CN101767337B - Bevel gear-band wheel coupled under-actuated two-joint robot finger device - Google Patents
Bevel gear-band wheel coupled under-actuated two-joint robot finger device Download PDFInfo
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- CN101767337B CN101767337B CN201010034481XA CN201010034481A CN101767337B CN 101767337 B CN101767337 B CN 101767337B CN 201010034481X A CN201010034481X A CN 201010034481XA CN 201010034481 A CN201010034481 A CN 201010034481A CN 101767337 B CN101767337 B CN 101767337B
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Abstract
The present invention relates to a bevel gear-band wheel coupled under-actuated two-joint robot finger device belonging to the technical field of anthropomorphic robot hand design. The bevel gear-band wheel coupled under-actuated two-joint robot finger device comprises a base, a motor, a speed reducer, a juxta-joint shaft, a middle finger section, a far-joint shaft, a tail-end finger section, a coupled driving mechanism, a under-actuated driving mechanism and a plurality of reed pieces. The bevel gear-band wheel coupled under-actuated two-joint robot finger device uses the motor, the bevel gear coupled driving mechanism, the band wheel under-actuated driving mechanism and the reed pieces to synthetically realize that two grasping types of coupling and under actuating are simply and effectively combined. The bevel gear-band wheel coupled under-actuated two-joint robot finger device has no transition shaft, so the structure is simple. The appearance of fingers and the action for grasping objects are similar to human's fingers, so the bevel gear-band wheel coupled under-actuated two-joint robot finger device is suitable as fingers of an anthropomorphic robot.
Description
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, the structural design of particularly a kind of bevel gear-belt wheel coupled under-actuated two-joint robot finger device.
Background technology
In our daily life and work and study, hand is extremely important to us.Similar with us, robot hand also is epochmaking in its routine work with in producing.Along with the progress of society and greatly developing of science and technology, raising gradually along with living standards of the people, the different robot of the function that comes in every shape has entered people Human's production, study and work, little by little become the part of our life, for our daily life brings great convenience, also improved the efficient of human being's production work simultaneously greatly.We can see in a lot of places, and most robots come grabbing workpiece by its hand, carry out the work, and we can say the robot that does not have the excellent in design complete function, and robot may finish the work of various ways hardly well.Thus, robot hand is absolutely necessary for robot.Because more than, the extensive concern that manufactures and designs the science that obtained and each department of industrial production of present robot.And because the joint freedom degrees of hand is many, volume is little to require characteristics such as big with exerting oneself, manufacture and design the field to robot and brought a lot of technical barriers, the design of robot has at present progressively become emphasis, focus and the difficult point of robot correlation technique research.
Introduce the pattern that manipulator " coupling " grasps object at first, simply.In the daily life, hand generally is that simultaneously crooked a plurality of finger-joints are realized grasping when grasping object.For example, when staff laterally grasps a smaller cylindrical object of placing vertically from the side, forefinger, middle finger and the third finger all present the top said bending characteristics that gets, first, second and third joint of each finger all has bending to a certain degree to rotate, and three crooked in the same way simultaneously rotations in joint.The pattern in crooked each joint of this while is called " coupling " extracting pattern.It is very common in the most extracting processes of staff that effect is grasped in coupling, and what have now that a lot of manipulators realizes is exactly that effect is grasped in this coupling.
Existing a kind of manifold type two-articulated robot finger device (Chinese invention patent CN101100064A) comprises that mainly pedestal, motor, first refer to that section, second refers to section and figure of eight steel wire rope and pulley-type transmission mechanism.This device adopts motor, figure of eight steel wire rope and a pulley-type transmission mechanism to realize pointing the coupled motions of 1: 1 angle in the same way in two joints.
Weak point of such coupling extracting formula mechanical finger device with functions is: each joint is all with the rotation of fixed proportion angle, there is not the rotation of arbitrary proportion angle, when grasping object generally to grip the mode grabbing object, be difficult to realize gripping the Grasp Modes extracting in the mode of lucky adaptation body surface size dimension, do not possess when grasping object adaptivity fully, so the extracting effect of this class finger is bad to the different size object.
