CN117944080A - Finger-based joint of manipulator - Google Patents

Abstract

The invention provides a finger-based joint of a manipulator, which comprises a first base extending along a Z axis, a second base rotatably connected to one end of the first base, a driving part arranged on the first base, and a transmission part for transmitting power of the driving part to the second base, wherein the driving part comprises a first actuator and a second actuator which are arranged in parallel, and when the first actuator and the second actuator are synchronously driven, the second base rotates around an X axis; when the second actuator is driven alone, the second base rotates about the Y axis. The invention provides a finger-based joint based on an asymmetric branched chain parallel mechanism, which can realize two active motion degrees of freedom of the base joint, and has a compact structure and motion decoupling.

Description

Finger-based joint of manipulator

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a finger-based joint of a manipulator.

Background

The ideal manipulator finger-based joint has two degrees of freedom, namely flexion/extension and adduction/abduction movements, and is capable of achieving two degrees of freedom of movement of the finger-based joint in a compact configuration.

Common manipulator finger-based joints are typically designed to retain only flexion/extension movements, although reducing the degrees of freedom can reduce the bulk of the base joint to some extent, but sacrifice finger movement flexibility. At the same time, the flexion/extension movements generally require a large grip to accommodate various gripping tasks, and therefore require a relatively large drive unit, increasing the volume of the finger-based joint.

For the design of the base joint of the two-degree-of-freedom manipulator, the bending/stretching and adduction/abduction movements of the base joint can be realized through a differential mechanism in an exemplary way, but the driving and transmission structures of the bevel gear type differential mechanism are complex; or by a spherical four-bar mechanism, but the structural size and the occupied space are larger; the two-degree-of-freedom parallel mechanism can be realized, and a symmetrical branched chain design is generally adopted, but the coupling problem exists between the two rotational degrees of freedom, so that the assembly and control difficulty is increased.

Disclosure of Invention

The invention aims to provide a finger-based joint of a manipulator, which aims to solve the problems of less degree of freedom, poor flexibility and insufficient compactness of the finger-based joint of the manipulator in the prior art.

In order to solve the problems, the invention adopts the following technical scheme: the finger-based joint of the manipulator comprises a first base, a second base, a driving part and a transmission part, wherein the first base extends along a Z axis, the second base is rotatably connected to one end of the first base, the driving part is arranged at the other end of the first base, the transmission part transmits the power of the driving part to the second base, the driving part comprises a first actuator and a second actuator which are arranged in parallel, and when the first actuator and the second actuator are synchronously driven, the second base rotates around an X axis; when the second actuator is driven alone, the second base rotates about the Y axis.

Further, when the first actuator and the second actuator are driven asynchronously, the second base rotates around the X-axis and the Y-axis at the same time.

Further, the first base is a fixed structural member, the second base is a movable structural member, the first base and the second base are movably connected through a first rotating part, the transmission part comprises a first transmission component connected with the first actuator and a second transmission component connected with the second actuator, the first transmission component and the second base are movably connected through a second rotating part, and the second transmission component and the second base are movably connected through a third rotating part.

Further, the X-axis of the first rotating portion and the X-axis of the second rotating portion are parallel and the Y-axis of the second rotating portion are collinear, and the X-axis of the second rotating portion and the X-axis of the third rotating portion are collinear, so that the second base is decoupled between the rotational movement around the X-axis and the rotational movement around the Y-axis.

Further, when the first actuator and the second actuator are synchronously driven, the first transmission assembly and the second transmission assembly apply a force to the second base along the YZ plane so as to enable the second base to rotate around the X axis of the first rotating part; when the second actuator is driven alone, the second transmission assembly applies a force to the second base along the XZ plane, causing the second base to rotate about the Y-axis of the first and second rotating portions.

Further, the first transmission assembly comprises a first linear motion piece and a first transmission rod, the second transmission assembly comprises a second linear motion piece and a second transmission rod, the first linear motion piece and the second linear motion piece respectively comprise a screw rod, a nut seat and a guide piece, the nut is mounted on the screw rod, and the nut seat is connected with the nut and sleeved on the guide piece so as to generate linear motion along the guide piece; the first transmission rod is rotatably connected with the nut seat of the first linear motion piece and the X axis of the second rotating part; one end of the second transmission rod is rotatably connected to the Y shaft of the third rotating part, and the other end of the second transmission rod is connected to the nut seat of the second linear motion part through a spherical bearing.

