CN101077579A - Multi-joint flexible mechanical arm - Google Patents
Multi-joint flexible mechanical arm Download PDFInfo
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- CN101077579A CN101077579A CN 200710052520 CN200710052520A CN101077579A CN 101077579 A CN101077579 A CN 101077579A CN 200710052520 CN200710052520 CN 200710052520 CN 200710052520 A CN200710052520 A CN 200710052520A CN 101077579 A CN101077579 A CN 101077579A
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Abstract
The present invention is polyarticular flexible mechanical arm, and belongs to the field of flexible robot technology. The polyarticular flexible mechanical arm includes M serially connected joint modules comprising one torsion joint and one bending joint each mounted on the pedestal. The torsion joint driving the bending joint and the next joint module to rotate around the said joint axis includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one spur gear-planet gear train. The bending joint driving the next joint module to rotate around the axis of the said joint speed reducer includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one bevel gear-planet gear train. The present invention has standard modules, great flexibility, light weight, several freedoms and high expandability.
Description
Technical field
The invention belongs to the flexible robot, relate in particular to a kind of multi-joint, big flexible, the mechanical arm of grand movement.
Background technology
Multi-joint flexible mechanical arm is the parts that provide support for manipulator, requires the mechanical arm light weight, flexibly to realize the multi-faceted target location that reaches of end-effector.Usually mechanical arm all adopts a plurality of motor-driven; as the mechanical arm that is assemblied on the ETS-VII is in series by 6 joints; be about 2 meters; the about 150kg of weight; each joint is driven by brshless DC motor and harmonic speed reducer; the power output of mechanical arm end and moment are respectively 40N and 10Nm, deadweight relatively, and the load capacity of mechanical arm is very little.Use a light-duty series connection mechanical arm of motor-driven multi-joint also not see report.
Summary of the invention
The invention provides a kind of multi-joint flexible mechanical arm, purpose is to alleviate deadweight, increases the free degree, with the support component as multiple end-effector, realizes multiple degrees of freedom pose such as assembling, quality testing, spraying and keeps away the requirement that barrier is used.
Multi-joint flexible mechanical arm of the present invention comprises M the identical joint module of connecting that is installed on the pedestal, it is characterized in that each joint module is made up of a torsion knuckle and a bending joint, and M is 1～10;
Described torsion knuckle drives bending joint and follow-up joint module rotates around this joints axes, torsion knuckle comprises and reverses input commutating tooth wheels, reverses clutch pack, reverses output commutating tooth wheels, reverses decelerator, reverses actuating arm and spur gear planet circular system, the motor shaft main motion is passed to the spur gear planet circular system by reversing input commutating tooth wheels with high-speed motion, exports to bending joint by it; Motor shaft motion is reversed the actuating arm rotation by reversing input commutating tooth wheels, passing to and reverse output commutating tooth wheels, pass to and reverse decelerator through reversing clutch pack by its driving, and reversing clutch pack provides this joint just to change, reverse, brake three kinds of states;
Described bending joint drives follow-up joint module and rotates around this joint speed reducer axis, bending joint comprises crooked input commutating tooth wheels, crooked clutch pack, crooked output commutating tooth wheels, crooked decelerator, crooked actuating arm and bevel gear planet circular system, main motion is passed to the bevel gear planet circular system by bending input commutating tooth wheels with high-speed motion, exports to next joint module by it; Main motion is imported the commutating tooth wheels, is passed to crooked output commutating tooth wheels, passes to crooked decelerator through crooked clutch pack by bending, drives crooked actuating arm rotation by it, and crooked clutch pack provides this joint just to change, reverse, brake three kinds of states;
The actuating arm that reverses of torsion knuckle is connected with the crooked clutch box of bending joint by screw, and the realization torsion knuckle is connected with bending joint; The crooked connector of bending joint is connected with the clutch box screw that reverses of torsion knuckle in the back joint module in the previous joint module, realizes the connection between the joint module; Rotatablely moving that motor in the pedestal produces is delivered to the mechanical arm end by the gear train in each joint module successively.
Described multi-joint flexible mechanical arm, it is further characterized in that: the equal installation site of the torsion knuckle of described joint module and bending joint, speed, acceleration transducer and controller, and with corner, rotating speed, the angular acceleration in real-time detection, control joint, place.