Secondly, introduce the pattern that " decoupling zero " owes to drive extracting.In order to overcome the shortcoming that can not adapt to object size and shape automatically that the said coupling extracting in front pattern exists, a kind of have " decoupling zero " effect owe drive the extracting pattern and arise at the historic moment.Generally we are called under-actuated finger with " decoupling zero " under-actuated finger simply.So-called lack of driven structure is the mechanism that the finger actuator number is lacked than driven joint freedom degrees number.In the lack of driven structure, the rotational angle in a plurality of joints does not have fixed proportion, motor can drive whole finger (comprising that first refers to that section, second refers to section) and is straight configuration and rotates around nearly joint shaft during beginning, refer to that the section finger section of close finger root () touches object and be blocked can not rotate the time again when first, the driving force of motor can turn to automatically and drive the rotation of next joint, thereby make second to refer to that the section joint shaft of going the long way round again rotates, and has realized two modes that rotate in proper order in the joint.This mechanism's biggest advantage can adapt to the object size exactly automatically, is very beneficial for stable the extracting.
Existing a kind of under-actuated two-articulated robot finger device (Chinese invention patent CN101288954A) comprises and draws together pedestal, motor, the middle part section of finger, joint shaft far away, the end section of finger, drive bevel gear, driven wheel of differential and double bevel wheel etc.
The weak point of such activation lacking mechanical finger device is: finger presents straight configuration all the time before not touching object, action and outward appearance and staff have than big difference, and the degree that personalizes is not enough; Grasp Modes is mainly the gripping mode, is difficult to realize that end grips the extracting object; In the time of can not accomplishing not have grasping body, the action of clenching fist of similar staff; Be difficult to also accomplish that each joint is the natural torsion state when end section of finger grips object.
Comprehensively as can be known, all there are bigger deficiency in existing coupled mode mechanical finger and activation lacking mechanical finger.
Summary of the invention
The objective of the invention is the weak point at prior art, a kind of bevel gear-belt wheel coupled under-actuated two-joint robot finger device is provided, realized being coupled extracting effect and self adaptation are owed to drive the extracting effect and are merged simply and effectively.This installs no transition axis, and is simple in structure; The profile of finger is very similar to finger to the action of grasping object, is suitable as the finger of anthropomorphic robot's hand.
Technical scheme of the present invention is as follows:
A kind of bevel gear of the present invention-belt wheel coupled under-actuated two-joint robot finger device comprises pedestal, motor, decelerator, nearly joint shaft, the middle part section of finger, joint shaft far away and the end section of finger; Described motor and decelerator and pedestal are affixed, the output shaft of decelerator links to each other with nearly joint shaft, described nearly joint shaft is set in the pedestal, the described middle part section of finger is socketed on the nearly joint shaft, described joint shaft far away is set in the section of finger of middle part, the described end section of finger is fixed on the joint shaft far away, and joint shaft far away is parallel with nearly joint shaft;
It is characterized in that:
This bevel gear-belt wheel coupled under-actuated two-joint robot finger device also comprises first driving wheel, first driven pulley, first driving member, first bevel gear, second bevel gear, bipyramid gear, the first spring spare, the second spring spare and the 3rd spring spare; Described bipyramid gear is become with last bevel gear set by bipyramid gear shaft, following bevel gear;
Described first driving wheel is fixed on the nearly joint shaft, and described first driven pulley is socketed on the joint shaft far away, and described first driving member connects first driving wheel and first driven pulley; Described first driving member adopts flat rubber belting, cog belt, tendon rope or chain, described first driving wheel adopts drive, rope sheave or sprocket wheel, described first driven pulley adopts drive, rope sheave or sprocket wheel, can cooperate the formation drive connection between described first driving member, first driving wheel and the first driven pulley three;
Described first bevel gear is socketed on the nearly joint shaft; Described second bevel gear is fixed on the joint shaft far away; The following bevel gear of described bipyramid gear and the engagement of first bevel gear, the last bevel gear of described bipyramid gear and the engagement of second bevel gear; Described bipyramid gear bush is located in the section of finger of middle part, and the center line of described bipyramid gear shaft is vertical mutually with the center line of nearly joint shaft;
The two ends of the described first spring spare connect the pedestal and first bevel gear respectively; The two ends of the described second spring spare connect nearly joint shaft and the middle part section of finger respectively; The two ends of described the 3rd spring spare are divided and are connected the joint shaft far away and first driven pulley.
