CN101491900B - Man-like robot finger side-swaying device - Google Patents
Man-like robot finger side-swaying device Download PDFInfo
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- CN101491900B CN101491900B CN2009101199721A CN200910119972A CN101491900B CN 101491900 B CN101491900 B CN 101491900B CN 2009101199721 A CN2009101199721 A CN 2009101199721A CN 200910119972 A CN200910119972 A CN 200910119972A CN 101491900 B CN101491900 B CN 101491900B
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Abstract
The invention relates to a finger lateral motion device of an anthropomorphic robot, which belongs to the technical field of anthropomorphic robots and comprises a forefinger, a middle finger, a third finger, a little finger, a palm, a motor, a screw transmission mechanism and a first transmission mechanism. The first transmission mechanism comprises a sliding plate straight rod, a forefinger connecting rod, a forefinger pinion and rack mechanism, a third finger connecting rod, a third finger pinion and rack mechanism, a little finger connecting rod and a little finger pinion and rack mechanism. The device adopts motor drive and the pinion and rack mechanisms to realize the lateral motion and gathering motion of the fingers of a hand of the robot comprehensively, so when gripping an object, the hand of the robot can assume a gesture that the fingers gather or move laterally at a certain angle so as to achieve a better enveloping and gripping effect, grip the object stably and complete more anthropomorphic gestures. The robot hand is more similar to a human hand in terms of both object gripping and gesture. The device is simple and compact in structure, low in manufacturing cost, easy to control and applicable to the hands of anthropomorphic robots.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of man-like robot finger side-swaying device.
Background technology
People in research to intelligent robot, the tidemark of anthropomorphic robot as robot research, also always the behavior that realizes the class people as the target of dreaming of.And itself is the same with human, and most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, and its design is one of key technology of anthropomorphic robot.
Most bending and two the initiatively frees degree motions of sides exhibition of adopting very complicated multi-gear transmission mechanism to be implemented in forefinger, middle finger, the third finger and little finger of toe root of existing Dextrous Hand (as the HIT/DLR hand of the V5 hand of U.S. Robonaut hand, Britain Shadow company, cooperation of China and Germany research and development and Beijing Institute of Aeronautics BH hand etc.), and should bending vertical mutually with the side moving center line of tossing about in bed.Its deficiency is: this apparatus structure complexity, the cost costliness because the number of motors of active drive is too much, has increased the weight of the difficulty of real-time control simultaneously.
For studies show that of staff, the side exhibition free degree motion of the forefinger of staff, middle finger, the third finger and little finger of toe is extremely important, when grasping familiar object (especially spherical body) and finishing some common gesture motion (for example " V " font gesture, " OK " gesture etc.), often need the four side exhibition motions that refer to.But in the time of most, the four side exhibition motions that refer to are carried out simultaneously, the side exhibition motion of a rare independent finger.Thereby Dextrous Hand possessed, and each finger all finishes side exhibition motion separately seems more " dexterity ", but control difficulty and manufacturing cost have been increased greatly.The four side exhibitions that refer to are moved and can be realized when grasping object that a kind of envelope of three-dimensional more grasps effect, make that extracting is more stable.
A kind of existing belt wheel under-actuated robot hand apparatus (Chinese invention patent CN101214653A) has 6 motor-driven palms of employing and 5 fingers, and each finger all adopts motor-driven belt wheel lack of driven structure to realize; Thumb has 3 frees degree: one is the side-sway joint between thumb and the palm, and two is the crooked free degree in the middle of the thumb in addition; Forefinger, middle finger, the third finger is identical with the little finger of toe structure, size is different, has 3 crooked frees degree respectively, comprising the root and the crooked free degree of the finger between the palm of a finger.Its weak point is: the forefinger of this robot, middle finger, the third finger and little finger of toe do not possess finger side exhibition motion, be difficult to when causing grasping familiar object realize that better three-dimensional envelope grasps effect, it is stable not enough to grasp object, is difficult to finish common gestures such as picture " V " font gesture, " OK " gesture simultaneously.
