CN102501246A - Three-drive extensible dexterous mechanical arm - Google Patents
Three-drive extensible dexterous mechanical arm Download PDFInfo
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- CN102501246A CN102501246A CN2011103488282A CN201110348828A CN102501246A CN 102501246 A CN102501246 A CN 102501246A CN 2011103488282 A CN2011103488282 A CN 2011103488282A CN 201110348828 A CN201110348828 A CN 201110348828A CN 102501246 A CN102501246 A CN 102501246A
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Abstract
The invention discloses a three-drive extensible dexterous mechanical arm, and aims to simplify the structure of the mechanical arm and increase the degree of freedom to dexterously and effectively capture a space target. A power source of the three-drive extensible dexterous mechanical arm is three driving units arranged on a base, wherein two driving units control a posture of the three-drive extensible dexterous mechanical arm through the transmission of motions of a lead screw, a lead screw nut, a push rod and a connecting rod; the third driving unit controls the rotary motion of the whole three-drive extensible dexterous mechanical arm; and therefore, (2N+5) degrees of freedom can be controlled through the three driving units, wherein N is a natural number. A joint of the three-drive extensible dexterous mechanical arm is a combined body of a universal joint pin, a joint shell and concave and convex limiting mechanisms, and the joint can bend and rotate; meanwhile, the joint can be connected in series for extension, so that the mechanical arm has extremely high degree of freedom and dexterity.
Description
Technical field
The present invention relates to the robot mechanism design field, definite says, designs a kind of three and drives and can expand dexterous mechanical arm, the flexible extracting that is used for extraterrestrial target with catch.
Background technology
Along with deepening continuously of space exploration, at space articulation, in engineering fields such as rail service, freight handling, target acquistions, space manipulator is being brought into play crucial effects.In the face of complicated space environment, miscellaneous operand and complicated operations task day by day, require space manipulator to have characteristics such as high reliability, economy, security, dexterity.
At present, mostly space manipulator is six degree of freedom, and a driver element of being made up of motor and decelerator all will be installed in each joint, when increasing the space manipulator structural complexity, has strengthened the quality and the rotary inertia of space manipulator, is unfavorable for saving energy.Have compact conformation in order in energy-conservation, to improve the dexterity of space manipulator, to design, dexterous space manipulator in light weight, characteristics such as rotary inertia is little, multiple degrees of freedom, few driving has great importance.
Summary of the invention
The present invention proposes a kind of three and drives and can expand dexterous mechanical arm, and it is few to have driver element quantity, and characteristics such as number of degrees of freedom, height, dexterity height can be used in space articulation, in engineering fields such as rail service, freight handling, target acquistions.
Technical scheme of the present invention is following:
A kind of three drivings can be expanded dexterous mechanical arm, comprise driver element, leading screw, feed screw nut and push rod, connecting rod, beat ring, joint, annulus and end-effector interfaces, it is characterized in that:
Said driver element is the assembly of rotary-type motor harmonic decelerator, is installed on three and drives and can expand on the support of dexterous mechanical arm, and said leading screw is connected in through shaft coupling and drives feed screw nut on the output shaft of driver element and do linear reciprocating motion; Feed screw nut drives push rod and does linear reciprocating motion; Said push rod and connecting rod one end are hinged, and the connecting rod other end and beat ring outer wall are hinged, and said joint is the assembly of cross axle, joint shell and concavo-convex position-limit mechanism; One diameter shaft is arranged in the said annulus; Annulus is connected through pin with the joint shell, and said end-effector interfaces is a flange form, can connect dissimilar end effectors.
Further; Three drivings can be expanded dexterous mechanical arm and comprise three driver elements altogether; Wherein two driver elements link to each other with leading screw through shaft coupling, the power transmission through feed screw nut, connecting rod and push rod successively, realization beat ring reach the motion that deflects up and down; The 3rd driver element links to each other with the input in first joint through shaft coupling, realizes that three drivings can expand dexterous mechanical arm and rotatablely move around the integral body of self axis.
Further, leading screw drives push rod through feed screw nut and does linear reciprocating motion, and push rod is hinged through connecting rod and beat ring outer wall.