Bevel gear of the present invention-belt wheel coupled under-actuated two-joint robot finger device is characterized in that: the output shaft of decelerator links to each other with nearly joint shaft by transmission mechanism.
Bevel gear of the present invention-belt wheel coupled under-actuated two-joint robot finger device is characterized in that: described transmission mechanism comprises first gear and second gear; The output shaft of decelerator and first gear are affixed, and first gear is meshed with second gear, and second gear is fixed on the nearly joint shaft.
Bevel gear of the present invention-belt wheel coupled under-actuated two-joint robot finger device is characterized in that: the described first spring spare, the second spring spare and the 3rd spring spare adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.
The present invention compared with prior art has the following advantages and the high-lighting effect:
This device adopts motor, bipyramid gear coupling drive mechanism, bipyramid gear to owe drive transmission device and a plurality of spring spare and has realized that comprehensively coupling and self adaptation owe to drive two kinds of Grasp Modes and combine simply and effectively.This installs no transition axis, and is simple in structure; The profile of finger is very similar to finger to the action of grasping object, is suitable as the finger of anthropomorphic robot's hand.
Description of drawings
Fig. 1 is the front appearance figure of the embodiment of bevel gear provided by the invention-belt wheel coupled under-actuated two-joint robot finger device.
Fig. 2 is the side view of present embodiment, also is the right view of Fig. 1.
Fig. 3 is that the front section view of present embodiment also is the cutaway view of Fig. 1.
Fig. 4 is the A-A cutaway view of present embodiment.
Fig. 5 is the B-B cutaway view of present embodiment.
Fig. 6 is the stereoscopic figure of present embodiment.
Fig. 7 is all transmission mechanism stereograms of present embodiment.
Fig. 8 is the three-dimensional explosive view of present embodiment.
Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15 are several key positions side schematic appearance of present embodiment grasping object process.
In Fig. 1 to Figure 18:
The 1-pedestal, the 2-motor, the nearly joint shaft of 3-,
The 4-middle part section of finger, 5-joint shaft far away, the 6-end section of finger,
The 7-decelerator, the 8-gear cover, the 9-object,
11-first driving wheel, 12-first driven pulley, 13-first driving member
21-first bevel gear, 22-second bevel gear,
31-bipyramid gear, 310-bipyramid gear shaft, bevel gear 312-goes up bevel gear under the 311-
The 41-first spring spare, the 42-second spring spare, 43-the 3rd spring spare,
51-first boss, 52-second boss, 53-the 3rd boss, 5-the 4th boss,
The 61-first gear 62-second gear
The specific embodiment
Be described in further detail the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
Bevel gear-belt wheel the coupled under-actuated two-joint robot finger device of the present invention's design-kind of embodiment, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, comprise pedestal 1, motor 2, decelerator 7, nearly joint shaft 3, the middle part section of finger 4, joint shaft 5 far away and the end section of finger 6; Described motor 2 and decelerator 7 are affixed with pedestal 1, the output shaft of decelerator 7 links to each other with nearly joint shaft 3, described nearly joint shaft 3 is set in the pedestal 1, the described middle part section of finger 4 is socketed on the nearly joint shaft 3, described joint shaft far away 5 is set in the section of finger 4 of middle part, the described end section of finger 6 is fixed on the joint shaft 5 far away, and joint shaft 5 far away is parallel with nearly joint shaft 3;
This bevel gear-belt wheel coupled under-actuated two-joint robot finger device also comprises first driving wheel 11, first driven pulley 12, first driving member 13, first bevel gear 21, second bevel gear 22, bipyramid gear 31, the first spring spare 41, the second spring spare 42 and the 3rd spring spare 43; Described bipyramid gear 31 is made up of bipyramid gear shaft 310, following bevel gear 311 and last bevel gear 312;
