CN101698302B - Planar friction and cylindrical friction combined two-degree-of-freedom joint - Google Patents
Planar friction and cylindrical friction combined two-degree-of-freedom joint Download PDFInfo
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- CN101698302B CN101698302B CN 200910233935 CN200910233935A CN101698302B CN 101698302 B CN101698302 B CN 101698302B CN 200910233935 CN200910233935 CN 200910233935 CN 200910233935 A CN200910233935 A CN 200910233935A CN 101698302 B CN101698302 B CN 101698302B
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- joint
- hypozygal
- upper joint
- oblique crank
- push rod
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Abstract
The invention relates to a planar friction and cylindrical friction combined C joint. The edge of the upper side of a lower plane of a T-shaped shaft of an upper joint has a wedge-shaped plane; an upper joint force-transmitting sliding block is sleeved on a rod part; the rod part is connected with the joint platform; the wedge-shaped plane of the end part of a pushing rod is matched with that of the upper joint T-shaped shaft; a lower joint T-shaped shaft is connected with the other end of the joint platform and is mounted in a sealing cover of the lower joint; the sealing cover of the lower joint is fixedly connected with the supporting shaft of the joint; the rod part of the lower joint T-shaped shaft is hollow and the hollow bottom is provided with a through groove; a mandril is mounted in the hollow structure; the upper end of the mandril is contacted with the upper joint force-transmitting sliding block and the lower end thereof is fixedly inserted into a V-shaped thrust block in the through groove; a fan-shaped cylindrical friction plate is mounted on the lower joint T-shaped shaft on two sides of the V-shaped thrust block; and the outside of the fan-shaped cylindrical friction plate is a cylindrical surface. The invention has the following advantages of small volume, compact structure, light weight, large locking moment, simple structure, no joint gap, long service life and suitability for locking joints of various small mechanical arms.
Description
Technical field
The present invention relates to a kind of cradle head, specifically relate to the 2DOF joint that a kind of planar friction and cylinder friction combine, belong to activation lacking mechanical shoulder joint retaining mechanism.
Background technology
Begin from the eighties of last century the nineties; Along with intelligent robot technology, computer technology, medical surgery technology rapid development; Service robot has become one of international forward position research focus of Chinese scholars and associated mechanisms concern like the minimally invasive surgery robot technology.This is a kind of novel multidisciplinary interleaving techniques field, and its development is considered to a kind of significant progress of surgical intervention means.
At present, the joint locking of medical operating location mechanical arm has following mode, and the one, lean on the servo holding torque of the motor output on each joint, its shortcoming is a complex structure, cost is expensive; The 2nd, on each joint, electromagnetic brake is installed, there is the high deficiency of complex structure cost equally, mechanical arm is relatively heavier simultaneously; The 3rd is to carry out manual reinforcing through the wedge shape thrust structure of giving each joint, realizes joint locking.This mode is pure passive mode, and locking efficient is low, inconvenient operation.In addition, all there is the gap in joint of the prior art retaining mechanism between the joint after the locking of joint, and the gap is not 0, causes positioning accuracy not high.
Summary of the invention
For solving the deficiency of prior art; The 2DOF joint that the object of the present invention is to provide high, with low cost planar friction of a kind of simple in structure, good operability, positioning accuracy and cylinder friction to combine; Reduce the structural complexity and the cost in locking joint, improve the positioning accuracy and the security of mechanical arm.