Modularization standardization of the present invention, with a plurality of similar joint modules mechanical arm that is connected in series, each joint is independently motion control unit, the axis quadrature of adjacent segment, can drive the joint by the clutch pack of control inside, joint, finally make the mechanical arm end reach assigned address; As required endways on the joint the more joint of series connection realize the extension of mechanical arm axial dimension, realize big flexiblely, have top load from anharmonic ratio.
Description of drawings
Fig. 1 is the front view of the embodiment of the invention;
Fig. 2 A is the front view of torsion knuckle in the embodiment of the invention;
Fig. 2 B is the left view of Fig. 2 A;
Fig. 2 C is an A-A cutaway view among Fig. 2 A;
Fig. 3 A is the front view of bending joint in the embodiment of the invention;
Fig. 3 B is the left view of Fig. 3 A.
Fig. 3 C is a B-B cutaway view among Fig. 3 A;
Identify among the figure: pedestal 1, torsion knuckle 2, bending joint 3, reverse left tumbler gear 4, reverse left clutch axle 5, reverse input central gear 6, reverse power shaft 7, reverse third wheel 8, reverse right clutch axle 9, reverse right tumbler gear 10, reverse clutch box 11, reverse right clutch 12, reverse right commutation output gear 13, reverse support arm 14, reverse main shaft 15, reverse line of input star-wheel 16, reverse sun gear 17, reverse output planetary wheel 18, reverse output shaft 19, reverse main motion output gear 20, reverse actuating arm 21, reverse decelerator 22, reverse primary input gear 23, reverse brake 24, reverse left side commutation output gear 25, reverse left clutch 26, crooked input gear 27, crooked third wheel 28, crooked tumbler gear 29, crooked right clutch axle 30, flexural center clutch 31, crooked right clutch 32, crooked right commutation output gear 33, crooked bevel pinion 34, crooked bevel gear wheel 35, crooked decelerator 36, bent support 37, crooked actuating arm 38, crooked connector 39, crooked output shaft 40, crooked output bevel gear 41, crooked bevel planet gear 42, crooked bevel gear back shaft 43, curved major bevel gear 44, flexural center output gear 45, crooked spragging gear 46, flexure actuator 47, crooked clutch box 48, crooked main shaft 49, flexural center gear 50, crooked third wheel supports 51.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
In the embodiment shown in fig. 1, whole mechanical arm is in series by pedestal 1 and 5 joint modules, and each joint module is made up of torsion knuckle 2 and bending joint 3.Power is from the motor on the pedestal 1, and motor movement passes to bending joint 3 through torsion knuckle 2, can expand the length and the free degree of mechanical arm at the identical joint module of the terminal increase of mechanical arm.
Shown in Fig. 2 A, Fig. 2 B, Fig. 2 C, torsion knuckle comprises and reverses input commutating tooth wheels, reverses clutch pack, reverses output commutating tooth wheels, reverses decelerator, reverses actuating arm and spur gear planet circular system; Reverse input commutating tooth wheels by reversing input central gear 6, reverse left tumbler gear 4, reversing third wheel 8 and reverse right tumbler gear 10 and form, reverse input central gear 6 respectively with reverse left tumbler gear 4, reverse third wheel 8 engagement, reverse third wheel 8 and reverse right tumbler gear 10 engagements; Reverse input central gear 6 and to reverse power shaft 7 affixed, reverse left tumbler gear 4 and to reverse left clutch axle 5 affixed, reverse third wheel 8 and to reverse main shaft 15 affixed, reverse right tumbler gear 10 and to reverse right clutch axle 9 affixed;
Reverse clutch pack and reverse reversing left clutch 26 and reverse right clutch 12 and forming of brake 24 both sides by being distributed in;
Reverse output commutating tooth wheels by reversing right commutation output gear 13, reversing primary input gear 23 and reverse left side commutation output gear 25 and forms, reverse right commutation output gear 13, reverse left side commutation output gear 25 and reverse primary input gear 23 and mesh; It is affixed with the armature that reverses right clutch 12 to reverse right commutation output gear 13, and it is affixed with the armature that reverses left clutch 26 to reverse left side commutation output gear 25, reverse primary input gear 23 respectively with reverse brake 24 and reverse the power shaft of decelerator 22 affixed;
Reverse decelerator 22 output shafts and reverse actuating arm 21 affixed;
The spur gear planet circular system is by reversing line of input star-wheel 16, reversing sun gear 17 and reverse output planetary wheel 18 and forms, reverse line of input star-wheel 16, reverse output planetary wheel 18 respectively with reverse sun gear 17 and mesh; Reverse line of input star-wheel 16 and to reverse main shaft 15 affixed, reverse sun gear 17 skies and be enclosed within and reverse on the support arm 14, reverse output planetary wheel 18 and to reverse output shaft 19 1 ends fixed, reverse the fixed main motion output gear 20 that reverses of output shaft 19 other ends.