Described first driving wheel 11 is fixed on the nearly joint shaft 3, and described first driven pulley 12 is socketed on the joint shaft 5 far away, and described first driving member 13 connects first driving wheel 11 and first driven pulley 12; Described first driving member 13 adopts flat rubber belting, cog belt, tendon rope or chain, described first driving wheel 11 adopts drive, rope sheave or sprocket wheel, described first driven pulley 12 adopts drive, rope sheave or sprocket wheel, can cooperate the formation drive connection between described first driving member 13, first driving wheel 11 and first driven pulley, 12 threes, first driving wheel 11 and first driven pulley 12 all adopt drive in the present embodiment, and first driving member 13 adopts flat rubber belting;
Described first bevel gear 21 is socketed on the nearly joint shaft 3; Described second bevel gear 22 is fixed on the joint shaft 5 far away; The following bevel gear 311 of described bipyramid gear 31 and first bevel gear 21, the last bevel gear 312 of described bipyramid gear 31 and 22 engagements of second bevel gear; The axle 310 of described bipyramid gear 31 is set in the section of finger 4 of middle part, and the center line of the bipyramid gear shaft 310 of described bipyramid gear 31 is vertical mutually with the center line of nearly joint shaft 3;
The two ends of the described first spring spare 41 connect the pedestal 1 and first bevel gear 21 respectively; The two ends of the described second spring spare 42 connect nearly joint shaft 3 and the middle part section of finger 4 respectively; The two ends of described the 3rd spring spare 43 are divided and are connected the joint shaft 5 far away and first driven pulley 12.
Present embodiment also comprises transmission mechanism, and the output shaft of described decelerator links to each other with nearly joint shaft 3 by transmission mechanism.
In the present embodiment, described transmission mechanism comprises first gear 61 and second gear 62; The output shaft of decelerator 7 and first gear 61 are affixed, and first gear 61 is meshed with second gear 62, and second gear 62 is fixed on the nearly joint shaft 3.
In the present embodiment, the described first spring spare 41, the second spring spare 42 and the 3rd spring spare 43 adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.In the present embodiment, the described first spring spare 41, the second spring spare 42 and the 3rd spring spare 43 adopt torsion spring.
In the present embodiment, first boss 51 connects the first spring spare, 41 1 ends and inlays and is fixed on first bevel gear 21; Second boss 52 connects the second spring spare, 42 1 ends and inlays and is fixed on the section of finger 4 of middle part; The 3rd boss 53 connects the 3rd spring spare 43 1 ends and inlays and is fixed on first driven pulley 12;
The operation principle of present embodiment as Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 and shown in Figure 15, is described below:
This install under a kind of situation initial position as shown in figure 19, in this case, the middle part section of finger 4 does not all contact object with the end section of finger 6 when initial, and object 9 is nearer apart with the middle part section of finger 4, and finger can at first touch object 9 by the middle part section of finger 4 in rotation process.When motor 2 had just begun to rotate, middle part section of finger 4 and the terminal section of finger 6 were the state that finger stretches with pedestal 1.When the robot finger who uses present embodiment grasps object 9, the output shaft of motor 2 rotates, driving the nearly joint shaft 3 that is connected with second gear 12 by first gear 11 rotates, because the effect of contraction of the second spring spare 42, middle part section of finger 4 and nearly joint shaft 3 are fixed together seemingly, and the middle part section of finger 4 will be around nearly joint shaft 3 rotational angle α.
Because first bevel gear 21 is connected with pedestal 1 by the first spring spare 41, in the middle part section of finger 4 rotation processes, joint shaft 5 far away will change with respect to the position of nearly joint shaft 3, because the following bevel gear 311 of bipyramid gear 31 and 21 engagements of first bevel gear, so the rotation of the middle part section of finger 4 can make that the last bevel gear 312 of bipyramid gear 31 promotes to rotate a same angle [alpha] with the go the long way round center line of joint shaft 5 of second bevel gear 22 of its engagement, when first bevel gear 21 is consistent with second bevel gear, 22 sizes, diarticular coupling rotational angle is 1: 1, certain first bevel gear 21 also can be designed as different sizes with second bevel gear 22, then will obtain different coupling effects, because second bevel gear 22 is affixed with joint shaft far away, will make joint shaft 5 far away again around self axis rotational angle α.