Summary of the invention
The objective of the invention is to design a kind of man-like robot finger side-swaying device for overcoming the weak point of prior art.This device can be realized the closing up and side exhibition motion of forefinger, middle finger, the third finger and little finger of toe of robot, make robot more multiple spot contact when grasping object, have better three-dimensional envelope and grasp effect, action when grasping object and doing gesture is more near staff, adopt less motor to realize the common side exhibition of a plurality of fingers simultaneously, to reduce control difficulty and manufacturing cost, be applicable to anthropomorphic robot's hand.
The present invention adopts following technical scheme:
A kind of man-like robot finger side-swaying device comprises forefinger, middle finger, the third finger, little finger of toe and palm; It is characterized in that:
This man-like robot finger side-swaying device also comprises motor, screw drive mechanism and first transmission mechanism that is arranged in the palm; Described first transmission mechanism comprises sliding plate straight, forefinger connecting rod, forefinger pinion and rack, nameless connecting rod, nameless pinion and rack, little finger of toe connecting rod and little finger of toe pinion and rack; Described forefinger pinion and rack comprises forefinger tooth bar, forefinger gear and forefinger rotating shaft; Described nameless pinion and rack comprises nameless tooth bar, nameless gear and nameless rotating shaft; Described little finger of toe pinion and rack comprises little finger of toe tooth bar, little finger of toe gear and little finger of toe rotating shaft;
Described forefinger tooth bar, nameless tooth bar and little finger of toe tooth bar are affixed with forefinger connecting rod, nameless connecting rod and little finger of toe connecting rod respectively; Described forefinger gear, nameless gear and little finger of toe gear are fixed in respectively in forefinger rotating shaft, nameless rotating shaft and the little finger of toe rotating shaft; The center line of described screw mandrel is parallel with the reticule of forefinger tooth bar; One end of described screw drive mechanism and sliding plate straight is affixed, and the other end of sliding plate straight is affixed with forefinger connecting rod, nameless connecting rod and little finger of toe connecting rod respectively; Described forefinger connecting rod, nameless connecting rod and little finger of toe connecting rod are parallel to each other; The output shaft of described motor links to each other with first transmission mechanism by screw drive mechanism; Described screw drive mechanism comprises screw mandrel and nut, and described screw mandrel is connected with the output shaft of motor, and described nut and sliding plate straight are affixed;
Described palm comprises palm header board and palm backboard, the affixed box shape that becomes hollow of palm header board and palm backboard; The root and the palm of described middle finger are affixed, and the root of described forefinger, the third finger, little finger of toe is connected with palm by forefinger rotating shaft, nameless rotating shaft, little finger of toe rotating shaft respectively; One end of described forefinger rotating shaft is set in the palm backboard, and the other end of forefinger rotating shaft and the root of forefinger are affixed; One end of described nameless rotating shaft is set in the palm backboard, and the other end of nameless rotating shaft is affixed with nameless root; One end of described little finger of toe rotating shaft is set in the palm backboard, and the other end of little finger of toe rotating shaft and the root of little finger of toe are affixed; Described forefinger rotating shaft, nameless rotating shaft and little finger of toe rotating shaft are parallel to each other.
Man-like robot finger side-swaying device of the present invention is characterized in that: described forefinger comprises the forefinger support column; The described third finger comprises nameless support column; Described little finger of toe comprises the little finger of toe support column; Described palm header board comprises first chute, second chute and the 3rd chute;
One end of described forefinger support column is fixed in the root of forefinger, and the other end of forefinger support column is embedded in first chute of palm header board; One end of described nameless support column is fixed in nameless root, and the other end of nameless support column is embedded in second chute of palm header board; One end of described little finger of toe support column is fixed in the root of little finger of toe, and the other end of little finger of toe support column is embedded in the 3rd chute of palm header board;
Described forefinger support column, nameless support column and little finger of toe support column are parallel to each other.
Man-like robot finger side-swaying device of the present invention is characterized in that: described motor links to each other with screw mandrel by decelerator.
Man-like robot finger side-swaying device of the present invention is characterized in that: described motor links to each other with screw mandrel with second bevel gear by decelerator, first bevel gear; The input of described decelerator is connected the motor and first bevel gear respectively with output, and second bevel gear is fixed on the screw mandrel.