The present invention is based on above consideration, design integral type 2DOF joint.Motor (motor is on the 3rd joint) need be installed on two joints; Promote an inner push rod (this push rod links to each other with the 3rd joint of mechanical arm) through motor on the 3rd joint; Can lock this two cradle heads simultaneously; Realize the no motor in these two joints or do not have the locking of electromagnetic brake, make mechanical arm become a mechanical arm of owing to drive.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
The 2DOF joint that a kind of planar friction and cylinder friction combine; It is characterized in that comprising joint stage body, hypozygal T oblique crank Z and upper joint T oblique crank Z, described joint stage body becomes " L " shape, is provided with chamfering in the upper peripheral edge of the lower plane of described upper joint T oblique crank Z; Form lozenges; The end of the bar portion of upper joint T oblique crank Z is provided with external screw thread, and the upper joint shell is a hollow structure, suit upper joint power transmission slide block in the bar portion of upper joint T oblique crank Z; Circularhole diameter in the middle of the upper joint power transmission slide block is greater than the diameter of upper joint T shape axle portion; The bar portion of upper joint T oblique crank Z is installed in the upper joint shell through clutch shaft bearing, and bar portion stretches out with the threaded one end of joint stage body from the upper joint shell and is connected, on the described upper joint shell with the joint stage body near end face on have cannelure; In cannelure, be provided with the annular friction pad, described annular friction pad is given prominence to upper joint shell end face certain distance; The axis normal of the axis of push rod and upper joint T oblique crank Z is installed on the upper joint shell, is provided with lozenges in the end of push rod, matches with the lozenges of upper joint T oblique crank Z; The bar portion band external screw thread of described hypozygal T oblique crank Z; Be connected the below of the other end of joint stage body through external screw thread, the axis normal of the axis of hypozygal T oblique crank Z and upper joint T oblique crank Z, the lower end of hypozygal T oblique crank Z is installed in the hypozygal capping; The bottom is installed on the bolster of joint through second bearing; Hypozygal capping and joint bolster connect firmly, and the bar portion of hypozygal T oblique crank Z is hollow, in the bar portion on hollow bottom, hypozygal T oblique crank Z lower plane top, have through slot; Push rod is installed in the hollow-core construction of hypozygal T oblique crank Z; The upper joint shell is stretched in the upper end, contacts with upper joint power transmission slide block, and the lower end connects firmly the V-arrangement thrust block pad through screw thread; The V-arrangement thrust block pad is inserted in the through slot; On the hypozygal T of V-arrangement thrust block pad both sides oblique crank Z, be separately installed with fan-shaped cylinder friction plate through bolt, described fan-shaped cylinder friction plate is provided with bolt hole, and described bolt hole cross section is the prolate shape that bolt can radially slide therein; The inboard of fan-shaped cylinder friction plate is the shape that cooperates with the V-arrangement thrust block pad, and the outside is the face of cylinder that cooperates with hypozygal capping inner cylinder face.
The 2DOF joint that aforesaid planar friction and cylinder friction combine; It is characterized in that described push rod comprises 1# push rod, 2# push rod and is connected swivel nut; Described connection swivel nut is a hollow structure, and two ends are provided with internal thread, and the 1# push rod is connected to the two ends that are connected swivel nut with the 2# push rod; The upper end of 1# push rod contacts with upper joint power transmission slide block, and the lower end of 2# push rod connects the V-arrangement thrust block pad.
The 2DOF joint that aforesaid planar friction and cylinder friction combine; It is characterized in that on the described upper joint shell with the joint stage body near end face on have cannelure; In cannelure, be provided with the annular friction pad, described annular friction pad is given prominence to upper joint shell end face certain distance.
The 2DOF joint that aforesaid planar friction and cylinder friction combine; It is characterized in that having cannelure on the end face near the hypozygal capping on the stage body of described joint; In cannelure, be provided with the annular friction pad, the outstanding joint of described annular friction pad stage body end face certain distance.
The 2DOF joint that aforesaid planar friction and cylinder friction combine is characterized in that described fan-shaped cylinder friction plate is provided with bolt hole, and described bolt hole cross section is a prolate shape.
The 2DOF joint that aforesaid friction dawn and cylinder friction combine is characterized in that between described hypozygal T oblique crank Z and hypozygal capping, being provided with the hypozygal bearing shell.
The invention has the beneficial effects as follows: the present invention is simple in structure, the joint is light, joint mobility is good, locking posterior joint good rigidly, positioning accuracy high (reaching 0 gap after the locking of joint), lower, the long service life of cost.Can realize on the mechanical arm of 4 joints (6 frees degree, one of them joint are ball-joint) that only with a motor, promptly a motor has been accomplished the locking in 4 joints of 6DOF mechanical arm.Applicable to the lighter service robot of load; Particularly the activation lacking mechanical shoulder joint retaining mechanism of medical surgery operating robot and integral type 2DOF joint; When reducing structure complexity and cost, the positioning accuracy and the security that have improved mechanical arm, thus be that general the owing of mechanical arm of developing surgical placement drives the joint; Simultaneously, also reference is provided for the joint designs of the mechanical arm of other purposes.
