CN100551637C - Rack bar under-driven robot finger device - Google Patents

Rack bar under-driven robot finger device Download PDF

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Publication number
CN100551637C
CN100551637C CN 200810055897 CN200810055897A CN100551637C CN 100551637 C CN100551637 C CN 100551637C CN 200810055897 CN200810055897 CN 200810055897 CN 200810055897 A CN200810055897 A CN 200810055897A CN 100551637 C CN100551637 C CN 100551637C
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rack
bar
finger
under
device
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CN 200810055897
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Chinese (zh)
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CN101214655A (en )
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张文增
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清华大学
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齿条欠驱动机器人手指装置,属于拟人机器人技术领域,包括基座、电机、减速器、第一齿轮、第二齿轮、近关节轴、中部指段、远关节轴和末端指段。 Less rack driving robot finger means belonging BACKGROUND humanoid robot, comprising a base, a motor, reducer, first gear, second gear, the shaft near the joint, the middle finger segment, and the distal end of the finger joint shaft segment. 该装置还包括主动齿轮、齿条、从动齿轮和簧件;中部指段套接在近关节轴上,簧件的两端分别连接中部指段和末端指段。 The apparatus further comprises a driving gear, a rack, a driven gear and a spring member; middle segment socket means respectively connected to both ends of the shaft near the joint, the spring member and the tip of the middle finger section refers to the segment. 该装置利用一对齿轮齿条机构、套接活动的中部指段及簧件所具有的解耦作用综合实现了双关节欠驱动手指弯曲抓取物体的特殊效果,结构简单、可靠、成本低,便于安装维护,与人手指相似,体积小、重量轻,特别适合作为拟人机器人手的拇指或其他手指的一部分,以较少驱动器驱动较多的转动关节,自动适应抓取不同形状大小物体。 The device utilizes one pair of rack and pinion mechanism, the middle section and socket activity means having a spring member is integrated to achieve a decoupling effect double joint special effects underactuated bent finger grasping an object, the structure is simple, reliable, low cost, easy installation and maintenance, similar to human finger, small size, light weight, especially suitable as a humanoid robot hand part of the thumb or finger, with fewer driver drives more rotating joints, automatically adapt to different shapes and sizes of the object gripping.

Description

齿条欠驱动机器人手指装置 Rack underactuated robot finger device

技术领域 FIELD

本发明属于拟人机器人技术领域,特别涉及一种齿条欠驱动机器人手指装置的结构设计。 The present invention belongs to the technical field humanoid robot, particularly to a robot finger rack driving device under design. 背景技术 Background technique

与人类似,拟人机器人的多数功能要通过手部操作来实现,因而手部结构是拟人机器人的重要组成部分,其设计是拟人机器人的关键技术之一。 And similar people, most of the features anthropomorphic robot to be achieved by hand operation, thus the hand structure is an important part of the humanoid robot, whose design is one of the key technologies anthropomorphic robot. 为了增加手部的拟人化,手部要设计较多的关节自由度,然而,为了减轻拟人机器人手部的控制难度,以及减小手部的体积、 重量,需要减少驱动器数目,这两者有一定的矛盾,另外,为了更好地抓取物体,还需要手指在抓取物体时具有一定的自适应性。 To increase the anthropomorphic hand, hand joints freedom to design more, however, in order to reduce the difficulty in controlling humanoid robot hand, the hand and to reduce size, weight, necessary to reduce the number of drives, there are both certain contradiction, in addition, in order to better grip the object, but also has some adaptability finger when grasping objects. 本发明提供的机器人拟人手指欠驱动装置能够更好的实现较多关节自由度、较少驱动器数目、抓取不同形状、尺寸的物体时的较强的自适应性这三个目标。 The present invention provides a robot anthropomorphic under finger drive means can be better achieved more joint degrees of freedom, smaller number of drives, crawler different shapes, great adaptability to the target when the three dimensional object.