The present invention has the following advantages and the high-lighting effect:
Man-like robot finger side-swaying device of the present invention adopts single motor-driven and jointed gear unit comprehensively to realize the side exhibition of robot forefinger, the third finger and the relative middle finger of little finger of toe and closes up movement effects.This device can adopt robot to close up when grasping object or side is opened up the extracting attitude of certain angle, reaches better envelope when making robot grasp object and grasps effect, and it is more stable to grasp object, can finish the gestures that personalize simultaneously more; Robot extracting object is still finished gesture and is all more approached staff; This apparatus structure is simple, compact, low cost of manufacture, and control is applicable to anthropomorphic robot's hand easily.
Description of drawings
Fig. 1 is the back of the hand cutaway view of a kind of embodiment of man-like robot finger side-swaying device provided by the invention, and this moment, thumb swung to palmar side, observed from the palm back side, and forefinger, the third finger and little finger of toe launch at this moment.
Fig. 2 is the back of the hand cutaway view embodiment illustrated in fig. 1, and this moment, thumb swung to palmar side, observe from the palm back side, this moment forefinger, the third finger and little finger of toe closes up, launch.
Fig. 3 is an A-A cutaway view embodiment illustrated in fig. 1, and this moment, thumb swung to palmar side.
Fig. 4 is an I enlarged drawing partly embodiment illustrated in fig. 2.
Fig. 5 is a last I enlarged drawing partly embodiment illustrated in fig. 2.
Fig. 6 is the back of the hand outside drawing embodiment illustrated in fig. 1, and this moment, thumb swung to the side of palm, observed from the palm back side.
Fig. 7 is a palm outside drawing embodiment illustrated in fig. 1, and this moment, thumb swung to the side of palm.
Fig. 8 is the back of the hand cutaway view of the another kind of embodiment of man-like robot finger side-swaying device provided by the invention, this moment, thumb swung to the side of palm, connected mode in first transmission mechanism adopts the second way, the input that is decelerator is connected the motor and first gear respectively with output, first gear and second gears engaged, described second gear is fixed on the screw mandrel, and this figure observes from the palm back side, this moment forefinger, the third finger and little finger of toe closes up, launch.
Fig. 9 is a B-B cutaway view embodiment illustrated in fig. 8, and this moment, thumb swung to palmar side.
Figure 10 is an III enlarged drawing partly embodiment illustrated in fig. 9.
Figure 11 is an IV enlarged drawing partly embodiment illustrated in fig. 9.
In Fig. 1 to Figure 11:
The 1-palm, 11-palm header board, 12-palm backboard,
111-first chute, 112-second chute, 113-the 3rd chute,
The 2-thumb, the 3-forefinger, 31-forefinger pinion and rack,
The 4-middle finger, the 5-third finger, the nameless pinion and rack of 51-,
The 6-little finger of toe, 61-little finger of toe pinion and rack,
The 711-motor, the 712-screw mandrel, the 713-nut,
The rotating shaft of 731-forefinger, 732-forefinger support column, 733-forefinger gear,
The nameless rotating shaft of 751-, the nameless support column of 752-, the nameless gear of 753-,
The rotating shaft of 761-little finger of toe, 762-little finger of toe support column, 763-little finger of toe gear,
8-first transmission mechanism,
The 81-decelerator, 811-first bevel gear, 812-second bevel gear,
The 9-screw drive mechanism
The 91-sliding plate straight, 913-forefinger connecting rod 93-forefinger tooth bar,
The nameless tooth bar of the nameless connecting rod 95-of 915-, 916-little finger of toe connecting rod
96-little finger of toe tooth bar,
111-first chute, 112-second chute, 113-the 3rd chute.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
The structure of man-like robot finger side-swaying device embodiment of the present invention such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7 comprise forefinger 3, middle finger 4, the third finger 5, little finger of toe 6 and palm 1;