The motion of torsion knuckle is divided into two kinds of main motion and joint motions, and wherein main motion is a high-speed motion, is used for the motor high-speed motion is passed to next joint; Joint motions are low-speed motion, are used to drive this joint.
The high-speed motion route is in the torsion knuckle: motor shaft moves through and reverses power shaft 7 and central gear 6 is imported in reverse affixed with it, third wheel 8 is reversed in drive, reverse third wheel 8 and high-speed motion is passed to reversed line of input star-wheel 16, reverse sun gear 17 and reverse the spur gear planet circular systems that output planetary wheel 18 is formed by affixed with it main shaft 15 that reverses, main motion is exported to bending joint by being cemented in the main motion output gear 20 that reverses that reverses on the output shaft 19.
Torsion knuckle low-speed motion route is: motor shaft motion is by reversing power shaft 7 and central gear 6 is imported in reverse fixed with it, drive respectively and reverse left tumbler gear 4 and to reverse third wheel 8, reverse motion that left tumbler gear 4 will import and pass to fixed with it left clutch axle 5 that reverses; Reverse third wheel 8 and pass to fixed with it right clutch axle 9 that reverses through the motion of reversing right tumbler gear 10 and will importing.When reversing left clutch 26 and connect, reverse right clutch 12 and disconnect, reverse brake 24 and disconnect, reverse left clutch axle 5 and drive and reverse 25 motions of left side commutation output gear, thereby primary input gear 23 is just being changeed by reversing left clutch 26; When reversing left clutch 26 and disconnect, reverse right clutch 12 and connect, reverse brake 24 and disconnect, reverse right clutch axle 9 and drive and reverse right commutation output gear 13 motions, thereby make 23 counter-rotatings of primary input gear by reversing right clutch 12; When reversing left clutch 26 and disconnect, reverse right clutch 12 and disconnect, reverse brake 24 and connect, 23 brakings of primary input gear.The motion that primary input gear 23 will be determined passes to decelerator 22, reverse actuating arm 21 rotations by decelerator 22 drivings, the actuating arm 21 that reverses of torsion knuckle is connected with the crooked clutch box 48 of bending joint by screw, rotates along this joints axes thereby drive follow-up all joints.
Shown in Fig. 3 A, Fig. 3 B, Fig. 3 C, bending joint comprises crooked input commutating tooth wheels, crooked clutch pack, crooked output commutating tooth wheels, crooked decelerator, crooked actuating arm and bevel gear planet circular system.Crooked input commutating tooth wheels are made up of bending input gear 27, flexural center gear 50, crooked third wheel 28 and crooked tumbler gear 29, and crooked third wheel 28 meshes with flexural center gear 50 and crooked tumbler gear 29 respectively; Crooked input gear 27, flexural center gear 50 orders are affixed with crooked main shaft 49, and crooked tumbler gear 29 is affixed with crooked right clutch axle 30; Crooked third wheel 28 skies are enclosed within the crooked third wheel that is fixed in casing and support on 51.
