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;
• 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, a pushing member, and a transmission member, the pushing member connected to and slidable along the output shaft, the pushing member comprising a pushing surface that is configured to be pushed by the output shaft, the transmission member comprising a first end hinged to the pushing member, and an opposite second end pivoted to the first end of the first link, wherein a first pivot axis about which the transmission member rotates relative to the first link and a second pivot axis about which the first link rotates relative to the base member are spaced apart from each other;
• 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 output shaft extends and moves to push the pushing surface, the pushing member moves and the first link rotates 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;
• 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, a pushing member, and a transmission member, the pushing member connected to and slidable along the output shaft, the pushing member comprising a pushing surface that is configured to be pushed by the output shaft, the transmission member comprising a first end hinged to the pushing member, and an opposite second end pivoted to the first end of the first link, wherein a first pivot axis about which the transmission member rotates relative to the first link and a second pivot axis about which the first link rotates relative to the base member are spaced apart from each other;
• 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 output shaft extends and moves to push the pushing surface, the pushing member moves and the first link rotates 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.