The output shaft of motor 2 rotates, and drives the nearly joint shaft 3 that is connected with first driving wheel 11 by first gear 11 and second gear 12 and rotates, and first driving wheel, 11 pullings, first driving member 13 makes the driven pulley 12 of the winning joint shaft 5 rotational angle α that go the long way round.Owing to the section of finger 4 in the middle part of this moment has also been rotated angle [alpha] around nearly joint shaft 3, so first driven pulley 12, therefore connects the 3rd spring spare 43 generation certain deformation amounts of the joint shaft 5 far away and first driven pulley 12 with respect to the not change of position of the middle part section of finger 4.
At this moment, because the end section of finger is fixed on the joint shaft far away, also thereupon the go the long way round center line rotational angle α of joint shaft of the end section of finger, as shown in figure 10.This process is run into object 9 up to the middle part section of finger 4, and the middle part section of finger has been rotated angle beta around nearly joint shaft, and also the go the long way round center line of joint shaft of the end section of finger has rotated angle beta, as shown in figure 11.Said process is two joints and adopts coupled modes to rotate.
At this moment, if the end section of finger 6 contact objects 9 then finish grasping, employing be to grip mode to grasp object.As shown in figure 16.
At this moment, if the end section of finger 6 does not also contact object 9, as shown in figure 11.The output shaft of motor 2 is rotated further, and drives by spring spare 43 and first bevel gear 21 of nearly joint shaft 3 sockets by first gear 11 and second gear 12 and rotates.
Because at this moment the middle part section of finger 4 has contacted object 9, the middle part section of finger 4 can not continue to rotate around nearly joint shaft 3, the continuation of the second spring spare 42 be out of shape will make in the middle part of the section of finger 4 with increasing grasp force near object 9.Simultaneously because the deflection of the 3rd spring spare 43 is big than the deflection of all the other two spring spares, so along with being rotated further of motor 2, the 3rd spring spare 43 meeting drives first bevel gear 21 is rotated further around the axis of nearly joint shaft 3, thereby the following bevel gear 311 that drives bipyramid gear 31 is rotated further, second bevel gear 22 that last bevel gear 312 feasible and bipyramid gear 31 meshes is rotated, again because second bevel gear 22 is affixed with joint shaft 5 far away, to make joint shaft 5 far away be rotated further, the axis rotation of joint shaft 5 thereby the terminal section of finger 6 can continue to go the long way round around self axis.This process touches object 9 up to the end section of finger 6, finishes to grasp action, as shown in figure 12.This process makes this device can adapt to the object that grasps difformity and size automatically.
The initial position of this device under another kind of situation as shown in figure 14, in this case, object 9 is nearer apart with the end section of finger 6, can at first touch object by the end section of finger in this case.Finger can rotate with the sort of coupling extracting pattern recited above always in this case, till the end section of finger 6 touches object, finish and grasp, do not carry out the under-driven adaptive pattern in this case in Shou Zhi the motion process, finger is directly finished by coupling extracting pattern and is grasped, as shown in figure 15.
This device adopts motor, bipyramid gear coupling drive mechanism, bipyramid gear to owe drive transmission device and a plurality of spring spare and has realized that comprehensively coupling and self adaptation owe to drive two kinds of Grasp Modes and combine simply and effectively.This installs no transition axis, and is simple in structure; The profile of finger is very similar to finger to the action of grasping object, is suitable as the finger of anthropomorphic robot's hand.