This embodiment also comprises motor 711, screw drive mechanism 9 and first transmission mechanism 8 that is arranged in the palm; Described first transmission mechanism 8 comprises sliding plate straight 91, forefinger connecting rod 913, forefinger pinion and rack 31, nameless connecting rod 915, nameless pinion and rack 51, little finger of toe connecting rod 916 and little finger of toe pinion and rack 61; Described forefinger pinion and rack 31 comprises forefinger tooth bar 93, forefinger gear 733 and forefinger rotating shaft 731; Described nameless pinion and rack 51 comprises nameless tooth bar 95, nameless gear 753 and nameless rotating shaft 751; Described little finger of toe pinion and rack 61 comprises little finger of toe tooth bar 96, little finger of toe gear 763 and little finger of toe rotating shaft 761;
Described forefinger tooth bar 93, nameless tooth bar 95 and little finger of toe tooth bar 96 are affixed with forefinger connecting rod 913, nameless connecting rod 915 and little finger of toe connecting rod 916 respectively; Described forefinger gear 733, nameless gear 753 and little finger of toe gear 763 are fixed in respectively in forefinger rotating shaft 731, nameless rotating shaft 751 and the little finger of toe rotating shaft 761; The center line of described screw mandrel 712 is parallel with the reticule of tooth bar; Described screw drive mechanism 9 is affixed with an end of sliding plate straight 91, and the other end of sliding plate straight 91 is affixed with forefinger connecting rod 913, nameless connecting rod 915 and little finger of toe connecting rod 916 respectively; Described forefinger connecting rod 913, nameless connecting rod 915 and little finger of toe connecting rod 916 are parallel to each other; The output shaft of described motor 711 links to each other with first transmission mechanism 8 by screw drive mechanism 9; Described screw drive mechanism 9 comprises screw mandrel 712 and nut 713, and described screw mandrel 712 is connected with the output shaft of motor 711, and described nut 713 is affixed with sliding plate straight 91;
Described palm 1 comprises palm header board 11 and palm backboard 12, palm header board 11 and the palm backboard 12 affixed box shapes that become hollow; The root of described middle finger 4 and palm 1 are affixed, and the root of described forefinger 3, the third finger 5, little finger of toe 6 is connected with palm 1 by forefinger rotating shaft 731, nameless rotating shaft 751, little finger of toe rotating shaft 761 respectively; One end of described forefinger rotating shaft 731 is set in the palm backboard 12, and the root of the other end of forefinger rotating shaft 731 and forefinger 3 is affixed; One end of described nameless rotating shaft 751 is set in the palm backboard 12, and the other end of nameless rotating shaft 751 is affixed with nameless 5 root; One end of described little finger of toe rotating shaft 761 is set in the palm backboard 12, and the root of the other end of little finger of toe rotating shaft 761 and little finger of toe 6 is affixed; Described forefinger rotating shaft 731, nameless rotating shaft 751 and little finger of toe rotating shaft 761 are parallel to each other.
In the present embodiment, described forefinger 3 comprises forefinger support column 732; Described nameless 5 comprise nameless support column 752; Described little finger of toe 6 comprises little finger of toe support column 762; Described palm header board 11 comprises first chute 111, second chute 112 and the 3rd chute 113;
One end of described forefinger support column 732 is fixed in the root of forefinger 3, and the other end of forefinger support column 732 is embedded in first chute 111 of palm header board 11; One end of described nameless support column 752 is fixed in nameless 5 root, and the other end of nameless support column 752 is embedded in second chute 112 of palm header board 11; One end of described little finger of toe support column 762 is fixed in the root of little finger of toe 6, and the other end of little finger of toe support column 762 is embedded in the 3rd chute 113 of palm header board 11;
Described forefinger support column 732, nameless support column 752 and little finger of toe support column 762 are parallel to each other.
In the present embodiment, described motor 711 links to each other with screw mandrel 712 by decelerator 81.
In the present embodiment, described motor 711 links to each other with screw mandrel 712 with second bevel gear 812 by decelerator 81, first bevel gear 811; The input of described decelerator 81 is connected motor 711 respectively with output and first bevel gear, 811, the second bevel gears 812 are fixed on the screw mandrel 712.
Narrate the operation principle of present embodiment below in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7.