已有的一种自适应欠驱动机械手装置,如美国发明专利US5762390A,包括第一指段、第二指段、第三指段、电机、带轮传动机构、丝杆传动机构、底座、连杆机构、弹簧。 An adaptive Underactuated conventional robot apparatus, as described in US patent US5762390A, means comprising a first section, a second finger section, the third section means, the motor, the pulley mechanism, screw gear mechanism, the base, the connecting rod institutions, spring. 第一指节、第二指节、第三指节与底座串联铰接在一起,并且两两之间设有弹簧和连杆相连,形成多个四连杆机构,电机、带轮传动机构、丝杆传动机构相串联设置在底座里。 A first knuckle, a second knuckle, and third knuckles of the base are hinged together in series, and provided with a spring and a link connected between each two of a plurality of four-bar linkage, a motor, pulley mechanism, wire lever transmission mechanism provided in series with its base. 该装置由自身携带的电机驱动,由带轮传动机构、丝杆传动机构将电机的转动转化为连杆机构的运动。 The device carried by its own motor driven by the pulley mechanism, the screw drive mechanism of rotation of the motor into motion of the link mechanism. 由于弹簧的作用,第一、第二、第三指节初始保持伸直状态。 Due to the action of the spring, the first, second, third knuckle initial kept straight. 其工作原理为:电机转动,通过带轮传动机构和丝杆传动机构的运动,推动第一个四连杆机构运动,从而推动第一、第二、 第三指节同时转动。 Its working principle is: the motor is rotated by the movement of the pulley mechanism and the screw drive mechanism, a first push motion of the four-link mechanism, thereby pushing the first, second, third knuckle rotate simultaneously. 当第一指节接触到物体时,第一指节不再转动,电机继续转动,设置在第一、二指节之间的弹簧开始变形,同时,第一个四连杆机构变形运动,从而推动第二、三指节继续转动。 When the object contacts the first knuckle, a first knuckle does not rotate, the motor continues to rotate, disposed in a first, between the spring finger section begins to deform, while the first four-bar linkage deformation movement, whereby pushes the second and third knuckles continues to rotate. 当第二指节也接触到物体,第二指节不再转动,电机继续转动,设置在第二、 三指节之间的弹簧开始变形,同时推动第二个四连杆机构变形运动,从而推动第三指节继续转动,直到第三指节也接触物体为止。 When the second knuckle also contacts the object, the second knuckle does not rotate, the motor continues to rotate, disposed in the second and third finger between the spring section begins to deform, while pushing the second four-bar linkage mechanism deformation movement, whereby The third push knuckle continues to rotate, until the third object is also in contact until the knuckles.

该装置的不足之处为:多个连杆机构装置复杂、体积大、制造成本髙,手指外观与人手指有较大差异。 Disadvantage of this device is: a plurality of link mechanisms apparatus complicated, bulky, manufacturing cost Gao, human finger with a finger look quite different. 发明内容 SUMMARY

本发明的目的是针对已有技术的不足之处,提供一种齿条欠驱动机器人手指装置,结构简单、可靠,成本低,外形与人的手指相似,可以作为拟人机器人手的手指使用,以实现机 The present invention is directed to the shortcomings of prior art, there is provided a robot finger drive means under the rack, the structure is simple, reliable, low cost, human finger with a similar profile, can be used as humanoid robot fingers of the hand used to achieve machine

器人手采用较少驱动器驱动较多手指转动关节,需要较低的控制系统要求,并具有抓取不同形状、尺寸的物体的自适应性。 Adaptive filter using less manpower driver driving finger more rotating joints, requires less control requirements, and having a gripping of different shapes and sizes of objects. 本发明的技术方案如下: Aspect of the present invention is as follows:

