CN102179817B - 双柔性件复合欠驱动双关节机器人手指装置 - Google Patents
双柔性件复合欠驱动双关节机器人手指装置 Download PDFInfo
- Publication number
- CN102179817B CN102179817B CN 201110135548 CN201110135548A CN102179817B CN 102179817 B CN102179817 B CN 102179817B CN 201110135548 CN201110135548 CN 201110135548 CN 201110135548 A CN201110135548 A CN 201110135548A CN 102179817 B CN102179817 B CN 102179817B
- Authority
- CN
- China
- Prior art keywords
- driving
- shaft
- driven pulley
- joint shaft
- finger
- Prior art date
- 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.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201110135548 CN102179817B (zh) | 2011-05-24 | 2011-05-24 | 双柔性件复合欠驱动双关节机器人手指装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201110135548 CN102179817B (zh) | 2011-05-24 | 2011-05-24 | 双柔性件复合欠驱动双关节机器人手指装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102179817A CN102179817A (zh) | 2011-09-14 |
CN102179817B true CN102179817B (zh) | 2012-08-22 |
Family
ID=44566204
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN 201110135548 Expired - Fee Related CN102179817B (zh) | 2011-05-24 | 2011-05-24 | 双柔性件复合欠驱动双关节机器人手指装置 |
Country Status (1)
Country | Link |
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CN (1) | CN102179817B (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104999470A (zh) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | 一种全驱动三指灵巧机械手 |
CN105150225B (zh) * | 2015-09-08 | 2021-03-16 | 清华大学 | 杆轮并联式捏握复合自适应机器人手指装置 |
CN105666508A (zh) * | 2016-03-17 | 2016-06-15 | 清华大学 | 杆轮复合式耦合自适应欠驱动机器人手指装置 |
CN105773608B (zh) * | 2016-03-17 | 2018-01-12 | 清华大学 | 齿轮流体平夹自适应机器人手指装置 |
CN105643646B (zh) * | 2016-03-17 | 2018-06-29 | 清华大学 | 柔性件流体平夹自适应机器人手指装置 |
CN105643647A (zh) * | 2016-03-17 | 2016-06-08 | 清华大学 | 复合柔性传动平夹自适应机器人手指装置 |
CN113618761A (zh) * | 2021-08-10 | 2021-11-09 | 程少如 | 柔性件传动变位自适应机器人手指装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
CN101190528A (zh) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | 欠驱动耦合传动式仿人手指机构 |
CN101633171A (zh) * | 2009-07-31 | 2010-01-27 | 清华大学 | 双关节并联欠驱动机器人手指装置 |
CN101774177A (zh) * | 2010-02-09 | 2010-07-14 | 清华大学 | 楔块换挡式并联耦合欠驱动仿生手指装置 |
CN101797753A (zh) * | 2010-04-06 | 2010-08-11 | 清华大学 | 腱绳并联灵巧欠驱动仿生机器人手指装置 |
-
2011
- 2011-05-24 CN CN 201110135548 patent/CN102179817B/zh not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
CN101190528A (zh) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | 欠驱动耦合传动式仿人手指机构 |
CN101633171A (zh) * | 2009-07-31 | 2010-01-27 | 清华大学 | 双关节并联欠驱动机器人手指装置 |
CN101774177A (zh) * | 2010-02-09 | 2010-07-14 | 清华大学 | 楔块换挡式并联耦合欠驱动仿生手指装置 |
CN101797753A (zh) * | 2010-04-06 | 2010-08-11 | 清华大学 | 腱绳并联灵巧欠驱动仿生机器人手指装置 |
Also Published As
Publication number | Publication date |
---|---|
CN102179817A (zh) | 2011-09-14 |
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