CN101633171B - 双关节并联欠驱动机器人手指装置 - Google Patents
双关节并联欠驱动机器人手指装置 Download PDFInfo
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- CN101633171B CN101633171B CN2009100899971A CN200910089997A CN101633171B CN 101633171 B CN101633171 B CN 101633171B CN 2009100899971 A CN2009100899971 A CN 2009100899971A CN 200910089997 A CN200910089997 A CN 200910089997A CN 101633171 B CN101633171 B CN 101633171B
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- Prior art keywords
- finger
- joint shaft
- driven pulley
- driving member
- driving wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 210000002435 tendon Anatomy 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 28
- 230000008878 coupling Effects 0.000 abstract description 17
- 238000010168 coupling process Methods 0.000 abstract description 17
- 238000005859 coupling reaction Methods 0.000 abstract description 17
- 230000009471 action Effects 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 abstract description 3
- 230000004927 fusion Effects 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 abstract 1
- 210000003811 finger Anatomy 0.000 description 80
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000004913 activation Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 210000005224 forefinger Anatomy 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 244000060701 Kaempferia pandurata Species 0.000 description 1
- 235000016390 Uvaria chamae Nutrition 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
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Abstract
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CN2009100899971A CN101633171B (zh) | 2009-07-31 | 2009-07-31 | 双关节并联欠驱动机器人手指装置 |
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CN2009100899971A CN101633171B (zh) | 2009-07-31 | 2009-07-31 | 双关节并联欠驱动机器人手指装置 |
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CN101633171A CN101633171A (zh) | 2010-01-27 |
CN101633171B true CN101633171B (zh) | 2011-01-05 |
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CN2009100899971A Expired - Fee Related CN101633171B (zh) | 2009-07-31 | 2009-07-31 | 双关节并联欠驱动机器人手指装置 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108127653A (zh) * | 2017-12-29 | 2018-06-08 | 武汉理工大学 | 一种欠驱动多关节机械臂 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101797753B (zh) * | 2010-04-06 | 2012-11-21 | 清华大学 | 腱绳并联灵巧欠驱动仿生机器人手指装置 |
CN102179816A (zh) * | 2011-04-02 | 2011-09-14 | 清华大学 | 单向耦合与自适应复合型欠驱动机器人手指装置 |
CN102161204B (zh) * | 2011-04-13 | 2012-10-10 | 清华大学 | 双关节同向传动复合欠驱动机器人手指装置 |
CN102166753B (zh) * | 2011-05-20 | 2012-07-25 | 清华大学 | 锥齿轮柔性件复合抓取机器人手指装置 |
CN102179817B (zh) * | 2011-05-24 | 2012-08-22 | 清华大学 | 双柔性件复合欠驱动双关节机器人手指装置 |
CN104015193B (zh) * | 2014-06-03 | 2016-05-18 | 清华大学 | 抓取锁定自适应机器人手指装置 |
CN109176565B (zh) * | 2018-08-27 | 2022-05-03 | 安徽工业大学 | 末端沿直线运动的耦合自适应机器人手指装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004130405A (ja) * | 2002-10-08 | 2004-04-30 | Incs Inc | ロボットハンド駆動機構 |
CN101024287A (zh) * | 2007-04-06 | 2007-08-29 | 清华大学 | 一种腱络欠驱动机械手指装置 |
CN101049695A (zh) * | 2007-04-27 | 2007-10-10 | 清华大学 | 机器人拟人手级联欠驱动手指装置 |
CN101100064A (zh) * | 2007-07-25 | 2008-01-09 | 哈尔滨工业大学 | 机器人灵巧手手指关节钢丝耦合传动机构 |
CN101234489A (zh) * | 2008-01-04 | 2008-08-06 | 清华大学 | 带轮欠驱动机器人手指装置 |
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2009
- 2009-07-31 CN CN2009100899971A patent/CN101633171B/zh not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004130405A (ja) * | 2002-10-08 | 2004-04-30 | Incs Inc | ロボットハンド駆動機構 |
CN101024287A (zh) * | 2007-04-06 | 2007-08-29 | 清华大学 | 一种腱络欠驱动机械手指装置 |
CN101049695A (zh) * | 2007-04-27 | 2007-10-10 | 清华大学 | 机器人拟人手级联欠驱动手指装置 |
CN101100064A (zh) * | 2007-07-25 | 2008-01-09 | 哈尔滨工业大学 | 机器人灵巧手手指关节钢丝耦合传动机构 |
CN101234489A (zh) * | 2008-01-04 | 2008-08-06 | 清华大学 | 带轮欠驱动机器人手指装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108127653A (zh) * | 2017-12-29 | 2018-06-08 | 武汉理工大学 | 一种欠驱动多关节机械臂 |
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CN101633171A (zh) | 2010-01-27 |
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