Further, articulation structure has extensibility, and the output in previous joint is again the input in a back joint simultaneously, drives the quantity that can expand joint in the dexterous mechanical arm structure three and can extend to N (N is a natural number); Concavo-convex position-limit mechanism in the joint has omnidirectional's rotating function of ball pivot, receives simultaneously spacing on the concaveconvex structure again, drives three and plays location and guide effect in the motion process that can expand dexterous mechanical arm.
Further; The cross axle in last joint with the back one joint cross axle between be connected through the joint shell; Beat takes place in the beat ring under the push-pull effort effect that push rod produces; Drive the first IA cross axle beat, the first IA cross axle can drive the cross axle beat in the second joint through the joint shell between first and second joints again, and the first IA concavo-convex position-limit mechanism is as the fulcrum of second joint beat and spacing simultaneously; Motion transfer principle subsequently is identical with above-mentioned principle, through the accumulation of a plurality of joints beat motion, makes three drivings can expand dexterous mechanical arm and realizes large-scale beat motion.
Three of the present invention's design drives can expand dexterous mechanical arm; Comprise three driver elements, two rhizoid thick sticks and feed screw nut, push rod, connecting rod, joint and the annulus that are installed on the support; End has the flange form end-effector interfaces, can connect different end effectors according to mission requirements.
Three driver elements are the power source that three drivings can be expanded dexterous mechanical arm, and leading screw and feed screw nut are converted into the push rod linear reciprocating motion with rotatablely moving of motor; Wherein two driver elements drive leading screw and nut motion, through with the push rod of nut interlock and connecting rod act on the beat ring, change the first joint attitude; Through the shell power transfer function between cross axle and first joint and the second joint; Power is delivered to second joint, and then cross axle and the joint shell through being attached thereto continues the beat direction in the follow-up joint of change; And the like, reach control three drivings and can expand the purpose that dexterous mechanical arm waits crooked beat attitude up and down; The 3rd driver element drives three drivings and can expand the dexterous mechanical arm first joint input rotation,, reaches three drivings and can expand the whole rotating purpose of dexterous mechanical arm until end through joint transferring rotational motion successively.
The joint is the assembly of cross axle, joint shell and concavo-convex position-limit mechanism, and the joint shell can be around cross axle beat up and down, and its characteristics are identical with universal joint; Shell two ends, joint are equipped with concavo-convex position-limit mechanism, and concavo-convex position-limit mechanism is the position-limit mechanism with ball pivot function of concavo-convex cooperation, and two members of mutual concavo-convex cooperation can be along any direction beat; But beat is to certain angle relatively; Because the existence of mechanical position limitation then stops beat, reach the purpose of control deflection angle size.
The invention has the advantages that:
1. three to drive the driver element quantity can expand dexterous mechanical arm few, compact conformation, and total quality is light;
2. driver element quantity is far smaller than three and drives the number of degrees of freedom, that can expand dexterous mechanical arm, and dexterity is high;
3. three to drive the extensibility can expand dexterous mechanical arm strong, can freely adjust joint quantity according to the actual task demand.
Description of drawings
Fig. 1 is the general structure front view that can expand dexterous mechanical arm with three drivings that N=2 designs for example;
Fig. 2 is the general structure vertical view that can expand dexterous mechanical arm with three drivings that N=2 designs for example;
Fig. 3 is that beat ring, bearing cooperate sketch map with the first joint shell;
Fig. 4 is the first joint shell sketch map;
Fig. 5 is the cross axle sketch map;
Fig. 6 is a shell sketch map between first joint and the second joint;
Fig. 7 is that three drivings can be expanded dexterous mechanical arm second joint shell sketch map;
Fig. 8 is that first joint cooperates sketch map with second joint;
Fig. 9 is the annulus sketch map;
Figure 10 three drives and can expand dexterous mechanical arm second joint shell, annulus, actuator interface and cooperate sketch map with paw;
Figure 11 is after the beat ring receives two thrust synergy in the Front view 1, and three drive the crooked sketch map that can expand dexterous mechanical arm;
Figure 12 is after the beat ring receives two pulling force synergy in the Front view 1, and three drive the crooked sketch map that can expand dexterous mechanical arm;
Figure 13 is that three drove the crooked sketch map that can expand dexterous mechanical arm after the beat ring received a thrust and pulling force synergy in the vertical view 2;
Figure 14 is that three drove the crooked sketch map that can expand dexterous mechanical arm after the beat ring received a pulling force and thrust synergy in the vertical view 2;
Identify among the figure: driver element 1,33,34, shaft coupling 2,29,32, leading screw 3,31, feed screw nut 4,30, push rod 5,28; The first joint input 6, hinge 7,9,25,27, connecting rod 8,26, beat ring 10, bearing 11; The first joint shell 12, cross axle 13,15, the first joints and second joint shell 14, second joint shell 16, pin 17; End-effector interfaces 18, paw 19, annulus 20, concavo-convex position- limit mechanism 21,22,23, holder 24.