Crooked clutch pack is made up of flexural center clutch 31 that is distributed in flexure actuator 47 1 sides and crooked right clutch 32; The rotor of flexural center clutch 31 and crooked main shaft 49 are affixed, and the rotor of crooked right clutch 32 and crooked right clutch axle 30 are affixed;
Crooked output commutating tooth wheels are made up of crooked right commutation output gear 33, flexural center output gear 45, crooked spragging gear 46, curved major bevel gear 44 and crooked bevel gear wheel 35, crooked right commutation output gear 33 is affixed with the armature of crooked right clutch 32, flexural center output gear 45 is affixed with the armature of flexural center clutch 31, and crooked spragging gear 46 is affixed with the output shaft of flexure actuator 47; Curved major bevel gear 44 and flexural center output gear 45 coaxial being connected, crooked bevel gear wheel 35 is affixed with crooked decelerator 36 power shafts, flexural center output gear 45 meshes with crooked right commutation output gear 33, crooked spragging gear 46 respectively, curved major bevel gear 44 and crooked bevel gear wheel 35 engagements;
Crooked decelerator 36 is fixed on the bent support 37 that is connected with the bending joint casing, and crooked decelerator 36 output shafts and crooked actuating arm 38 are affixed.
The bevel gear planet circular system is made up of crooked bevel pinion 34, crooked bevel planet gear 42 and crooked output bevel gear 41, crooked bevel pinion 34 and crooked main shaft 49 are affixed, crooked bevel planet gear 42 skies are enclosed within on the crooked bevel gear back shaft 43 of bending joint casing, crooked output bevel gear 41 and crooked output shaft 40 are affixed, and crooked bevel planet gear 42 is exported bevel gear 41 engagements with crooked bevel pinion 34, bending respectively.
Similar with torsion knuckle, the motion in the bending joint is divided into two kinds of main motion and joint motions, and wherein main motion is a high-speed motion, is used for the motor high-speed motion is passed to next joint; Joint motions are low-speed motion, are used to drive this joint.
The high-speed motion route is in the bending joint: high-speed motion is by importing gear 27 with the bending of reversing 20 engagements of main motion output gear, through the crooked main shaft 49 fixed with it, drive the bevel gear system that crooked bevel pinion 34, crooked bevel planet gear 42 and crooked output bevel gear 41 are formed, high-speed motion is passed to the crooked output shaft 40 affixed with crooked output bevel gear 41, when connecting with next joint module, crooked output shaft 40 promptly as torsion knuckle in the next joint module reverse power shaft 7, thereby next joint is exported in main motion.
Bending joint low-speed motion route is: the motor shaft motion is by the bending input gear 27 processes crooked main shaft 49 fixed with it, drive the input flexural center gear 50 that is connected with crooked main shaft 49, drive the motion that crooked third wheel 28, crooked tumbler gear 29 will import and pass to the crooked right clutch axle 30 fixed with it.When 31 connections of flexural center clutch, crooked right clutch 32 disconnects, and when flexure actuator 47 disconnected, crooked main shaft 49 drives flexural center output gears 45 by flexural center clutch 31 just to be changeed; When 31 disconnections of flexural center clutch, crooked right clutch 32 is connected, and when flexure actuator 47 disconnected, crooked right clutch axle 30 drove 33 motions of the right commutation of bending output gear by crooked right clutch 32, reverses thereby drive flexural center output gear 45; When 31 disconnections of flexural center clutch, crooked right clutch 32 disconnects, when flexure actuator 47 is connected, and crooked spragging gear 46 brakings, thus make 45 brakings of flexural center output gear.Flexural center output gear 45 is connected with curved major bevel gear 44, curved major bevel gear 44 and crooked bevel gear wheel 35 engagements, so the motion of flexural center output gear 45 has determined the motion of crooked bevel gear wheel 35 input decelerators.Crooked bevel gear wheel 35 passes motion to crooked decelerator 36, drive fixed crooked actuating arm 38 and 39 rotations of crooked connector by crooked decelerator 36, crooked connector 39 is a cylindrical shape, can with torsion knuckle in the next joint module to reverse clutch box 11 affixed, rotate along this joint speed reducer axis thereby drive follow-up all joint modules.