Description of drawings
The structural representation in the 2DOF joint that Fig. 1 combines for planar friction of the present invention and cylinder friction;
Fig. 2 is the front view of the joint stage body among Fig. 1;
Fig. 3 is the left view of Fig. 2;
Fig. 4 is the upward view of Fig. 2;
Fig. 5 is the right view of the fan-shaped cylinder friction plate among Fig. 1;
Fig. 6 is the vertical view of the fan-shaped cylinder friction plate among Fig. 1;
Fig. 7 is that A-A among Fig. 6 is to cutaway view.
The implication of main mark in the accompanying drawing:
1, upper joint shell, 2, upper joint T oblique crank Z, 3, upper joint power transmission slide block, 4, the 1# push rod, 5, connect swivel nut; 6, push rod, 7, the joint stage body, 8, clutch shaft bearing, 9, the annular friction pad, 10, the 2# push rod; 11, V-arrangement thrust block pad, 12, the fan-shaped cylinder friction plate of 1#, 13, soket head cap screw, 14, second bearing, 15, the joint support axle; 16, hypozygal capping, 17, the hypozygal bearing shell, 18, the fan-shaped cylinder friction plate of 2#, 19, hypozygal T oblique crank Z.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further detailed description.
The structural representation in the 2DOF joint that Fig. 1 combines for planar friction of the present invention and cylinder friction;
Fig. 2 is the front view of the joint stage body among Fig. 1; Fig. 3 is the left view of Fig. 2; Fig. 4 looks up for Fig. 2's
Figure; Fig. 5 is the right view of the fan-shaped cylinder friction plate among Fig. 1; Fig. 6 is the vertical view of the fan-shaped cylinder friction plate among Fig. 1; Fig. 7 is that A-A among Fig. 6 is to cutaway view.
As shown in the figure, the 2DOF joint that planar friction of the present invention and cylinder friction combine comprises joint stage body 7, hypozygal T oblique crank Z 19 and upper joint T oblique crank Z 2, wherein 7 one-tenth " L " shapes of joint stage body; Upper peripheral edge at the lower plane of upper joint T oblique crank Z 2 is provided with chamfering; Form lozenges, the end of the bar portion of upper joint T oblique crank Z 2 is provided with external screw thread, and upper joint shell 1 is a hollow structure; Provide on the one hand upper joint T oblique crank Z 2 and cooperate and installing space, give push rod 6 headspaces on the other hand.Suit upper joint power transmission slide block 3 in the bar portion of upper joint T oblique crank Z 2; Upper joint power transmission slide block 3 is the circular configuration of hollow; It embeds in the upper joint shell 1; Circularhole diameter in the middle of the upper joint power transmission slide block 3 guarantees that greater than the diameter of upper joint T oblique crank Z 2 bar portions upper joint power transmission slide block 3 can radially move under external force.The bar portion of upper joint T oblique crank Z 2 is installed in the upper joint shell 1 through clutch shaft bearing 8, thereby upper joint shell 1 is connected with joint stage body 7.The bar portion of upper joint T oblique crank Z 2 stretches out from upper joint shell 1, is connected with the threaded one end of joint stage body 7.The axis normal of the axis of push rod 6 and upper joint T oblique crank Z 2; Be installed on the upper joint shell 1; Bottom at push rod 6 is provided with lozenges, is used with the lozenges of upper joint T oblique crank Z 2, thereby can makes moving up and down of push rod 6 become the move left and right of upper joint T oblique crank Z 2.