本发明所述的齿条欠驱动机器人手指装置,包括基座、电机、减速器、第一齿轮、第二齿轮、近关节轴、中部指段、远关节轴和末端指段:所说的电机和减速器均与基座固接,电机的输出轴与减速器的输入轴相连,减速器的输出轴与第一齿轮固接,第一齿轮与第二齿轮相啮合,第二齿轮固接于近关节轴,所说的近关节轴套设在基座中,所说的远关节轴套设在中部指段中,所说的末端指段套固在远关节轴上,其特征在于:该齿条欠驱动机器人手指装置还包括主动齿轮、齿条、从动齿轮和簧件;所说的中部指段套接在近关节轴上;所说的主动齿轮套固在近关节轴上,所说的从动齿轮套固在远关节轴上,所说的齿条镶嵌在中部指段中,所说的齿条与主动齿轮啮合,齿条与从动齿轮啮合,所说的簧件的两端分别连接中部指段和末端指段。 The rack of the present invention under driving robot finger means, comprising a base, a motor, reducer, first gear, second gear, the shaft near the joint, the middle finger segment, and the distal end of the joint shaft segment means: said electric motor and a speed reducer are fixed to the base, connected to the input shaft and the output shaft of the motor reducer, the speed reducer output shaft fixedly connected with the first gear, the first gear meshed with the second gear, a second gear fixed to near the joint shaft, said sleeve is provided near joints in the base, the sleeve of said distal joint means provided in the central section, the end of said fixed sleeve at the distal section refers to the joint axis, characterized in that: the less rack driving means further comprises a robot finger driving gear, a rack, a driven gear and the spring member; refers to the middle section of said sleeved shaft near the joint; said driving gear sleeve near the joint axis in the solid, the said driven gear sleeve fixed at the distal joint axis, said rack means embedded in the middle section, said rack meshing with the driving gear, a driven gear meshed with the rack, two of said spring member It refers to the segment terminals are connected and the middle finger tip segment.

本发明所述的齿条欠驱动机器人手指装置,其特征在于:所说的簧件采用扭簧、拉簧、 压簧、片簧、橡皮筋或弹性绳。 The rack of the present invention under driving robot finger means, wherein: said spring member using the torsion spring, extension spring, compression spring, leaf spring, rubber band or elastic cord.

本发明与现有技术相比,具有以下优点和突出性效果- Compared with the prior art the present invention has the following advantages and effects of the protrusion -

本发明装置利用一对齿轮齿条机构、套接活动的中部指段及簧件所具有的解耦作用综合实现了双关节欠驱动手指弯曲抓取物体的特殊效果,结构简单、可靠、成本低,便于安装维护,与人的手指相似,体积小、重量轻,特别适合作为拟人机器人手的拇指或其他手指的一部分,以较少驱动器驱动较多的转动关节,仅需要较低的控制系统要求,并具有抓取不同形状、大小物体的很强的自适应性。 Using the apparatus of the present invention, one pair of rack and pinion mechanism, and a spring member refers to the segment of the central socket having a decoupling effect achieved synthesis activity double joint special effects underactuated bent finger grasping an object, the structure is simple, reliable, low cost , easy installation and maintenance, and is similar to a human finger, small size, light weight, especially suitable as a humanoid robot hand part of the thumb or finger, with fewer driver drives more rotating joints, the system requires only low control requirements and it has a strong self gripping adaptability of different shapes, size of the object. 附图说明 BRIEF DESCRIPTION

图1是本发明提供的齿条欠驱动机器人手指装置的实施例的正面外观图。 FIG 1 is a rack of the present invention provides apparatus underactuated embodiment of a robot finger façade FIG.

图2是本实施例的侧视图,也是图1的左侧视图。 FIG 2 is a side view of the embodiment according to the present embodiment, is a left side view of FIG. 1. 图3是本实施例的正面剖视图,也是图1的剖视图。 FIG 3 is a front cross-sectional view of the embodiment according to the present embodiment, is a cross-sectional view of Figure 1. 图4是本实施例的侧面剖视图,也是图2的剖视图。 FIG 4 is a side cross-sectional view of the embodiment according to the present embodiment, FIG 2 is a cross-sectional view.

图5是本实施例的簧件的安装位置示意图,也是图1的右侧视图的局部图。 FIG 5 is a schematic view of the installation position of the spring member of the present embodiment, it is a partial right side view of FIG. 1 FIG. 图6是图4中的A—A剖面图,表达了齿条镶嵌在中部指段的位置关系。 FIG 6 is a sectional view of A-A in FIG. 4, the expression of the rack set in the middle section of the positional relationship between the finger. 图7、图8、图9、图13是本实施例抓握物体过程的几个关键位置侧面外观示意图。 FIG 7, FIG 8, FIG 9, FIG 13 is an external side schematic view of the position of several key embodiments of the present embodiment during the gripping of the object. 图10、图11、图12是本实施例抓握物体过程的几个关键位置侧面剖视图,分别对应图7、 图8、图9的剖视图。 FIG 10, FIG 11, FIG 12 is a position of several key aspect of the present embodiment during the gripping of an object cross-sectional view, corresponding to FIG. 7, FIG. 8, a cross-sectional view of FIG. 9.