Claims (5)
1. a multi-joint flexible mechanical arm comprises M the identical joint module of connecting that is installed on the pedestal, it is characterized in that each joint module is made up of a torsion knuckle and a bending joint, and M is 1～10;
Described torsion knuckle drives bending joint and follow-up joint module rotates around this joints axes, torsion knuckle comprises and reverses input commutating tooth wheels, reverses clutch pack, reverses output commutating tooth wheels, reverses decelerator, reverses actuating arm and spur gear planet circular system, the motor shaft main motion is passed to the spur gear planet circular system by reversing input commutating tooth wheels with high-speed motion, exports to bending joint by it; Motor shaft motion is reversed the actuating arm rotation by reversing input commutating tooth wheels, passing to and reverse output commutating tooth wheels, pass to and reverse decelerator through reversing clutch pack by its driving, and reversing clutch pack provides this joint just to change, reverse, brake three kinds of states;
Described bending joint drives follow-up joint module and rotates around this joint speed reducer axis, bending joint comprises crooked input commutating tooth wheels, crooked clutch pack, crooked output commutating tooth wheels, crooked decelerator, crooked actuating arm and bevel gear planet circular system, main motion is passed to the bevel gear planet circular system by bending input commutating tooth wheels with high-speed motion, exports to next joint module by it; Main motion is imported the commutating tooth wheels, is passed to crooked output commutating tooth wheels, passes to crooked decelerator through crooked clutch pack by bending, drives crooked actuating arm rotation by it, and crooked clutch pack provides this joint just to change, reverse, brake three kinds of states;
The actuating arm that reverses of torsion knuckle is connected with the crooked clutch box of bending joint by screw, and the realization torsion knuckle is connected with bending joint; The crooked connector of bending joint is connected with the clutch box screw that reverses of torsion knuckle in the back joint module in the previous joint module, realizes the connection between the joint module; Rotatablely moving that motor in the pedestal produces is delivered to the mechanical arm end by the gear train in each joint module successively.
2. multi-joint flexible mechanical arm as claimed in claim 1, it is characterized in that, in the described torsion knuckle: reverse input commutating tooth wheels by reversing input central gear (6), reverse left tumbler gear (4), reversing third wheel (8) and reverse right tumbler gear (10) and form, reverse input central gear (6) respectively with reverse left tumbler gear (4), reverse third wheel (8) engagement, reverse third wheel (8) and reverse right tumbler gear (10) engagement; Reverse input central gear (6) and reverse power shaft (7) affixed, reverse left tumbler gear (4) and reverse left clutch axle (5) affixed, reverse third wheel (8) and to reverse main shaft (15) affixed, reverse right tumbler gear (10) and to reverse right clutch axle (9) affixed;
Reverse clutch pack and reverse reversing left clutch (26) and reversing right clutch (12) and form of brake (24) both sides by being distributed in;
Reverse output commutating tooth wheels by reversing right commutation output gear (13), reversing primary input gear (23) and reverse left side commutation output gear (25) and forms, reverse right commutation output gear (13), reverse the left side output gear (25) that commutates and reverse primary input gear (23) and mesh; It is affixed with the armature that reverses right clutch (12) to reverse right commutation output gear (13), it is affixed with the armature that reverses left clutch (26) to reverse left side commutation output gear (25), reverse primary input gear (23) respectively with reverse brake (24) and reverse the power shaft of decelerator (22) affixed;
Reverse decelerator 22 output shafts and reverse actuating arm (21) affixed;
The spur gear planet circular system is by reversing line of input star-wheel (16), reversing sun gear (17) and reverse output planetary wheel (18) and forms, reverse line of input star-wheel (16), reverse output planetary wheel (18) respectively with reverse sun gear (17) and mesh; Reverse line of input star-wheel (16) and reverse main shaft (15) affixed, reversing sun gear (17) sky is enclosed within and reverses on the support arm (14), reverse output planetary wheel (18) and to reverse output shaft (19) one ends fixed, reverse the fixed main motion output gear (20) that reverses of output shaft (19) other end.
