Fusion system of mechanical arm and dexterous hand, and motion control method

A fusion system of a mechanical arm and a dexterous hand, comprising:

• a four-degree-of-freedom mechanical arm;
• a dexterous hand wrist mounted at an end of the four-degree-of-freedom mechanical arm;
• and
• a dexterous hand mounted on the dexterous hand wrist, wherein the dexterous hand wrist and the four-degree-of-freedom mechanical arm are connected by an electronic circuit,
• wherein the dexterous hand wrist is a two-degree-of-freedom parallel mechanism, and comprises two motors, two push rods and two servo position controllers;
• and
• wherein the two servo position controllers are an active servo position controller and a slave servo position controller, the two motors comprise a first motor and a second motor, and the two push rods comprise a first push rod and a second push rod;
• the active servo position controller is configured to drive a motion of the first motor, and the motion of the first motor drives a motion of the first push rod;
• the slave servo position controller is configured to drive a motion of the second motor, and the motion of the second motor drives a motion of the second push rod;
• and an end of the first push rod and an end of the second push rod are simultaneously connected to a dexterous hand palm.