When the robot finger needs the side exhibition, motor 711 is just changeing, driving screw mandrel 712 by decelerator 81 rotates, nut 713 moves, slide plate 91 moves, forefinger tooth bar 93, nameless tooth bar 95 and little finger of toe tooth bar 96 move, forefinger gear 733 rotates, forefinger rotating shaft 731 is rotated, forefinger 3 is around the centerline side exhibition motion (departing from middle finger 4) of forefinger rotating shaft 731, and nameless gear 753 rotates the direction of rotation of the rotation direction of nameless gear 753 and forefinger gear 733, nameless rotating shaft 751 is rotated, nameless 5 centerline side exhibition motions (departing from middle finger 4) around nameless rotating shaft 751, little finger of toe gear 763 rotates, and the rotation direction of little finger of toe gear 763 is identical with the rotation direction of nameless gear 753, little finger of toe rotating shaft 761 is rotated, and little finger of toe 6 is around the centerline side exhibition motion of little finger of toe rotating shaft 761.Point complete side and launch next situation as shown in Figure 1.
When the robot finger need close up, motor 711 counter-rotatings, by first transmission mechanism 8,733 counter-rotatings of forefinger gear, pulling forefinger 3 closes up, and nameless gear 753 and 763 counter-rotatings of little finger of toe gear simultaneously will spurs the third finger 5, little finger of toe 6 closes up motion simultaneously, all close up fully up to finger, the situation after robot closes up as shown in Figure 2.
Because when the forefinger of staff, middle finger, the third finger and little finger of toe are realized side exhibition motion, its middle finger can be used as fixed reference, thereby only need realize forefinger, the third finger and little finger of toe rotating in opposite directions or rotating dorsad and get final product relative to middle finger to the imitation of the four fingers side extending of staff motion.Hand four fingers side extending apparatus of bionic robot of the present invention has been realized this technology.Apparatus of the present invention adopt single motor-driven and jointed gear unit comprehensively to realize the side exhibition of robot forefinger, the third finger and the relative middle finger of little finger of toe and close up movement effects.This device can adopt robot to close up when grasping object or side is opened up the extracting attitude of certain angle, reaches better envelope when making robot grasp object and grasps effect, and it is more stable to grasp object, can finish the gestures that personalize simultaneously more; Robot extracting object is still finished gesture and is all more approached staff; This apparatus structure is simple, compact, low cost of manufacture, and control is applicable to anthropomorphic robot's hand easily.
Claims (4)
1. a man-like robot finger side-swaying device comprises forefinger (3), middle finger (4), nameless (5), little finger of toe (6) and palm (1); It is characterized in that:
This man-like robot finger side-swaying device also comprises motor (711), screw drive mechanism (9) and first transmission mechanism (8) that is arranged in the palm; Described first transmission mechanism comprises sliding plate straight (91), forefinger connecting rod (913), forefinger pinion and rack (31), nameless connecting rod (915), nameless pinion and rack (51), little finger of toe connecting rod (916) and little finger of toe pinion and rack (61); Described forefinger pinion and rack comprises forefinger tooth bar (93), forefinger gear (733) and forefinger rotating shaft (731); Described nameless pinion and rack comprises nameless tooth bar (95), nameless gear (753) and nameless rotating shaft (751); Described little finger of toe pinion and rack comprises little finger of toe tooth bar (96), little finger of toe gear (763) and little finger of toe rotating shaft (761);
Described forefinger tooth bar, nameless tooth bar and little finger of toe tooth bar are affixed with forefinger connecting rod, nameless connecting rod and little finger of toe connecting rod respectively; Described forefinger gear, nameless gear and little finger of toe gear are fixed in respectively in forefinger rotating shaft, nameless rotating shaft and the little finger of toe rotating shaft; Described screw drive mechanism comprises screw mandrel (712) and nut (713), and the center line of described screw mandrel is parallel with the reticule of forefinger tooth bar; One end of described screw drive mechanism and sliding plate straight is affixed, and the other end of sliding plate straight is affixed with forefinger connecting rod, nameless connecting rod and little finger of toe connecting rod respectively; Described forefinger connecting rod, nameless connecting rod and little finger of toe connecting rod are parallel to each other; The output shaft of described motor links to each other with first transmission mechanism by screw drive mechanism; Described screw mandrel is connected with the output shaft of motor, and described nut and sliding plate straight are affixed;
Described palm comprises palm header board (11) and palm backboard (12), the affixed box shape that becomes hollow of palm header board and palm backboard; The root and the palm of described middle finger are affixed, and the root of described forefinger, the third finger, little finger of toe is connected with palm by forefinger rotating shaft, nameless rotating shaft, little finger of toe rotating shaft respectively; One end of described forefinger rotating shaft is set in the palm backboard, and the other end of forefinger rotating shaft and the root of forefinger are affixed; One end of described nameless rotating shaft is set in the palm backboard, and the other end of nameless rotating shaft is affixed with nameless root; One end of described little finger of toe rotating shaft is set in the palm backboard, and the other end of little finger of toe rotating shaft and the root of little finger of toe are affixed; Described forefinger rotating shaft, nameless rotating shaft and little finger of toe rotating shaft are parallel to each other.
