Linkage mechanism, robotic finger and robot

A robotic finger comprising:

• a base member;
• a first link having a first end and an opposite, second end, the first end rotatably connected to the base member, the first link defining a first arc-shaped guide groove centered on a pivot axis about which the first link rotates relative to the base member;
• a second link rotatably connected to the second end of the first link;
• a connecting member having two opposite ends rotatably connected to the base member and the second link;
• an actuating mechanism comprising a linear actuator comprising an output shaft and a transmission member that is driven by the linear actuator, the transmission member comprising a first end rotatably connected to the output shaft, and an opposite, second end slidably received in the first arc-shaped guide groove;
• and
• an elastic member connected to the first link and the second link, the elastic member configured to drive the second link to an original position of the second link;
• wherein when the linear actuator drives the connecting member to extend and move, the second end of the transmission member abuts against one end of the first arc-shaped guide groove, which drives the first link to rotate relative to the base member;
• wherein the base member is configured to function as a proximal phalanx, the first link is configured to function as a middle phalanx, and the second link is configured to function as the distal phalanx.

A robot comprising:

• a robotic finger comprising:
• a base member;
• a first link having a first end and an opposite, second end, the first end rotatably connected to the base member, the first link defining a first arc-shaped guide groove centered on a pivot axis about which the first link rotates relative to the base member;
• a second link rotatably connected to the second end of the first link;
• a connecting member having two opposite ends rotatably connected to the base member and the second link;
• an actuating mechanism comprising a linear actuator comprising an output shaft and a transmission member that is driven by the linear actuator, the transmission member comprising a first end rotatably connected to the output shaft, and an opposite, second end slidably received in the first arc-shaped guide groove;
• and
• an elastic member connected to the first link and the second link, the elastic member configured to drive the second link to an original position of the second link;
• wherein when the linear actuator drives the connecting member to extend and move, the second end of the transmission member abuts against one end of the first arc-shaped guide groove, which drives the first link to rotate relative to the base member;
• wherein the base member is configured to function as a proximal phalanx, the first link is configured to function as a middle phalanx, and the second link is configured to function as the distal phalanx.