在图1至图13中: 1_基座, 4—中部指段, 7—主动齿轮, IO—簧件, 21 —减速器, 具体实施方式 In Figures 1 to 13: 1_ base, middle section refers to 4-, 7- drive gear, IO- spring member, 21 - reducer, DETAILED DESCRIPTION

下面结合附图及实施例进 DRAWINGS Example embodiments and into

2 2

电机, 5 —远关节轴, 8 —齿条, ll一第一齿轮, 31 —第一销钉, Motor, 5 - far joint shaft, 8 - rack, ll a first gear, 31 - a first pin,

3—近关节轴, 6 —末端指段, 9一从动齿轮, 12—第二齿轮, 32—第二销钉。 3- near joint shafts 6 - refers to a terminal segment, a driven gear 9, 12 of the second gear, the second pin 32-.

步详细介绍本发明的具体结构、工作原理的内容。 SUMMARY particular step describes the structure of the present invention, works in detail. 本发明设计的一种齿条欠驱动机器人手指装置的实施例,如图l、图2、图3、图4、图图6所示,包括基座K电机2、减速器21、第一齿轮ll、第二齿轮12、近关节轴3、中末端指段6;所说的电机2和减速器21均与基座1固接,电机2的输出轴与减速器21的输入轴相连,减速器21的输出轴与第一齿轮11固接,第一齿轮11与第二齿轮12相啮合,第二齿轮12固接于近关节轴3,所说的近关节轴3套设在基座1中; 所说的远关节轴5套设在中部指段4中,所说的末端指段6套固在远关节轴5上。 The rack of the present invention designed for one kind of under-drive apparatus for a robot finger embodiment, L in FIG, 2, 3, 4, FIG, 2, the speed reducer 21, a first gear comprising a motor base K in FIG. 6 ll, the second gear 12, shaft 3 near the joint, the end section refers to 6; and 2 of said motor reducer 21 are connected to a fixed base connected to the output shaft of the motor 2 and the gear unit input shaft 21, the reduction the output shaft 21 fixedly connected with the first gear 11, second gear 12 is meshed with the first gear 11, second gear 12 fixed to shaft 3 near the joint, said joint shaft 3 near the base sleeved 1 ; the distal joint axis 5 of said jacket means 4 located in the central section, said end section means 6 sets fixed shaft 5 in the distal joint. 该装置包括主动齿轮7、齿条8、从动齿轮9和簧件10;所说的中部指段4套接在近关节轴3上,所说的主动齿轮7套固在近关节轴3上,所说的从动齿轮9套固在远关节轴5上,所说的齿条8镶嵌在中部指段4中,所说的齿条8与主动齿轮7啮合,齿条与从动齿轮9啮合,所说的簧件10的两端分别连接中部指段4和末端指段6。 The apparatus includes a driving gear 7, a rack 8, the driven gear 9 and the spring member 10; the central means of said section near the joint 4 is sleeved on the shaft 3, the pinion gear 7 of said sleeve fixed near the joint axis 3 said driven gear 9 fixed on the sleeve distal joint shaft 5, 8 of said rack set in the middle section of the finger 4, 8 of said rack meshing with the drive gear 7, the rack and the driven gear 9 engaging the ends of said spring member 10 are connected to the middle finger and the tip section 4 refers to the segment 6.

本发明所述的齿条欠驱动机器人手指装置中,所说的簧件采用扭簧、拉簧、压簧、片簧、 橡皮筋或弹性绳。 The rack of the present invention under driving apparatus for a robot in a finger, said spring member using the torsion spring, extension spring, compression spring, leaf spring, rubber band or elastic cord.

本实施例中,所说的簧件10采用扭簧。 In this embodiment, it said torsion spring member 10 employed.