The specific embodiment
Below in conjunction with accompanying drawing this mechanical arm structure is described further.
Like Fig. 1, shown in 2, three driver elements 1,33,34 provide power for whole mechanical arm, and wherein the output of driver element 1,34 links to each other with leading screw 3,31 respectively through shaft coupling 2,32; Be separately installed with feed screw nut 4,30 on the leading screw 3,31, feed screw nut 4,30 links to each other with push rod 5,28 respectively, can promote push rod and do linear reciprocating motion; The push rod end has hinge 7,27 respectively, is connected with beat ring 10 outer walls through connecting rod 8,26.Through the slip of feed screw nut 4,30, promote push rod 5,28 respectively, through the power transfer function of connecting rod 8,26, can control the beat of beat ring 10; Driver element 33 outputs link to each other with the first joint input 6 through shaft coupling 29, can drive first joint rotation, through the transmission of joint motions, can make whole three drivings can expand dexterous mechanical arm and together rotate.
Like Fig. 2, shown in 3; Beat ring 10 is connected through bearing 11 with the first joint shell 12, and nested bearing 11 between beat ring 10 and the first joint shell 12 is when driver element 1,34 drives feed screw nuts 4,30; When acting on beat ring 10 through push rod 5,28 and connecting rod 8,26; Beat ring 10 beats drive bearing 11 beats, and bearing 11 drives the first joint shell, 12 beats; And when driver element 33 rotates, driving the first joint shell 12 and the rotation of bearing 11 inner casings, the beat ring does not rotate; Can control the inside first joint shell, 12 beats through control beat ring 10 like this, but the beat ring does not rotate with first joint.
Like Fig. 4,5, shown in 6; Be respectively joint shell 14 between the first joint shell 12, cross axle 13, first joint and the second joint; Joint shell 12,14 is hollow cylinder, and joint shell 12 is connected through cross axle 13 with joint shell 14, and two joint shells can be bobbed and woven relatively; When two joint shell rotations are not on same straight line, still can transferring rotational motion; Joint shell 12 right-hand members and joint shell 16 left ends form concavo-convex position-limit mechanism 22, and shell 14 left ends in joint are the convex portion of concavo-convex position-limit mechanism 23, and shell 14 right-hand members in joint are the concave portion of concavo-convex position-limit mechanism 21.
As shown in Figure 7, second joint shell 16 links to each other with joint shell 14 through cross axle 15, and second joint shell 16 left ends are concavo-convex position-limit mechanism 22 convex portion structures, and the groove fit of bossing and joint shell 12 right-hand members forms concavo-convex position-limit mechanism 21.
Fig. 8 is Fig. 4,5,6,7 assembling sketch map, and Fig. 4 is connected through cross axle 13 with parts shown in Figure 5, and Fig. 5 is connected through cross axle 14 with Fig. 6, and the concave portion of joint shell 12 right-hand members cooperates with joint shell 16 left end convex portions, forms concavo-convex position-limit mechanism 22; Two member faces of mutual concavo-convex cooperation can be along any direction beat; Has the ball pivot function; But slightly different with ball pivot, concave surface not exclusively contacts with convex surface, and the annulus on the shown convex portion is when male and fomale(M&F) cooperates rotation; Can play spacing effect, two members that make male and fomale(M&F) cooperate relatively rotate certain angle will stop motion.