Further, the nut seat of the first transmission assembly and the nut seat of the second transmission assembly are coplanar in the XY plane, so that the first actuator and the second actuator can synchronously drive the second base to rotate around the X axis of the first rotating part.

Further, the driving part and the transmission part extend along the same direction, the first transmission rod is arranged above the first linear motion member, and the second transmission rod is arranged above the second linear motion member.

Further, the first rotating part and the second rotating part are arranged on the end face of the second base, the third rotating part is arranged on the side face of the second base, the second transmission rod is connected to the outer side of the second base, and when the second base rotates around the X axis, the first transmission rod and the second transmission rod move in the YZ plane; and when the second base rotates around the Y axis, the second transmission rod moves in the XZ plane.

Compared with the prior art, the beneficial effects of the specific embodiment of the invention are at least as follows: 1. the mechanical finger base joint based on the two-degree-of-freedom asymmetric branched chain parallel mechanism can realize buckling/stretching and adduction/abduction movements, and the movements are mutually independent and have no coupling; 2. the driving part and the transmission part are distributed in the same direction, and the transmission rod is distributed above the linear motion part, so that the compact structure of the finger base joint in the width direction is ensured; 3. the buckling/stretching movement with larger acting force requirement is synchronously driven by two actuators, the adduction/abduction movement with smaller acting force requirement is driven by one actuator, the volume of the actuator is reduced, and the utilization efficiency of the actuator is improved.

Drawings

FIG. 1 is a perspective view of a finger-based joint according to one embodiment of the present invention;

FIG. 2 is a perspective view of a finger-based joint according to one embodiment of the present invention;

FIG. 3 is a schematic view of a finger-based joint according to one embodiment of the present invention rotated about an X axis;

FIG. 4 is a schematic view of a finger-based joint according to one embodiment of the present invention rotated about the Y-axis;

FIG. 5 is a schematic view of a finger-based joint according to one embodiment of the present invention rotated about an X-axis and a Y-axis;

Fig. 6 is an exploded view of a finger-based joint according to one embodiment of the present invention.

Detailed Description

In order to make the technical solution of the present invention more clear, embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the invention, and is not intended to be exhaustive of all the possible ways of implementing the invention, but rather to limit the scope of the invention in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction or be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

It will be understood by those within the art that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

An embodiment of the present invention provides a finger-based joint of a manipulator, referring to fig. 1-2, which respectively show schematic structural views of different angles of view of the finger-based joint, the finger-based joint comprises a first base 10 extending along a Z-axis direction, a second base 20 rotatably connected to one end of the first base 10, a driving part 30 disposed at the other end of the first base 10, and a transmission part 40 for transmitting power of the driving part 30 to the second base 20. In other embodiments, the driving part may be disposed above or below the first base.

The extending direction of the finger of the manipulator is defined as a Z-axis direction, the direction of the human body anatomy is defined by referring to the direction of the human body anatomy, the corresponding vertical axis direction of the human body is the Z-axis direction, the first base 10 extends along the Z-axis direction, the first base 10 is disposed at the palm position, and the second base 20 is connected to the first base 10.

Wherein, by way of example, the first base 10 is a fixed structure and the second base 20 is a movable structure, the first base 10 may be formed as part of a palm of a manipulator, the second base 20 may be formed as part of a proximal knuckle base, and the second base 20 may be rotatable relative to the first base 10.

