses a first driving mechanism located under the worktable to drive a first robotic arm to extend and receive PCB boards. Then, the first driving mechanism drives the first robotic arm to retract, and the PCB boards are moved to the worktable by the action of a first robotic finger, thus achieving loading. Similarly, the first driving mechanism drives the first robotic arm to extend, and the PCB boards can be moved away from the worktable by the action of the first robotic finger, thus achieving unloading. That is, the loading and unloading processes of PCB boards can be achieved by the cooperation of the first driving mechanism, the first robotic arm, and the first robotic finger, without the need for the robotic arm to move to the worktable for loading and unloading PCB boards. This effectively prevents collisions between the robotic arm and the processing device, ensuring the normal operation of production.

The utility model discloses a mechanical finger with a cross shaft joint structure. The mechanical finger comprises a main body bracket and a knuckle group connected with the main body bracket, the knuckle group comprises a first knuckle, a second knuckle and a third knuckle which can bend and stretch independently and are hinged in sequence, the first knuckle is hinged to the main body support, and the main body support is provided with a first side swing driving unit and a second side swing driving unit which are used for driving the knuckle group to swing laterally or rotate; a rotating connecting rod is arranged on the main body support and comprises a first connecting shaft and a second connecting shaft which are in cross joint, the first connecting shaft is connected with the main body support, the second connecting shaft is connected with the first knuckle, and the first connecting shaft serves as a bending rotating center shaft of the first knuckle; the second connecting shaft serves as a deflection rotation center shaft of the first knuckle.

The invention relates to the technical field of manipulators, and particularly discloses a humanoid robot-based rope-driven under-actuated manipulator which comprises a mechanical palm and mechanical fingers, the section of the mechanical palm is circular, and the mechanical fingers are distributed on the mechanical palm. A mechanical finger rope traction mechanism is arranged in the middle of the inner side of the mechanical palm and penetrates through the mechanical palm to be connected with the mechanical fingers. According to the rope-driven underactuated manipulator based on the humanoid robot, the mechanical fingers adopt multi-rod linkage combination to form an underactuated structure, three knuckles of the humanoid fingers are simulated, and bending is controlled through a mechanical finger rope traction mechanism, so that the mechanical fingers have excellent grabbing performance; wherein the two mechanical fingers can move horizontally to realize the actions of grabbing and pinching; the manipulator needs less drive, the overall weight of the manipulator is reduced, and the manufacturing cost is reduced.

The application discloses an automatic mechanical hand based on a Transformer model and a Mediapipe library and a control method thereof. The mechanical hand comprises a mechanical hand wrist, one end of the mechanical hand wrist is connected with a rotating seat, a mechanical hand palm is arranged on the rotating seat, five humanoid hand mechanical fingers are arranged on the mechanical hand palm, a camera is arranged on the rotating seat, and a power supply, a computer and a microprocessor are arranged on the mechanical hand palm. The target object is scanned through the camera, the pictures in the picture library in the computer are matched through the Transformer model, the corresponding optimal action combination is called through the function calling corresponding to the matched pictures, and the action combination is sent to the microprocessor. The microprocessor controls the finger module to grasp the object according to the received action combination, and the grasping process is monitored in real time through the Mediapipe, so that the target object is more stably grasped. The application has reasonable design, fast and accurate finger execution speed and low manufacturing cost.

A sensing device includes a robotic hand, an electrode and a triboelectric sensing layer. The robotic hand includes at least one robot finger. One robot finger is integrated with an electrode layer which is functionalized with a triboelectric sensing layer. The triboelectric sensing layer is composed of plurality of nanostructures including Tellurium. The robot hand with triboelectric sensing layer undergoes contact and separation with the target analyte solution having mercury ions which leads to the formation of mercury telluride owing to the highly selective between of mercury ions to the Tellurium surface. After contacting with the target analyte, the electron transfer ability of the nanostructures attached to robot finger is altered. This process of contact electrification causes the induction of electrons to the electrode layer generating the triboelectric output voltage. The triboelectric output voltage is utilized to determine the concentration of mercury ions in the target analyte solution.

