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.

Abstract: Provided are a fusion system of a mechanical arm and a dexterous hand, and a control method therefor. The fusion system comprises a four-degree-of-freedom mechanical arm, a dexterous hand wrist mounted at the tail end of the four-degree-of-freedom mechanical arm, and a dexterous hand mounted on the dexterous hand wrist, wherein the dexterous hand wrist is a single-joint spatial orthogonal two-degree-of-freedom wrist.