The driving part 30 provides power for the movement of the finger-based joint, the driving part 30 includes a first actuator 31 and a second actuator 32 arranged in parallel, the transmission part 40 transmits the power of the driving part 30 to the second base 20 so that the second base 20 can move relative to the first base 10, and the transmission part 40 is a parallel mechanism to transmit the power of the first actuator 31 and the second actuator 32 arranged in parallel to the second base 20. Wherein the second base 20 rotates in the X-axis (coronal axis of the reference body) direction when the first actuator 31 and the second actuator 32 are synchronously driven; when the second actuator 32 is driven alone, the second base 20 rotates about the Y-axis (sagittal axis of the subject). Wherein, when the second base 20 rotates around the X-axis direction, the fingers of the robot hand perform flexion/extension movements; when the second base 20 rotates around the Y-axis direction, the finger performs a adduction/abduction movement.

Specifically, the second actuator 32 individually drives includes: the first actuator 31 is not driven and the second actuator 32 is driven. That is, when the second actuator 32 is driven alone with respect to the first actuator 31, when the mechanical finger includes other more actuators, the other actuators may be in a driven state as well.

When the finger performs the flexion/extension movement, power is supplied by both the first actuator 31 and the second actuator 32, and thus a relatively large driving force can be supplied, and the volume of the single actuator can be reduced; when the finger performs the adduction/abduction movement, power is supplied by the second actuator 32.

In studying this solution, the inventors of the present application have found that, based on a bionics study, the abduction/adduction movements of human fingers are in most cases used to reposition the fingers instead of exerting a significant force, such movements of the human hand being mainly accomplished by the interosseous muscles located in the palm, i.e. the adduction/abduction movements of the fingers require only a small driving force, and thus the adduction/adduction movements of the fingers can be achieved with a small driving force, whereas the flexion/extension movements of the fingers require a relatively large driving force.

Thus, in the present embodiment, the driving force for the finger buckling/stretching motion is provided by the synchronous driving of the first actuator 31 and the second actuator 32, and the necessary driving force for the finger buckling/stretching motion is provided by the combination of the two small-sized actuators; meanwhile, the second actuator 32 is used for realizing the adduction/abduction movement of the finger, so that two degrees of freedom can be provided for the base joint of the finger under the condition that the volume of the driving part 30 is relatively small, the power required by the base joint of the finger can be ensured, and the utilization efficiency of the actuator is improved.

Further, the transmission part 40 includes a first transmission assembly 41 and a second transmission assembly 42, the first transmission assembly 41 is connected to the first actuator 31 to transmit power of the first actuator 31, the second transmission assembly 42 is connected to the second actuator 32 to transmit power of the second actuator 32, and the transmission part 40 adopts an asymmetric parallel transmission mechanism, and when the first actuator 31 and the second actuator 32 are synchronously driven, the first transmission assembly 41 and the second transmission assembly 42 transmit power of the first actuator 31 and the second actuator 32 to the second base 20; the second transmission assembly 42, when driven solely by the second actuator 32, transfers power of the second actuator 32 to the second base 20. The adduction/abduction motion of the finger is driven by the second actuator 32, and the power is transmitted by the second transmission assembly 42, compared with the mode of coupling driving the buckling/stretching motion and the adduction/abduction motion by two actuators of the symmetrical branched chain parallel mechanism in the prior art, the asymmetric branched chain parallel mechanism adopted in the scheme can effectively avoid motion coupling, and reduces the difficulty of mechanism assembly and motion control.

It will be appreciated that when the first actuator 31 and the second actuator 32 are driven asynchronously, the second base 20 rotates about both the X-axis direction and the Y-axis direction.

As described above, the first base 10 is a fixed structure, the second base 20 is a movable structure, the first base 10 and the second base 20 can generate relative motion, and a plurality of rotating parts are disposed between the first base 10 and the second base 20 to provide two degrees of freedom required for the base joint motion. The first base 10 and the second base 20 are rotatably connected through a first rotating part 51, the first transmission assembly 41 and the second base 20 are rotatably connected through a second rotating part 52, the second transmission assembly 42 and the second base 20 are rotatably connected through a third rotating part 53, and the transmission part 40 is at least partially supported by the first base 10 so as to realize relative movement between the first base 10 and the second base 20. Wherein, when the first actuator 31 and the second actuator 32 are synchronously driven, the first transmission assembly 41 and the second transmission assembly 42 synchronously move the second rotating part 52 and the third rotating part 53, thereby rotating the second base around the X axis of the first rotating part, performing flexion/extension motion (flexion/extension motion); when the second actuator 32 is driven alone, the second transmission assembly 42 moves the third rotating portion 53 so that the second base 20 rotates about the Y axis of the first rotating portion, performing the adduction/abduction movement (side swing movement).