Be illustrated in figure 9 as can around second joint shell 16 corresponding rotation secondary rotate annulus 20, the axle in the middle of the annulus plays the supporting role of end-effector interfaces 18, end-effector interfaces 18 can be rotated around this axle simultaneously.
The operation principle that this three driving can be expanded dexterous mechanical arm mainly is divided into following four kinds of motor patterns:
(1) two driver element promotes push rod simultaneously: drive leading screw 3,31 respectively when driver element 1,34 rotates simultaneously; Leading screw promotes push rod 5,28 through feed screw nut 4,30; Push rod 5,28 drivening rod 8,26 respectively acts on beat ring 10, after beat ring 10 receives the synergy of two thrusts, is equivalent to receive a moment of flexure effect; Thereby, drive the first joint shells 12 that link to each other through bearing 11 with it and rotate up inclination around upwards (like Figure 11) rotation inclination of holder 24; The first joint shell 12 drives first joints and second joint shell 14 around being that fulcrum rotates up inclination with holder 24 through cross axle 13; And because the existence of concavo-convex position-limit mechanism 23, first joint and second joint shell 14 are with respect to the first joint shell 12 certain angle that can only be inclined upwardly; Simultaneously, the joint shell 14 of rotation inclination is again through the interlock effect of cross axle 15, and driving second joint shell 16 is the certain angle of fulcrum rotation inclination with concavo-convex position-limit mechanism 22 grooves upwards; Through the support guide effect of concavo-convex position-limit mechanism 21 with annulus 20, end-effector interfaces 18 can be that fulcrum is along with the certain angle of joint shell 16 inclinations with concavo-convex position-limit mechanism 21 grooves at last; Like this, through the angle accumulation of joint beat, whole mechanical arm is bent upwards and forms one section circular arc; Drive each joint rotation through driver element 33, whole mechanical arm can rotate together with paw simultaneously.It is shown in figure 11 that behind the beat three drives the overall structure that can expand dexterous mechanical arm;
(2) two driver elements spur push rod simultaneously: drive leading screw 3,31 respectively when driver element 1,34 rotates simultaneously; Leading screw is through feed screw nut 4,30 pulling push rods 5,28; Push rod 5,28 drivening rod 8,26 respectively acts on beat ring 10, after beat ring 10 receives the synergy of two pulling force, is equivalent to receive a moment of flexure effect; Thereby tilt around holder 24 downward (like Figure 12) rotation, drive the first joint shell 12 that links to each other through bearing 11 with it and be rotated down inclination; The first joint shell 12 drives first joints and second joint shell 14 around being that fulcrum is rotated down inclination with holder 24 through cross axle 13; And because the existence of concavo-convex position-limit mechanism 23, first joint and second joint shell 14 can only slope downwardly into certain angle with respect to the first joint shell 12; Simultaneously, the joint shell 14 of rotation inclination is again through the interlock effect of cross axle 15, and driving second joint shell 16 is the certain angle of fulcrum rotation inclination with concavo-convex position-limit mechanism 22 grooves downwards; Through the support guide effect of concavo-convex position-limit mechanism 21 with annulus 20, end-effector interfaces 18 can be that fulcrum is along with the certain angle of joint shell 16 inclinations with concavo-convex position-limit mechanism 21 grooves at last; Like this, through the angle accumulation of joint beat, whole mechanical arm downwarping forms one section circular arc; Drive each joint rotation through driver element 33, whole mechanical arm can rotate together with paw simultaneously.It is shown in figure 12 that behind the beat three drives the overall structure that can expand dexterous mechanical arm;
(3) driver elements promote push rod, and a driver element pulling push rod: when driver element 1 rotating band movable wire thick stick 3, leading screw promotes push rod 5 through feed screw nut 4; Push rod drivening rod 28 applies a thrust to beat ring 10; Driver element 34 rotating band movable wire thick sticks 31, leading screw is through feed screw nut 30 pulling push rods 28, when push rod drivening rod 26 applies a pulling force to beat ring 10; After beat ring 10 receives the synergy of a thrust and a pulling force; Be equivalent to receive a moment of flexure effect, thereby tilt, drive the first joint shell 12 that links to each other through bearing 11 with it and be rotated down inclination around holder 24 