The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2026
Filed:
Nov. 04, 2022
Beijing Institute of Precision Mechatronics and Controls, Beijing, CN;
Bohan Lv, Beijing, CN;
Si Zeng, Beijing, CN;
Shoujun Zhao, Beijing, CN;
Zhihong Chen, Beijing, CN;
Yue Zhong, Beijing, CN;
Shan Liu, Beijing, CN;
Junning Zhang, Beijing, CN;
Yajing Guo, Beijing, CN;
Shuxuan Liu, Beijing, CN;
Fan Yang, Beijing, CN;
Hao Wang, Beijing, CN;
Beijing Institute of Precision Mechatronics and Controls, Beijing, CN;
Abstract
A fusion system of a mechanical arm and a dexterous hand includes a four-degree-of-freedom mechanical arm, a dexterous hand wrist mounted at the tail end of the mechanical arm, and a dexterous hand mounted on the dexterous hand wrist. The dexterous hand wrist is a single-joint spatial orthogonal two-degree-of-freedom wrist. In a motion control method, the fusion system is regarded as a six-axis series mechanical arm. A forward kinematics method obtains a position and an attitude of the tail end of the dexterous hand wrist based on a joint angle, and an inverse kinematics numerical solution method obtains the joint angle based on the position and attitude to drive the tail end to a preset position and attitude. The six-degree-of-freedom series-parallel mechanism has multi-degree-of-freedom redundancy to allow rotation of the five-finger dexterous hand without a wide-range motion of the mechanical arm.