It will be appreciated that the first, second and third rotational parts 51, 52 and 53 may effect rotation in at least two directions to enable movement of the base joint in two degrees of freedom. For example, the first, second and third rotating parts 51, 52 and 53 may use a universal joint, a cross, or the like, to achieve rotation of the vertical axis.

Preferably, the X-axis of the first rotating part 51 and the second rotating part 52 are parallel, and the Y-axis of the first rotating part 51 and the second rotating part 52 are collinear; the X-axis of the second and third rotating parts 52 and 53 are collinear, so that the rotational movement of the second base 20 about the X-axis and the rotational movement about the Y-axis are decoupled.

Specifically, when the first actuator 31 and the second actuator 32 are synchronously driven, it is understood that the first actuator 31 and the second actuator 32 provide driving forces with the same magnitude and the same direction, so that the first transmission assembly 41 and the second transmission assembly 42 apply forces with the same magnitude and the same direction to the second base 20 in a theoretical state, the first transmission assembly 41 and the second transmission assembly 42 apply forces to the second base 20 along the YZ plane, and the second rotating portion 52 and the third rotating portion 52 synchronously move, thereby realizing the rotational movement of the second base 20 around the X axis of the first rotating portion, and realizing the flexion/extension movement of the finger-based joint; when driven solely by the second actuator 32, only the second transmission assembly 42 applies a force to the second base 20, the second transmission assembly 42 applies a force to the second base 20 along the XZ plane, and the second base 20 rotates about the Y-axis of the first and second rotating portions 51 and 52 to effect the adduction/abduction movement of the finger-based joint. It will be appreciated that when the first and second actuators 31, 32 are driven asynchronously, the base joint assumes a combined state of the two movements described above, and the second base 20 rotates about the X-axis and the Y-axis.

It is understood that the first transmission assembly 41 is used to transmit the power of the first actuator 31 to the second base 20 through the second rotating part 52, the second transmission assembly 42 is used to transmit the power of the second actuator 32 to the second base 20 through the third rotating part 53, the first transmission assembly 41 includes a first linear motion member and a first transmission rod 411, the second transmission assembly 42 includes a second linear motion member and a second transmission rod 421, and it is understood that the first actuator 31 and the second actuator 32 output the rotational motion about the Z axis, and the first linear motion member and the second linear motion member are used to convert the rotational motion of the actuator into the linear motion along the Z axis, and the first linear motion member and the second linear motion member may be implemented by a screw assembly 412 or a rack-and-pinion assembly, for example. One end of the first linear motion member is connected to the first actuator 31, and the other end is connected to the first transmission rod 411, so that the power of the first actuator 31 is converted into linear motion along the guide member 415 by the first linear motion member, and then is transmitted to the second base 20 connected to the second rotating portion 52 by the first transmission rod 411; similarly, one end of the second linear motion member is connected to the second actuator 32, and the other end is connected to the second transmission rod 421, and the second linear motion member converts the power of the second actuator 32 into linear motion along the guide member 415, and then is transmitted to the second base 20 connected to the third rotating portion 53 through the second transmission rod 421.