The bar portion band external screw thread of hypozygal T oblique crank Z 19; Be connected the below of the other end of joint stage body 7 through external screw thread; The axis normal of the axis of hypozygal T oblique crank Z 19 and upper joint T oblique crank Z 2; The lower end of hypozygal T oblique crank Z 19 is installed in the hypozygal capping 16, and the bottom is installed on the joint bolster 15 through second bearing 14, and hypozygal capping 16 connects firmly with joint bolster 15.The bar portion of hypozygal T oblique crank Z 19 is hollow, in the bar portion on hollow bottom, hypozygal T oblique crank Z 19 lower plane tops, has through slot, is used to install V-arrangement thrust block pad 11.Push rod is installed in the hollow-core construction of hypozygal T oblique crank Z 19, can slide up and down, and upper joint shell 1 is stretched in the upper end, contacts with upper joint power transmission slide block 3, transmits thrust.The lower end connects firmly V-arrangement thrust block pad 11 through screw thread, and V-arrangement thrust block pad 11 is inserted in the through slot, and the both sides of V-arrangement thrust block pad 11 are tilting.On the hypozygal T of V-arrangement thrust block pad 11 both sides oblique crank Z 19, be separately installed with fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# through bolt; The inboard of fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# is a tilting; Cooperate with the inclined plane of V-arrangement thrust block pad 11; The outside is the face of cylinder, cooperates with the inner cylinder face of hypozygal capping 16.
The fan-shaped cylinder friction plate 12 of 1# relies on hexagon socket head cap screw 13 to be connected with hypozygal T oblique crank Z 19 with the fan-shaped cylinder friction plate 18 of 2#.The cross section of the bolt hole on fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# is a prolate shape; Hexagon socket head cap screw 13 can produce in the prolate shape bolt hole and relatively move like this; Make the fan-shaped cylinder friction plate of 1# 12 and the fan-shaped cylinder friction plate 18 of 2# radially slide under the effect of external force again, but can not on vertical, move.
Be convenient to install and regulate in order to make push rod; Push rod can comprise 1# push rod 4,2# push rod 10 and be connected swivel nut 5; Connecting swivel nut 5 is hollow structure, and two ends are provided with internal thread, and 1# push rod 4 is connected to the two ends that are connected swivel nut 5 with 2# push rod 10; The upper end of 1# push rod 4 contacts with upper joint power transmission slide block 3, and the lower end of 2# push rod 10 connects V-arrangement thrust block pad 11.
In addition; In order to increase frictional force and moment of friction, on the upper joint shell 1 with joint stage body 7 near end face on, can have cannelure; Be used for disposing annular friction pad 9; Annular friction pad 9 outstanding upper joint shell 1 right side certain distances make upper joint shell 1 right side directly not contact with the left side of joint stage body 7, but allow to relatively rotate.
Simultaneously, the lower surface of stage body 7 is to interconnect through 3# annular friction pad to contact with the upper surface of hypozygal capping 15 equally in the joint.
Between hypozygal T oblique crank Z 19 and hypozygal capping 16, be provided with hypozygal bearing shell 17, it is smooth and easy to guarantee that like this hypozygal T oblique crank Z 19 rotates, and reduces wear.
The present invention has connected firmly a V-arrangement thrust block pad 11 in the lower end of 2# push rod 10 through screw thread; This V-arrangement thrust block pad 11 promotes two independently fan-shaped cylinder friction plates (fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2#) radially away from hypozygal T oblique crank Z 19; Make the external cylindrical surface of fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# radially push the inner cylinder face of hypozygal capping 16; Thereby produce circumferential moment of friction, lock hypozygal.