Claims (4)
1. bevel gear-belt wheel coupled under-actuated two-joint robot finger device comprises pedestal (1), motor (2), decelerator (7), nearly joint shaft (3), the middle part section of finger (4), joint shaft (5) far away and the end section of finger (6); Described motor (2) and decelerator (7) are affixed with pedestal (1), the output shaft of decelerator (7) links to each other with nearly joint shaft (3), described nearly joint shaft (3) is set in the pedestal (1), the described middle part section of finger (4) is socketed on the nearly joint shaft (3), described joint shaft far away (5) is set in the middle part section of finger (4), the described end section of finger (6) is fixed on the joint shaft far away (5), and joint shaft (5) far away is parallel with nearly joint shaft (3);
It is characterized in that:
This bevel gear-belt wheel coupled under-actuated two-joint robot finger device also comprises first driving wheel (11), first driven pulley (12), first driving member (13), first bevel gear (21), second bevel gear (22), bipyramid gear (31), the first spring spare (41), the second spring spare (42) and the 3rd spring spare (43); Described bipyramid gear (31) is made up of bipyramid gear shaft (310), following bevel gear (311) and last bevel gear (312);
Described first driving wheel (11) is fixed on the nearly joint shaft (3), and described first driven pulley (12) is socketed on the joint shaft far away (5), and described first driving member (13) connects first driving wheel (11) and first driven pulley (12); Described first driving member (13) adopts flat rubber belting, cog belt, tendon rope or chain, described first driving wheel (11) adopts drive, described first driven pulley (12) adopts drive, can cooperate the formation drive connection between described first driving member (13), first driving wheel (11) and first driven pulley (12) three;
Described first bevel gear (21) is socketed on the nearly joint shaft (3); Described second bevel gear (22) is fixed on the joint shaft far away (5); The following bevel gear (311) of described bipyramid gear (31) and first bevel gear (21) engagement, the last bevel gear (312) of described bipyramid gear (31) and second bevel gear (22) engagement; Described bipyramid gear shaft (310) is set in the middle part section of finger (4), and the center line of described bipyramid gear shaft (310) is vertical mutually with the center line of nearly joint shaft (3);
The two ends of the described first spring spare (41) connect pedestal (1) and first bevel gear (21) respectively; The two ends of the described second spring spare (42) connect nearly joint shaft (3) and the middle part section of finger (4) respectively; The two ends of described the 3rd spring spare (43) connect joint shaft far away (5) and first driven pulley (12) respectively.
2. bevel gear as claimed in claim 1-belt wheel coupled under-actuated two-joint robot finger device is characterized in that: the output shaft of described decelerator links to each other with nearly joint shaft (3) by transmission mechanism.
3. bevel gear as claimed in claim 2-belt wheel coupled under-actuated two-joint robot finger device is characterized in that: described transmission mechanism comprises first gear (61) and second gear (62); The output shaft of decelerator (7) and first gear (61) are affixed, and first gear (61) is meshed with second gear (62), and second gear (62) is fixed on the nearly joint shaft (3).
4. bevel gear as claimed in claim 1-belt wheel coupled under-actuated two-joint robot finger device is characterized in that: the described first spring spare (41), the second spring spare (42) and the 3rd spring spare (43) adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010034481XA CN101767337B (en) | 2010-01-21 | 2010-01-21 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010034481XA CN101767337B (en) | 2010-01-21 | 2010-01-21 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
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| CN101767337A CN101767337A (en) | 2010-07-07 |
| CN101767337B true CN101767337B (en) | 2011-09-14 |
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| CN201010034481XA Expired - Fee Related CN101767337B (en) | 2010-01-21 | 2010-01-21 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102166753B (en) * | 2011-05-20 | 2012-07-25 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN102284957A (en) * | 2011-07-26 | 2011-12-21 | 清华大学 | Differential bevel gear rack type combination underactuated robot finger device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| CN101190528A (en) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | Under-actuated coupling transmission type imitation human finger mechanism |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN101288954A (en) * | 2008-06-13 | 2008-10-22 | 清华大学 | Double bevel wheel under-driven robot finger |
| CN101508115A (en) * | 2009-03-27 | 2009-08-19 | 清华大学 | Variable sequence under-actuated two-articulated robot finger device |
-
2010
- 2010-01-21 CN CN201010034481XA patent/CN101767337B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| CN101190528A (en) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | Under-actuated coupling transmission type imitation human finger mechanism |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN101288954A (en) * | 2008-06-13 | 2008-10-22 | 清华大学 | Double bevel wheel under-driven robot finger |
| CN101508115A (en) * | 2009-03-27 | 2009-08-19 | 清华大学 | Variable sequence under-actuated two-articulated robot finger device |
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