Preferably, in this embodiment, the linear motion is implemented by the screw assembly, which occupies a smaller space than the rack-and-pinion assembly, and can extend the first and second linear motion members in the same direction as the driving portion 30. The first linear motion member and the second linear motion member respectively include a screw rod 412, a nut 413, a nut seat 414, and a guide member 415, the nut 413 is mounted on the screw rod 412, the nut seat 414 is connected to the nut 413 and sleeved on the guide member 415, the guide member 415 may include a guide rod, one end of the first transmission rod 411 is connected to the first linear motion member, the other end is connected to the X-axis of the second rotation portion 52, one end of the second transmission rod 421 is connected to the second linear motion member, the other end is connected to the Y-axis of the third rotation portion 53, specifically, the first transmission rod 411 is rotatably connected to the nut seat 414 of the first linear motion member, when the first actuator 31 generates power, the screw rod 412 drives the nut and the nut seat 414 to generate linear motion according to the direction of the guide member 415, and the first transmission rod 411 transmits the power of the linear motion to the second base 20; the second transmission rod 421 is rotatably connected to the nut seat 414 of the second linear motion member, and the second transmission rod 421 is connected to the nut seat 414 of the second linear motion member through a spherical bearing 422, so as to ensure the motion flexibility of the second transmission rod 421. The first linear motion member, the first transmission rod 411 and the second rotation part 52 form a first branched chain of the finger-based joint parallel mechanism, and the second linear motion member, the spherical bearing 422, the second transmission rod 421 and the third rotation part 53 form a second branched chain of the finger-based joint parallel mechanism, wherein the first branched chain is a planar motion branched chain, and the second branched chain is a space motion branched chain.

When the first and second actuators are driven asynchronously, the second and third rotating parts 52, 53 move asynchronously, i.e. the base joint performs a compound motion about the X-axis and about the Y-axis, the second branch generates a spatial motion, and the spherical bearing 422 provides the degree of freedom required for the spatial motion of the second branch.

In other embodiments of the present invention, the first and second linear motion members may not be provided, and the first transmission assembly includes a first transmission rod and the second transmission assembly includes a second transmission rod, the first transmission rod connecting the first actuator and the second base, and the second transmission rod connecting the second actuator and the second base. Illustratively, the first actuator and the second actuator are disposed in a transverse manner on the first base.

Compared with the mode of realizing two-degree-of-freedom rotation of the base joint by adopting the symmetrical branched chain parallel mechanism in the prior art, the finger base joint realizes motion decoupling by mutually independent and mutually unaffected branched chains. Meanwhile, the first branched chain and the second branched chain are distributed along the X axis in azimuth, and the second base 20 rotates around the X axis through synchronous movement of the two branched chains, so that the problem that the bearing capacity and rigidity of the movement decoupling asymmetric branched chain parallel mechanism are insufficient compared with those of the strong coupling symmetric branched chain parallel mechanism is solved.

Specifically, the nut seat 414 of the first transmission assembly 41 and the nut seat 414 of the second transmission assembly 42 are coplanar in the XY plane, so that when the first actuator 31 and the second actuator 32 are synchronously driven, the first transmission assembly 41 and the second transmission assembly 42 transmit forces with the same magnitude and direction to the second base 20, so as to realize the rotation of the second base 20 around the X axis of the first rotating portion.

Further, the first rotating portion 51 and the second rotating portion 52 are disposed on an end surface of the second base 20, the first rotating portion 51 and the second rotating portion 52 are collinearly distributed along a Y axis, the third rotating portion 53 is disposed on a side surface of the second rotating portion 52, the second rotating portion 52 and the third rotating portion 53 are collinearly distributed along an X axis, the second transmission rod 421 is connected to the third rotating portion 53, that is, the second transmission rod 421 is connected to an outer side of the second base 20, the second transmission rod 421 is connected to a Y axis of the third rotating portion 53, when the first transmission rod 411 and the second transmission rod 421 move in a YZ plane, a force is applied to the second base 20 along the YZ plane, and the second base 20 rotates around the X axis of the first rotating portion 51; when the second driving lever 421 moves in the XZ plane, the force of the XZ plane is applied to the second base 20, and the second base 20 rotates around the Y axis of the first rotating portion 51 and the second rotating portion 52.

Further, the driving part 30 and the transmission part 40 extend in the same direction, that is, the driving part 30 and the transmission part 40 extend in the Z-axis direction, and the actuator and the screw 412 may be elongated members, so that the width dimension of the base joint driving part is reduced. Simultaneously, first transfer line sets up in the top of first rectilinear motion spare, the second transfer line sets up in the top of second rectilinear motion spare, makes basic joint width direction compact structure through the stack structure of direction of height. Further, the second transmission rod is connected to the outer side of the second base 20, and the width dimension of the second base 20 is smaller than that of the first base 10, so as to further reduce the structure dimension in the width direction.