2. man-like robot finger side-swaying device as claimed in claim 1 is characterized in that: described forefinger comprises forefinger support column (732); The described third finger comprises nameless support column (752); Described little finger of toe comprises little finger of toe support column (762); Described palm header board comprises first chute (111), second chute (112) and the 3rd chute (113);
One end of described forefinger support column is fixed in the root of forefinger, and the other end of forefinger support column is embedded in first chute of palm header board; One end of described nameless support column is fixed in nameless root, and the other end of nameless support column is embedded in second chute of palm header board; One end of described little finger of toe support column is fixed in the root of little finger of toe, and the other end of little finger of toe support column is embedded in the 3rd chute of palm header board;
Described forefinger support column, nameless support column and little finger of toe support column are parallel to each other.
3. man-like robot finger side-swaying device as claimed in claim 1 is characterized in that: described motor links to each other with screw mandrel by decelerator.
4. man-like robot finger side-swaying device as claimed in claim 1 is characterized in that: described motor links to each other with screw mandrel with second bevel gear by decelerator, first bevel gear; The input of described decelerator is connected the motor and first bevel gear respectively with output, and second bevel gear is fixed on the screw mandrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101199721A CN101491900B (en) | 2009-03-02 | 2009-03-02 | Man-like robot finger side-swaying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101199721A CN101491900B (en) | 2009-03-02 | 2009-03-02 | Man-like robot finger side-swaying device |
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| CN101491900A CN101491900A (en) | 2009-07-29 |
| CN101491900B true CN101491900B (en) | 2010-09-15 |
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| CN2009101199721A Expired - Fee Related CN101491900B (en) | 2009-03-02 | 2009-03-02 | Man-like robot finger side-swaying device |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102873691B (en) * | 2012-09-28 | 2015-03-11 | 中国科学院深圳先进技术研究院 | Dexterous manipulator aiding in gluing diving mittens |
| CN104942818B (en) * | 2015-06-08 | 2017-01-11 | 清华大学 | Seven-freedom-degree five-finger mechanical arm |
| CN105773648B (en) * | 2016-03-30 | 2017-10-27 | 昆明理工大学 | A kind of bionical catching robot |
| CN105881566B (en) * | 2016-05-30 | 2018-11-20 | 北京理工大学 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
| IT201600120646A1 (en) * | 2016-11-29 | 2018-05-29 | Giovanni Antonio Zappatore | UNUSED ROBOTIC HAND |
| CN107972051A (en) * | 2017-11-29 | 2018-05-01 | 清华大学 | Spacing leverage speedup compensating line puts down folder adaptive robot finger apparatus |
| CN110216700B (en) * | 2018-03-02 | 2022-07-08 | 华东理工大学 | Flexible under-actuated bionic hand |
| CN109927062A (en) * | 2019-03-12 | 2019-06-25 | 北京化工大学 | A kind of personification the five fingers manipulator |
| CN111419489B (en) * | 2020-04-13 | 2021-09-24 | 上海理工大学 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
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2009
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| CN101491900A (en) | 2009-07-29 |
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