Mechanical structure of intelligent underwater dexterous hand

In order to realize the requirements of underwater partly automatic work, the research group developed an underwater working dexterous hand. This dexterous hand adopted three fingers and six joints. The six joints were all driven by fluid power, among which three root joints shared one fluid motor, and the other three finger joints were driven by three fluid cylinder respectively. In order to obtain comparatively comprehensive information on the operating environment, the dexterous hand installed a six-dementional wrist force sensors, three four-dimensional finger force sensors, three ultrasonic sensors, and one vision sensor. This article focused on the mechanical structure of the dexterous hand and equipment of sensors.