The beneficial effects of the preferred embodiment are that based on the design of the parallel mechanism of the asymmetric branched chain, the buckling/stretching movement of the finger-based joint is realized by synchronous driving of two actuators, the adduction/abduction movement of the finger-based joint is realized by driving of one actuator, the larger acting force required by the buckling/stretching movement can be ensured, the volume of the actuator is reduced, and the utilization efficiency of the actuator is improved; meanwhile, based on the special position distribution of each transmission part and the nut seat, the structure of the base joint is further ensured to be compact, the motion decoupling between two degrees of freedom is realized, and the mechanism assembly and motion control difficulty is reduced.

Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the invention is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the invention. The scope of the invention should therefore be pointed out in the appended claims.

Claims (9)

1. The finger base joint of the manipulator is characterized by comprising a first base, a second base, a driving part and a transmission part, wherein the first base extends along a Z axis, the second base is rotatably connected to one end of the first base, the driving part is arranged on the first base, the transmission part transmits power of the driving part to the second base, the driving part comprises a first actuator and a second actuator which are arranged in parallel, and when the first actuator and the second actuator are synchronously driven, the second base rotates around an X axis; when the second actuator is driven alone, the second base rotates about the Y axis.

2. The finger-based joint of a manipulator of claim 1, wherein the second base rotates about both the X-axis and the Y-axis when the first and second actuators are driven asynchronously.

3. The finger-based joint of a manipulator according to claim 1, wherein the first base is a fixed structural member, the second base is a movable structural member, the first base and the second base are movably connected through a first rotating portion, the driving portion is disposed at the other end of the first base, the driving portion comprises a first driving assembly connected to the first actuator, and a second driving assembly connected to the second actuator, the first driving assembly and the second base are movably connected through a second rotating portion, and the second driving assembly and the second base are movably connected through a third rotating portion.

4. A finger-based joint according to claim 3 wherein the X-axis of said first and second rotating portions are parallel and the Y-axis is collinear, and the X-axis of said second and third rotating portions are collinear to decouple rotational movement of said second base about the X-axis from rotational movement about the Y-axis.

5. The finger-based joint of the manipulator according to claim 3, wherein when the first actuator and the second actuator are synchronously driven, the first transmission assembly and the second transmission assembly apply a force to the second base along the YZ plane to rotate the second base about the X-axis of the first rotating portion; when the second actuator is driven alone, the second transmission assembly applies a force to the second base along the XZ plane, causing the second base to rotate about the Y-axis of the first and second rotating portions.

6. A finger-based joint according to claim 3 wherein said first transmission assembly comprises a first linear motion member and a first transmission rod, and said second transmission assembly comprises a second linear motion member and a second transmission rod, said first and second linear motion members each comprising a lead screw, a nut mount and a guide, said nut being mounted to the lead screw, said nut mount being connected to the nut and being sleeved to the guide to produce linear motion along the guide; the first transmission rod is rotatably connected with the nut seat of the first linear motion piece and the X axis of the second rotating part; one end of the second transmission rod is rotatably connected to the Y shaft of the third rotating part, and the other end of the second transmission rod is connected to the nut seat of the second linear motion part through a spherical bearing.

7. The finger-based joint of the manipulator of claim 6, wherein the nut mount of the first drive assembly and the nut mount of the second drive assembly are coplanar in the XY plane such that the first actuator and the second actuator can simultaneously drive the second base to rotate about the X-axis of the first rotation section.

8. The finger-based joint of a manipulator according to claim 6, wherein the driving part and the transmission part extend in the same direction, the first transmission rod is disposed above the first linear motion member, and the second transmission rod is disposed above the second linear motion member.

9. The finger-based joint of a manipulator according to claim 7, wherein the first rotating portion and the second rotating portion are disposed on an end surface of the second base, the third rotating portion is disposed on a side surface of the second base, the second transmission rod is connected to an outer side of the second base, and when the second base rotates around the X axis, the first transmission rod and the second transmission rod move in the YZ plane; and when the second base rotates around the Y axis, the second transmission rod moves in the XZ plane.