downward (like Figure 13) rotation; The first joint shell 12 drives first joints and second joint shell 14 around being that fulcrum is rotated down inclination with holder 24 through cross axle 13; And because the existence of concavo-convex position-limit mechanism 23, first joint and second joint shell 14 can only arrive certain angle with respect to the first joint shell 12; Simultaneously, the joint shell 14 of rotation inclination is again through the interlock effect of cross axle 15, and driving second joint shell 16 is the certain angle of fulcrum rotation inclination with concavo-convex position-limit mechanism 22 grooves downwards; Through the support guide effect of concavo-convex position-limit mechanism 21 with annulus 20, end-effector interfaces 18 can be that fulcrum is along with the certain angle of joint shell 16 inclinations with concavo-convex position-limit mechanism 21 grooves at last; Like this, through the angle accumulation of joint beat, whole mechanical arm more and more is bent upwards, and forms one section circular arc line; Drive each joint rotation through driver element 33, whole mechanical arm can rotate together with paw simultaneously.It is shown in figure 13 that behind the beat three driving can be expanded dexterous mechanical arm overall structure;
(4) driver element pulling push rods, a driver element promotes push rod: when driver element 1 rotating band movable wire thick stick 3, leading screw is through feed screw nut 4 pulling push rods 5; Push rod drivening rod 28 applies a pulling force to beat ring 10; Driver element 34 rotating band movable wire thick sticks 31, leading screw promotes push rod 28 through feed screw nut 30, when push rod drivening rod 26 applies a thrust to beat ring 10; After beat ring 10 receives the synergy of a pulling force and a thrust; Be equivalent to receive a moment of flexure effect, thereby, drive the first joint shells 12 that link to each other through bearing 11 with it and rotate up inclination around upwards (like Figure 14) rotation inclination of holder 24; The first joint shell 12 drives first joints and second joint shell 14 around being that fulcrum rotates up inclination with holder 24 through cross axle 13; And because the existence of concavo-convex position-limit mechanism 23, first joint and second joint shell 14 can only arrive certain angle with respect to the first joint shell 12; Simultaneously, the joint shell 14 that rotation is tilted is again through the interlock effect of cross axle 15, and driving second joint shell 16 is that fulcrum rotates up certain angle with concavo-convex position-limit mechanism 22 grooves upwards; At last through the support guide effect of concavo-convex position-limit mechanism 21 with annulus 20, end-effector interfaces 18 can be a fulcrum along with joint shell 16 certain angle that is inclined upwardly with concavo-convex position-limit mechanism 21 grooves; Like this, through the angle accumulation of joint beat, whole mechanical arm is bent upwards and forms one section circular arc; Drive each joint rotation through driver element 33, whole mechanical arm can rotate together with paw simultaneously.It is shown in figure 14 that behind the beat three driving can be expanded dexterous mechanical arm overall structure.
In sum,, can make three drivings can expand dexterous mechanical arm beat on a large scale,, can make three drivings can expand the whole rotation of dexterous mechanical arm through control driver element 33 through the coordination control of two driver elements 1,34; Like this, in conjunction with three the driving and to expand dexterous mechanical arm of whole beat and spinfunction, can make things convenient for dexterous extraterrestrial target is grasped and catches.
Claims (5)
1. a driving can be expanded dexterous mechanical arm, comprises driver element, leading screw, feed screw nut and push rod, connecting rod, beat ring, joint, annulus and end-effector interfaces, it is characterized in that:
Said driver element is the assembly of rotary-type motor harmonic decelerator, is installed on three and drives and can expand on the support of dexterous mechanical arm, and said leading screw is connected in through shaft coupling and drives feed screw nut on the output shaft of driver element and do linear reciprocating motion; Feed screw nut drives push rod and does linear reciprocating motion; Said push rod and connecting rod one end are hinged, and the connecting rod other end and beat ring outer wall are hinged, and said joint is the assembly of cross axle, joint shell and concavo-convex position-limit mechanism; One diameter shaft is arranged in the said annulus; Annulus is connected through pin with the joint shell, and said end-effector interfaces is a flange form, can connect dissimilar end effectors.