本实施例的工作原理,如图7、图8、图9、图IO、图ll、图12、图13,叙述如下: 该装置的初始位置如图7、图10所示,此时中部指段4和末端指段6与基座1呈一直线, 即相当于人的手指伸直的状态。 Working principle of the present embodiment, as shown in FIG 7, FIG 8, FIG 9, the IO FIGS., FIG. Ll, 12, 13, described as follows: The initial position of the device in FIG. 7, FIG. 10, the middle finger at this time 4 refers to the segment and the end segment 6 and the base 1 as a straight line, which is equivalent to a human finger straightened state. 当使用装有本实施例的机器人手抓取物体时,电机2的输出轴转动,通过第一齿轮11带动固接有第二齿轮12的近关节轴3转动,使主动齿轮7转动。 When using the embodiment according to the present embodiment is equipped with a robot hand to grasp an object, the output shaft of the motor 2 is rotated by the first driven gear 11 is fixed to the second gear 3 rotates the shaft 12 near the joint of the pinion gear 7 is rotated. 由于簧件10的约束作用,中部指段4与末端指段6仿佛固接在一起,因此主动齿轮7的转动将通过齿条8和从动齿轮9,优先使得中部指段4和末端指段6 —起绕着近关节轴3转动, 此过程直到中部指段4碰到物体,如图8、 ll所示。 Since the restriction effect of the spring member 10, the middle finger section 4 refers to the segment 6 and the end if fixed together so that rotation of the driving gear 7 of the rack 8 and the driven gear 9, so that the priority middle finger and the tip section 4 refers to the segment 6 - from rotation about the shaft 3 near the joint, this procedure until the middle section 4 refers to strike the object, FIG 8, FIG ll.

当中部指段4碰到物体被阻挡而无法继续旋转时,此时主动齿轮7将使齿条8移动,让从动齿轮9转动,使得远关节轴5转动,从而使末端指段6克服簧件10的弹力而转动,同时簧件10变形量增大。 Which refers to section 4 hits an object is blocked segment is unable to continue rotation with the pinion gear 7 will move the rack 8, 9 so that the driven gear is rotated, so that the distal joint shaft 5 is rotated so that the end portion 6 against the spring means the elastic member 10 is rotated, while the amount of deformation of the spring member 10 is increased. 此过程直到末端指段6也碰到物体,如图9、图12所示。 This section refers to the process until the end of the object have encountered 6, 9, 12 shown in FIG. 至此,本实施例装置抓紧了物体。 Thus, this embodiment of the gripping device object.

即使物体形状大小不同,该装置也能顺利包络物体。 Even objects of different shapes and sizes, the apparatus can be smoothly envelope object. 如果该装置中部指段4和末端指段6 同时旋转时,末端指段6优先于中部指段4接触到物体表面,由于末端指段6受到中部指段4的阻挡而难以反转,因此该装置将不再运动而牢牢用末端指段抓紧物体,如图13所示。 If the device central means and the tip section 4 refers to the segment 6 simultaneously rotated, the tip section 6 refers to the priority in the middle section 4 refers to the contact surface of the object, since the tip section 6 refers to the blocking means by the middle section 4 is difficult to reverse, so that the movement of the device will no longer firmly grasp an object with a finger tip segment, as shown in Fig.

当放开物体时,电机2反向转动,带动近关节轴3反转,带动主动齿轮7反转,从而通过齿条8拉动从动齿轮7反向转动,此时簧件10的变形量逐渐减小,末端指段6绕远关节轴5的轴线反转而离开物体表面,直到末端指段6已到达相对于中部指段4的伸直状态,如图8、 ll所示。 When the object is released, the reverse rotation of the motor 2 to drive shaft 3 is reversed near joints, drives the driving gear 7 is reversed so that the reverse driven gear 7 is rotated by pulling the rack 8, the amount of deformation of the spring member 10 at this time is gradually reduced end section 6 refers to the axis joint inversion detour away from the object surface 5, refer to section 6 until the end has been reached with respect to the central section 4 refers to a straightened state, shown in FIG 8, ll shown in FIG. 由于末端指段6被中部指段4阻挡而不能再继续反转,此时电机2继续反向转动, 将带动整个中部指段4、远关节轴5、从动齿轮9和末端指段6 —起绕着近关节轴3的轴线反向转动,中部指段4离开物体表面,直到恢复到初始手指伸直的位置,如图7、 IO所示。 Since the end of the finger is the middle section 6 refers to section 4 can no longer continue the reverse blocking, continued reverse rotation of the motor 2 at this time, the drive means throughout central section 4, distal joint shaft 5, the driven gear 9 and the end section refers to 6 - from about 3 near the axis of articulation reverse rotation, away from the central section 4 refers to the surface until the fingers straight back to the initial position, as shown in FIG. 7, IO.

