Smart tendon cord parallel robot hand apparatus underactuated

Tendon cord parallel robot hand dexterity underactuated means belonging humanoid robotics. The device has five finger joints and 14 degrees of freedom independently controlled, driven by a motor 10, wherein the means, the ring finger, little finger and index finger of the same structure, a triple double rotation articulation motor drive; thumb fixed in the palm, dual two motor-driven rotation of the joint. Each finger structurally similar, both by the motor, and a return spring member rope tendons integrated initial configuration to achieve the variable finger gripping adaptive combining special effects. The device can be flexibly bent before gripping finger joints in order to achieve a stable intermediate anthropomorphic pre-bent posture, when crawling in an adaptive manner underactuated grip the object. The apparatus is compact, highly integrated, the appearance, size and morphology close operation manpower can be stably grab and automatically adapt to different shapes and sizes of the object, can also be a simple operation, suitable for use as the output terminal of the humanoid robot.