2. driver element according to claim 1; It is characterized in that: three drivings can be expanded dexterous mechanical arm and comprise three driver elements altogether; Wherein two driver elements link to each other with leading screw through shaft coupling, the power transmission through feed screw nut, connecting rod and push rod successively, realization beat ring reach the motion that deflects up and down; The 3rd driver element links to each other with the input in first joint through shaft coupling, realizes that three drivings can expand dexterous mechanical arm and rotatablely move around the integral body of self axis.
3. leading screw according to claim 2 is characterized in that: leading screw drives push rod through feed screw nut and does linear reciprocating motion, and push rod is hinged through connecting rod and beat ring outer wall.
4. joint according to claim 3; It is characterized in that: articulation structure has extensibility; The output in previous joint is again the input in a back joint simultaneously, drives the quantity that can expand joint in the dexterous mechanical arm structure three and can extend to N (N is a natural number); Concavo-convex position-limit mechanism in the joint has omnidirectional's rotating function of ball pivot, receives simultaneously spacing on the concaveconvex structure again, drives three and plays location and guide effect in the motion process that can expand dexterous mechanical arm.
5. joint according to claim 4; It is characterized in that: the cross axle in last joint with the back one joint cross axle between be connected through the joint shell; Beat takes place in the beat ring under the push-pull effort effect that push rod produces; Drive the first IA cross axle beat, the first IA cross axle can drive the cross axle beat in the second joint through the joint shell between first and second joints again, and the first IA concavo-convex position-limit mechanism is as the fulcrum of second joint beat and spacing simultaneously; Motion transfer principle subsequently is identical with above-mentioned principle, through the accumulation of a plurality of joints beat motion, makes three drivings can expand dexterous mechanical arm and realizes large-scale beat motion.
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| CN201110348828.2A CN102501246B (en) | 2011-11-08 | 2011-11-08 | Three-drive extensible dexterous mechanical arm |
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| CN201110348828.2A CN102501246B (en) | 2011-11-08 | 2011-11-08 | Three-drive extensible dexterous mechanical arm |
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Cited By (9)
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| CN105415356A (en) * | 2015-12-25 | 2016-03-23 | 哈尔滨工业大学 | Sectional type super-smart mechanical arm |
| CN105643661A (en) * | 2016-03-04 | 2016-06-08 | 夏林嘉 | Intelligent mechanical arm |
| CN105856213A (en) * | 2016-04-13 | 2016-08-17 | 上海交通大学 | Modular high-redundancy multi-degree-of-freedom flexible mechanical arm system |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN109176470A (en) * | 2018-09-18 | 2019-01-11 | 北京邮电大学 | A kind of robot arm |
| CN109849048A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot |
| CN113386107A (en) * | 2021-06-21 | 2021-09-14 | 杨壬达 | Passive mechanical auxiliary limb device |
| CN113681590A (en) * | 2021-08-27 | 2021-11-23 | 中国矿业大学 | Modular robot docking device and docking method |
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415356A (en) * | 2015-12-25 | 2016-03-23 | 哈尔滨工业大学 | Sectional type super-smart mechanical arm |
| CN105643661A (en) * | 2016-03-04 | 2016-06-08 | 夏林嘉 | Intelligent mechanical arm |
| CN105856213A (en) * | 2016-04-13 | 2016-08-17 | 上海交通大学 | Modular high-redundancy multi-degree-of-freedom flexible mechanical arm system |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN109176470A (en) * | 2018-09-18 | 2019-01-11 | 北京邮电大学 | A kind of robot arm |
| CN109849048A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot |
| CN113386107A (en) * | 2021-06-21 | 2021-09-14 | 杨壬达 | Passive mechanical auxiliary limb device |
| CN113386107B (en) * | 2021-06-21 | 2023-05-23 | 杨壬达 | Passive mechanical auxiliary limb device |
| CN113681590A (en) * | 2021-08-27 | 2021-11-23 | 中国矿业大学 | Modular robot docking device and docking method |
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
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|---|---|
| CN102501246B (en) | 2014-04-16 |
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