本发明利用一对齿轮齿条机构、套接活动的中部指段及簧件所具有的解耦作用综合实现了双关节欠驱动手指弯曲抓取物体的特殊效果。 The present invention utilizes a pair of rack and pinion mechanism, and a socket section refers to the activities of the spring member having a central role in the integrated decoupling joint underactuated achieve a double bend the fingers gripping the object of special effects.

Claims (2)

  1. 1、一种齿条欠驱动机器人手指装置,包括基座(1)、电机(2)、减速器(21)、第一齿轮(11)、第二齿轮(12)、近关节轴(3)、中部指段(4)、远关节轴(5)和末端指段(6);所说的电机和减速器均与基座固接,电机的输出轴与减速器的输入轴相连,减速器的输出轴与第一齿轮固接,第一齿轮与第二齿轮相啮合,第二齿轮固接于近关节轴,所说的近关节轴套设在基座中,所说的远关节轴套设在中部指段中,所说的末端指段套固在远关节轴上,其特征在于:该齿条欠驱动机器人手指装置还包括主动齿轮(7)、齿条(8)、从动齿轮(9)和簧件(10);所说的中部指段套接在近关节轴上;所说的主动齿轮套固在近关节轴上,所说的从动齿轮套固在远关节轴上,所说的齿条镶嵌在中部指段中,所说的齿条与主动齿轮啮合,所说的齿条与从动齿轮啮合,所说的簧件的两端分别连接中部指 A rack underactuated robot finger means, comprising a base (1), the motor (2), a speed reducer (21), a first gear (11), a second gear (12), near the joint shaft (3) , (4), the middle finger joint shaft distal section (5) and the tip segment means (6); an input shaft and an output shaft of said motor and reduction gear are fixed to the base, connected to the motor and the reducer, the speed reducer an output shaft fixedly connected with the first gear, the first gear meshed with the second gear, a second gear fixed to the shaft near the joint, said joint bushing provided near the base, said distal joint bushing It means provided in the central section, the end of said fixed sleeve at the distal section refers to the joint axis, characterized in that: under the rack driving means further comprises a robot finger driving gear (7), a rack (8), the driven gear (9) and a spring member (10); means a segment of said central axis of the socket near the joint; said driving gear sleeve near joints in the solid shaft, the driven gear sleeve of said fixed shaft at the distal joint both ends of said spring member is embedded in the middle rack segment means, said rack meshing with the pinion gear, rack gear and said driven gear, said means are connected to the central 和末端指段。 It refers to the segment and the tip.
  2. 2、 如权利要求1所述的齿条欠驱动机器人手指装置,其特征在于:所说的簧件采用扭簧、 拉簧、压簧、片簧或弹性绳。 2, a rack as claimed in claim 1 under robot finger drive means, characterized in that: said spring member using the torsion spring, extension spring, compression spring, a leaf spring or an elastic cord.
CN 200810055897 2008-01-11 2008-01-11 Rack bar under-driven robot finger device CN100551637C (en)

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CN101804430A (en) * 2010-03-17 2010-08-18 安徽巨一自动化装备有限公司 Special clamping mechanism for robot binding system
CN101774176B (en) 2010-01-21 2011-07-20 清华大学 Rack-flexible piece coupling underactuated double-joint robot finger device

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CN101829992A (en) * 2010-04-23 2010-09-15 清华大学 Three-rack slider coupling adaptive underactuated robot finger device
CN102794772A (en) * 2012-08-08 2012-11-28 清华大学 Motor-centered compound under-actuated gripping robot finger device
CN103846922B (en) * 2013-11-27 2016-02-24 清华大学 Rack-return finger device adaptive robot underactuated
CN106426238A (en) * 2015-08-10 2017-02-22 北京空间飞行器总体设计部 Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending

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CN101774176B (en) 2010-01-21 2011-07-20 清华大学 Rack-flexible piece coupling underactuated double-joint robot finger device
CN101804430A (en) * 2010-03-17 2010-08-18 安徽巨一自动化装备有限公司 Special clamping mechanism for robot binding system
CN101804430B (en) 2010-03-17 2012-04-25 安徽巨一自动化装备有限公司 Special clamping mechanism for robot binding system

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