The present application relates to a kind of mechanical fingers, comprising: at least three sequentially rotating connected knuckles, in the case where adjacent knuckles are parallel to each other, the mechanical finger is first state, in the case where adjacent knuckles are perpendicular to each other, and the two knuckles of interval one knuckle are parallel to each other, the mechanical finger is second state;When the mechanical finger moves from straight state to fully curved state, first knuckle is first applied to the mechanical finger inward bending force direction, in the process of bending movement of first knuckle, the friction between first knuckle and second knuckle gradually increases, when the friction gradually increases, first knuckle drives second knuckle to bend and move together, in the process of bending movement of second knuckle, the friction between second knuckle and third knuckle gradually increases, at this time, first knuckle and second knuckle move at approximate rate simultaneously.

This invention relates to the field of robotics and discloses a robotic finger mechanism, comprising a finger assembly rotatably connected to a hand assembly, and a pull rope for driving the finger assembly. The hand assembly includes a movable guide wheel, a fixed guide wheel, and a pull rope seat. The outer end of the pull rope is connected to the outermost phalanx of the finger assembly, and the inner end of the pull rope passes sequentially around the movable guide wheel and the fixed guide wheel before connecting to the pull rope seat. The hand assembly includes a drive mechanism for driving the movable guide wheel and the pull rope seat to move synchronously and in the same direction. Elastic reset members are provided at the joints of any two phalanxes in the finger assembly. A robot is provided, and the robot's hand employs the aforementioned robotic finger mechanism. This invention has the advantages of a compact structure and fast response of the finger assembly.

The invention discloses a manipulator and a humanoid robot, and relates to the technical field of robots. The operating mechanism is mounted at the operating end of the shoulder joint component; wherein the operating mechanism comprises a cylindrical base, which is internally provided with a closed accommodating cavity; the three mechanical fingers are arranged in the circumferential direction of one end of the cylindrical base; each mechanical finger comprises a mounting base, a first knuckle and a second knuckle; the mounting base comprises a rotary driving part and a mounting connecting part; according to the mechanical arm, the fixed finger and the two movable fingers capable of synchronously sliding are arranged, and a rotation driving function built in the mounting base is combined, so that the mechanical arm can dynamically reconstruct the grabbing space layout and adjust the clamping posture under the condition that physical parts do not need to be replaced; therefore, various operation requirements of three-point enveloping grabbing of block-shaped workpieces, two-point supporting and one-point pressing grabbing of long-axis workpieces, parallel clamping of plate-shaped workpieces and the like can be intelligently met.

The connecting structure of the mechanical finger comprises a first connecting base, a second connecting base, a sliding piece, a connecting piece and an elastic piece, and the second connecting base and the first connecting base are rotatably connected around the same rotating axis; the sliding piece is slidably connected to the first connecting base in the direction of the rotating axis and clamped to the first connecting base in the rotating direction surrounding the rotating axis. A limiting groove is formed in the second connecting seat; the connecting piece is fixed to the sliding piece, and the connecting piece is contained in the limiting groove and abuts against the limiting groove wall of the limiting groove when the first connecting base rotates to the preset locking position relative to the second connecting base. The elastic piece is arranged between the sliding piece and the first connecting base in an abutting mode and can be compressed by the sliding piece in the direction of the rotating axis to generate elastic deformation when the abutting force between the connecting piece and the wall of the limiting groove reaches a preset value, so that the sliding piece can drive the connecting piece to be disengaged from the limiting groove. According to the technical scheme, the situation that the driving device is damaged due to the fact that loads borne by the mechanical fingers are too large can be avoided. The utility model further provides a manipulator comprising the connecting structure of the mechanical fingers and a robot.