Operation principle of the present invention is: when applied external force acts on 6 last times of push rod vertically downward, lean on the lozenges structure, this power produces a horizontal component; Promote upper joint T oblique crank Z 2 to left movement; Because upper joint T oblique crank Z 2 connects firmly with joint stage body 7, then the left side of joint stage body 7 produces normal pressure, presses annular friction pad 9; Produce frictional force on the end face of annular friction pad 9, and based on the moment of friction of the axis of upper joint T oblique crank Z 2.There is not relative motion thereby make between upper joint T oblique crank Z 2 and the joint stage body, the upper joint locking.The downward thrust of push rod 6 makes upper joint driving block 3 produce downward displacement on upper joint driving block 3, pushes 1# push rod 4 and 2# push rod 10 vertically downward; 2# push rod 10 drives V-arrangement thrust block pad 11; V-arrangement thrust block pad 11 is fan-shaped cylinder friction plate 12 of extruding 1# and the fan-shaped cylinder friction plates 18 of 2# downwards, and the fan-shaped cylinder friction plate of the fan-shaped cylinder friction plate 12 of 1# and 2# 18 is separated to both sides, and along continuous straight runs pushes the inner cylinder face of hypozygal capping 16; Give 16 1 normal pressures of hypozygal capping in the horizontal direction; Thereby generation frictional force, and on cylinder, produce circumferential moment of friction with respect to hypozygal T oblique crank Z 19, make hypozygal locking.
The present invention need not install motor (motor is on the 3rd joint) on two joints; Promote an inner push rod that links to each other with the 3rd joint of mechanical arm through the motor on the 3rd joint; Can lock this two cradle heads simultaneously; Realize the no motor in these two joints or do not have the locking of electromagnetic brake, make mechanical arm become a mechanical arm of owing to drive.The present invention is simple in structure, the joint is light, joint mobility is good, locking posterior joint good rigidly, positioning accuracy high (reaching 0 gap after the locking of joint), cost are lower.Therefore; Exploitation is towards the lighter service robot of load; Particularly the activation lacking mechanical shoulder joint retaining mechanism of medical surgery operating robot and integral type 2DOF joint; Can realize on the mechanical arm of 4 joints (6 frees degree, one of them joint are ball-joint) that only with a motor, promptly a motor has been accomplished the locking in 4 joints of 6DOF mechanical arm.When reducing structure complexity and cost, the positioning accuracy and the security that have improved mechanical arm, thus lay a good foundation for the mechanical arm of development surgical placement, simultaneously, also be that the designing and developing of joint locking of the mechanical arm of other purposes provides reference.
The present invention is applicable to the static joint locking of carrying all kinds of small-sized machine arms that are no more than 10 kilograms of end, the joint locking of the mechanical arm that supports or locate as being used in the operation perform the operation etc.
Below schematically embodiment of the present invention is set forth, this elaboration does not have limitation.Shown in the accompanying drawing also is basic embodiment of the present invention, and practical structure is not limited thereto.So; If those skilled in the art or researcher are enlightened by it; Under the situation that does not break away from the invention aim, adopt other similar topological structure, other similar 2DOF joint, perhaps just change the rod member size; Design the version similar without creationary, all should belong to protection scope of the present invention with this technical scheme.
Claims (4)
1. the 2DOF joint that combines of planar friction and cylinder friction; It is characterized in that comprising joint stage body, hypozygal T oblique crank Z and upper joint T oblique crank Z, described joint stage body becomes " L " shape, is provided with chamfering in the upper peripheral edge of the lower plane of described upper joint T oblique crank Z; Form lozenges; The end of the bar portion of upper joint T oblique crank Z is provided with external screw thread, and the upper joint shell is a hollow structure, suit upper joint power transmission slide block in the bar portion of upper joint T oblique crank Z; Circularhole diameter in the middle of the upper joint power transmission slide block is greater than the diameter of upper joint T shape axle portion; The bar portion of upper joint T oblique crank Z is installed in the upper joint shell through clutch shaft bearing, and bar portion stretches out with the threaded one end of joint stage body from the upper joint shell and is connected, on the described upper joint shell with the joint stage body near end face on have cannelure; In cannelure, be provided with the annular friction pad, described annular friction pad is given prominence to upper joint shell end face certain distance; The axis normal of the axis of push rod and upper joint T oblique crank Z is installed on the upper joint shell, is provided with lozenges in the end of push rod, matches with the lozenges of upper joint T oblique crank Z; The bar portion band external screw thread of described hypozygal T oblique crank Z; Be connected the below of the other end of joint stage body through external screw thread, the axis normal of the axis of hypozygal T oblique crank Z and upper joint T oblique crank Z, the lower end of hypozygal T oblique crank Z is installed in the hypozygal capping; The bottom is installed on the bolster of joint through second bearing; Hypozygal capping and joint bolster connect firmly, and the bar portion of hypozygal T oblique crank Z is hollow, in the bar portion on hollow bottom, hypozygal T oblique crank Z lower plane top, have through slot; Push rod is installed in hypozygal T oblique crank Z hollow; The upper joint shell is stretched in the upper end, contacts with upper joint power transmission slide block, and the lower end connects firmly the V-arrangement thrust block pad through screw thread; The V-arrangement thrust block pad is inserted in the through slot; On the hypozygal T of V-arrangement thrust block pad both sides oblique crank Z, be separately installed with fan-shaped cylinder friction plate through bolt, described fan-shaped cylinder friction plate is provided with bolt hole, and described bolt hole cross section is the prolate shape that bolt can radially slide therein; The inboard of fan-shaped cylinder friction plate is the shape that cooperates with the V-arrangement thrust block pad, and the outside is the face of cylinder that cooperates with hypozygal capping inner cylinder face.
2. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine; It is characterized in that described push rod comprises 1# push rod, 2# push rod and is connected swivel nut; Described connection swivel nut is a hollow structure, and two ends are provided with internal thread, and the 1# push rod is connected to the two ends that are connected swivel nut with the 2# push rod; The upper end of 1# push rod contacts with upper joint power transmission slide block, and the lower end of 2# push rod connects the V-arrangement thrust block pad.
3. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine; It is characterized in that having cannelure on the end face near the hypozygal capping on the stage body of described joint; In cannelure, be provided with the annular friction pad, the outstanding joint of described annular friction pad stage body end face certain distance.
4. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine is characterized in that between described hypozygal T oblique crank Z and hypozygal capping, being provided with the hypozygal bearing shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910233935 CN101698302B (en) | 2009-10-21 | 2009-10-21 | Planar friction and cylindrical friction combined two-degree-of-freedom joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910233935 CN101698302B (en) | 2009-10-21 | 2009-10-21 | Planar friction and cylindrical friction combined two-degree-of-freedom joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101698302A CN101698302A (en) | 2010-04-28 |
| CN101698302B true CN101698302B (en) | 2012-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910233935 Expired - Fee Related CN101698302B (en) | 2009-10-21 | 2009-10-21 | Planar friction and cylindrical friction combined two-degree-of-freedom joint |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976104A (en) * | 2017-05-11 | 2017-07-25 | 华志微创医疗科技（北京）有限公司 | A kind of space five-freedom mechanical arm |
| CN113069211B (en) * | 2021-03-29 | 2022-04-01 | 山东省千佛山医院 | Terminal execution mechanical arm of minimally invasive surgery robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2488482Y (en) * | 2001-07-05 | 2002-05-01 | 天津市华志计算机应用有限公司 | Joint locking mechanism for mechanical arm |
| CN101524287A (en) * | 2009-04-03 | 2009-09-09 | 昆山市工业技术研究院有限责任公司 | Hydraulic locking mechanism of joint of minimally invasive surgery robot |
| CN201544233U (en) * | 2009-10-21 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Two degree-of-freedom joint with combined plane friction and cylindrical surface friction |
-
2009
- 2009-10-21 CN CN 200910233935 patent/CN101698302B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2488482Y (en) * | 2001-07-05 | 2002-05-01 | 天津市华志计算机应用有限公司 | Joint locking mechanism for mechanical arm |
| CN101524287A (en) * | 2009-04-03 | 2009-09-09 | 昆山市工业技术研究院有限责任公司 | Hydraulic locking mechanism of joint of minimally invasive surgery robot |
| CN201544233U (en) * | 2009-10-21 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Two degree-of-freedom joint with combined plane friction and cylindrical surface friction |
Non-Patent Citations (1)
| Title |
|---|
| 王洪建等.基于外摩擦的医疗机器人关节锁紧结构实验研究.《机器人》.2009,第31卷(第3期),193-196. * |
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| CN101698302A (en) | 2010-04-28 |
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