3. multi-joint flexible mechanical arm as claimed in claim 1 or 2, it is characterized in that, in the described bending joint: crooked input commutating tooth wheels are imported gear (27), flexural center gear (50), crooked third wheel (28) and crooked tumbler gear (29) by bending and are formed, and crooked third wheel (28) meshes with flexural center gear (50) and crooked tumbler gear (29) respectively; Gear (27) is imported in bending, flexural center gear (50) order is affixed with crooked main shaft (49), and crooked tumbler gear (29) is affixed with crooked right clutch axle (30);
Crooked clutch pack is made up of flexural center clutch (31) that is distributed in flexure actuator (47) one sides and crooked right clutch (32); The rotor of flexural center clutch (31) and crooked main shaft (49) are affixed, and the rotor of crooked right clutch (32) and crooked right clutch axle (30) are affixed;
Crooked output commutating tooth wheels are made up of crooked right commutation output gear (33), flexural center output gear (45), crooked spragging gear (46), curved major bevel gear (44) and crooked bevel gear wheel (35), crooked right commutation output gear (33) is affixed with the armature of crooked right clutch (32), flexural center output gear (45) is affixed with the armature of flexural center clutch (31), and crooked spragging gear (46) is affixed with the output shaft of flexure actuator (47); Curved major bevel gear (44) and coaxial being connected of flexural center output gear (45), crooked bevel gear wheel (35) is affixed with crooked decelerator (36) power shaft, flexural center output gear (45) meshes with crooked right commutation output gear (33), crooked spragging gear (46) respectively, curved major bevel gear (44) and crooked bevel gear wheel (35) engagement;
Crooked decelerator (36) is fixed on the bending joint casing, and crooked decelerator (36) output shaft and crooked actuating arm (38) are affixed;
The bevel gear planet circular system is made up of crooked bevel pinion (34), crooked bevel planet gear (42) and crooked output bevel gear (41), crooked bevel pinion (34) is affixed with crooked main shaft (49), crooked bevel planet gear (42) sky is enclosed within on the crooked bevel gear back shaft (43) of bending joint casing, crooked output bevel gear (41) is affixed with crooked output shaft (40), and crooked bevel planet gear (42) is exported bevel gear (41) engagement with crooked bevel pinion (34), bending respectively.
4. multi-joint flexible mechanical arm as claimed in claim 1 or 2, it is characterized in that: the equal installation site of the torsion knuckle of described joint module and bending joint, speed, acceleration transducer and controller, with corner, rotating speed, the angular acceleration in real-time detection, control joint, place.
5. multi-joint flexible mechanical arm as claimed in claim 3, it is characterized in that: the equal installation site of the torsion knuckle of described joint module and bending joint, speed, acceleration transducer and controller, with corner, rotating speed, the angular acceleration in real-time detection, control joint, place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710052520A CN100586667C (en) | 2007-06-20 | 2007-06-20 | Multi-joint flexible mechanical arm |
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| CN200710052520A CN100586667C (en) | 2007-06-20 | 2007-06-20 | Multi-joint flexible mechanical arm |
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| CN100586667C CN100586667C (en) | 2010-02-03 |
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| CN101780673A (en) * | 2010-03-17 | 2010-07-21 | 上海大学 | Light-weight service robot arms |
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| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN101664933B (en) * | 2009-09-25 | 2011-08-31 | 上海大学 | Iso-curvature bent mechanical arm based on gear drive |
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| CN102568626A (en) * | 2011-12-19 | 2012-07-11 | 上海交通大学 | Remote monitoring and maintaining system based on mechanical arms |
| CN102568626B (en) * | 2011-12-19 | 2015-01-21 | 上海交通大学 | Remote monitoring and maintaining system based on mechanical arms |
| CN103372860A (en) * | 2012-04-27 | 2013-10-30 | 顿向明 | Multi-joint dispersion driving mechanical arm |
| CN103372860B (en) * | 2012-04-27 | 2015-11-18 | 顿向明 | A kind of multi-joint dispersion driving machine mechanical arm |
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| CN110788839A (en) * | 2019-12-06 | 2020-02-14 | 南方科技大学 | Modular reconfigurable drive unit and flexible exoskeleton robot |
| CN110788839B (en) * | 2019-12-06 | 2024-06-07 | 南方科技大学 | Modularized reconfigurable driving unit and flexible exoskeleton robot |
| CN112827967A (en) * | 2020-12-30 | 2021-05-25 | 龙岩市昊龙自动化设备有限公司 | Tank inner wall operation device |
| CN113954058A (en) * | 2021-11-16 | 2022-01-21 | 山东大学 | Flexible actuator, working method and robot |
| CN113954058B (en) * | 2021-11-16 | 2022-09-02 | 山东大学 | Flexible actuator, working method and robot |
| US12031592B2 (en) | 2021-11-16 | 2024-07-09 | Shandong University | Soft actuator, its working method and robot |
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| CN100586667C (en) | 2010-02-03 |
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