This invention belongs to the field of robotic arm technology, and relates to a modular robotic finger and its robotic arm. The invention includes a mounting block and a knuckle module. The knuckle module includes a first connecting block and a second connecting block, which are slidably connected. A driving component for extending the knuckle module is disposed between the first and second connecting blocks. The mounting block is rotatably connected to adjacent knuckle modules, and to adjacent knuckle modules themselves, via hinge components. Transmission components are disposed between adjacent knuckle modules and between the mounting block and adjacent knuckle modules, enabling each knuckle module to rotate synchronously under driving action, thereby achieving the bending action of the robotic finger. The length of the robotic finger can be adjusted by regulating the length of the knuckle modules and by increasing or decreasing the number of knuckle modules, to better adapt to grasping objects of different shapes and sizes, achieving a better grasping posture and improving the adaptability and stability of grasping.

The application discloses a target attribute recognition method and system based on three-dimensional force information of a mechanical finger tip, and five kinds of silica gel models with different hardness and three kinds of shapes are prepared; a mechanical hand with an optical three-dimensional force sensor is used to collect force data of the gripping experiment of the models, original data are preprocessed by feature dimension reduction, and the data set is divided into a training set and a test set; the data set is classified based on a support vector machine algorithm optimized by an improved cuckoo search; the training set is used to train the support vector machine classifier model, the cuckoo search method is used to optimize the support vector machine model hyperparameters, the test set is input into the classifier model to realize attribute classification, and the accuracy of the real class and the predicted class and the confusion matrix during attribute classification are obtained; and the newly collected data is classified and a three-dimensional force time sequence diagram is drawn, so that the hardness and shape attributes of the target gripped by the mechanical hand can be effectively classified, and the application has higher accuracy compared with other algorithms.

This utility model discloses a multi-rotor drone capture and recovery manipulator, relating to the technical field of drones. The multi-rotor drone capture and recovery manipulator includes a robotic arm, a support component, and a gripping component. The support component is fixed to the output end of the robotic arm. The gripping component includes at least four robotic fingers, each including a first phalanx and a second phalanx. The first phalanx is rotatably connected to the support component, and the second phalanx is rotatably connected to the corresponding first phalanx. The first phalanx has a rotation angle range of -135° to 105°, and the second phalanx has a rotation angle range of -178° to 151°. This utility model addresses the problems of traditional 3-6 degree-of-freedom planar gripper manipulators, such as the inability of the end-effector to accurately engage with the horizontal support at the bottom of the drone, the difficulty in stably capturing drones weighing over 10kg due to the generally low single-finger load capacity (below 5kg), and the tendency for the drone to tip over during recovery, thus improving capture adaptability, load capacity, and stability, and increasing recovery efficiency.

Five mechanical fingers of the variable-stiffness rope-driven manipulator are the same in structure and each comprise a near-end phalanx, a middle-section phalanx and a far-end phalanx, and the near-end phalanx, the middle-section phalanx and the far-end phalanx are sequentially and rotationally connected; the variable-rigidity mechanism comprises a mounting part and a variable-rigidity transmission part, the five mechanical fingers are distributed on the mounting part at intervals, the near-end phalanx is rotationally connected with the mounting part, the variable-rigidity transmission part is in sliding connection with the mounting part, and the transmission assembly is connected with the variable-rigidity transmission part; the variable stiffness steering engine is connected with the transmission assembly; wherein each mechanical finger is provided with a stretching tendon rope and a bending tendon rope; a first coupling rope is connected between the middle phalanx and the far-end phalanx, and a second coupling rope is connected between the far-end phalanx and the near-end phalanx. The variable-rigidity rope-driven manipulator has low tendon rope tension when grabbing an object; the variable-rigidity mechanical arm can grab an object with the surface prone to breakage through rigidity adjustment, and has enough safety during man-machine interaction, and belongs to the technical field of variable-rigidity mechanical arms.