CN102756376A - Finger device for underactuated robot adapting along with shapes automatically - Google Patents
Finger device for underactuated robot adapting along with shapes automatically Download PDFInfo
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- CN102756376A CN102756376A CN2012102537924A CN201210253792A CN102756376A CN 102756376 A CN102756376 A CN 102756376A CN 2012102537924 A CN2012102537924 A CN 2012102537924A CN 201210253792 A CN201210253792 A CN 201210253792A CN 102756376 A CN102756376 A CN 102756376A
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Abstract
A finger device for an underactuated robot adapting along with shapes automatically belongs to the technical field of robot hands imitating a person hand. The finger device comprises a first finger section, a second finger section and an underactuated joint, wherein the underactuated joint comprises an air sac, a joint shaft, a pneumatic flexible part and a reed part. The finger device adopts the air sac to receive the air in a transform piece and a transformable closed space and turns the air into transmission medium, and when fingers are used for grabbing the objects, the passive underactuated bent effect for object pressure of any direction is comprehensively realized through the combination of device and the pneumatic flexible part capable of stretching and bending axially; large angle rotation of a second finger section can be realized by using very small deformation along with the shape of the air sac; the device does not limit the pressure direction of the object on the air sac, and the rotation of the second finger section can be realized by any pressure on the air sac; when grabbing the object, the device can adapt to the shape and size of the grabbed object automatically, the device has a simple structure, small volume and light weight, is low in manufacturing and maintenance costs, and is similar to fingers of the person hand; and the device can be connected in series so as to form highly-underactuated multi-joint fingers realizing strong self-adaption to shapes.
Description
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, particularly a kind of structural design of conformal self adaptation under-actuated robot finger device.
Background technology
Robot is paid attention to by increasing robot research person as anthropomorphic robot's outlet terminal.In robotics field two big robotlike's hands are arranged: Dextrous Hand with owe to drive hand, they respectively based on ACTIVE CONTROL with owe to drive two kinds of different type of drive.Dextrous Hand profile and action are the spitting image of staff; Can be under the comprehensive function of complicated control algolithm, control system, sensor-based system and executive system; Accomplish the majority action that staff can be accomplished neatly, but Dextrous Hand costs an arm and a leg, the production control difficulty is big; Maintenance difficulties is big, also fails broad practice so far.Owe to drive hand and can realize more joint freedom degrees, less driver number better, have very these three targets of strongly-adaptive ability when grasping difformity and size object, advantages such as installation cost is low, the control difficulty is little, maintenance is simple are arranged simultaneously.
Many fingers articulated robot arm device of existing a kind of pneumatic type active drive, like Chinese invention patent CN101402200A, wherein each joint adopts Pneumatic flexible actuator to realize the bending of finger.The weak point of this device is: this device is owing to adopt the strength active drive respectively to point the rotation in each joint; Make that this hand volume is big, quality is big, manufacturing cost is high, the control difficulty is big; Can not the self-adapting grasping object, very complicated control must be relied on and extracting could be realized the different size shaped objects.
Existing a kind of Pneumatic type underactuated robot finger device like Chinese invention patent CN 101733758B, comprises first and second section of finger and owes to drive the joint, owes to drive the joint and comprises active sliding block, joint shaft, two pneumatic flexible piece and spring spares.External force drives active sliding block and refers to slide on the section first, and active sliding block pushes first pneumatic flexible piece, and then pushing gas, realizes the axial elongation and the bending of second pneumatic flexible piece, and then realizes that second refers to that section rotates and a fastening object.The weak point of this device is: the conversion of motion form of owing to drive is " from translation to rotating ", the caused active sliding block of promptly crawled object extruding active sliding block along first refer to the section internal chute translation, through owe to drive the joint be converted into second refer to section rotation.There is following wretched insufficiency in this device: this matching requirements object must very little (for example less than 30 degree) to the angle of the extruding force and the chute direction of active sliding block (being the pressure angle of active sliding block motion), otherwise active sliding block will be difficult to be pushed; In addition, some are not lost along the power of active sliding block guide groove direction on application of force source; Because have friction, resistance is bigger, causes the loss of power equally.
Summary of the invention
The objective of the invention is in order to overcome the weak point of prior art, propose a kind of conformal self adaptation under-actuated robot finger device.This device can be installed on the manipulator; Cooperate the finger of other active drive or other active drive joints on the finger to realize grasping objects; And having adaptation function to the shape size of grabbing object, the adaptation function of this device does not require the direction of object to the finger extruding.
The present invention adopts following technical scheme:
A kind of conformal self adaptation under-actuated robot finger device provided by the invention, comprise first refer to section, second refer to section and be arranged between the two owe to drive the joint; Describedly owe to drive the joint and comprise joint shaft and pneumatic flexible piece; Described joint shaft is set in first and refers in the section, and second refers to that section is fixed on the joint shaft; Described pneumatic flexible piece comprises first end cap, second end cap and extensible member; Described extensible member two ends are connected with first end cap, second end cap seal respectively; But described extensible member adopts the cylindrical material of axial stretching and axial bending and hollow to process; Described pneumatic flexible piece refers to that through first end cap and first section is fixedly connected, and pneumatic flexible piece refers to that through second end cap and second section is fixedly connected; The two ends of described spring spare connect first respectively and refer to that section and second refers to section, and described spring spare adopts extension spring, stage clip, torsion spring, clockwork spring, sheet spring or elastic threads; It is characterized in that: describedly owe to drive the joint and also comprise air bag; The part of described air bag is embedded in first and refers in the section, and another part of air bag is exposed at first and refers to contact with grabbing object outside the section; Described air bag and pneumatic flexible piece refer to that through first the through hole in the section is connected.
Described conformal self adaptation under-actuated robot finger device is installed on the manipulator, and this manipulator also has other fingers or the joint by the driver active drive, and these other fingers or joint are as drive source.
A kind of preferred version of conformal self adaptation under-actuated robot finger device of the present invention; It is characterized in that: the extensible member of described pneumatic flexible piece adopts embedding spring silk rubber tube; This embedding spring silk rubber tube comprises rubber tube and spring wire; Be nested with spring wire in the described rubber tube tube wall, described spring wire is close in the inwall of rubber tube along the radially spiral of rubber tube.
Another preferred version of conformal self adaptation under-actuated robot finger device of the present invention; It is characterized in that: the extensible member of described pneumatic flexible piece adopts cover spring silk rubber tube; This cover spring silk rubber tube comprises rubber tube and spring wire; The described rubber tube tube wall outside is with spring wire, and described spring wire is close on the outer wall of rubber tube along the radially spiral of rubber tube, and the two ends of described spring wire connect first end cap and second end cap respectively.
Another preferred version of conformal self adaptation under-actuated robot finger device of the present invention; It is characterized in that: the extensible member of described pneumatic flexible piece adopts bellows type extensible member, the accordion bellows structure that described bellows type extensible member is axial stretching and axial bending.
A kind of preferred version of conformal self adaptation under-actuated robot finger device of the present invention is characterized in that: refer to that first section and second refers to the intersegmental spring spare that installs additional, described spring spare adopts extension spring, stage clip, torsion spring or sheet spring.
A kind of preferred version of conformal self adaptation under-actuated robot finger device of the present invention is characterized in that: described extensible member is provided with valve cock.
A kind of preferred version of conformal self adaptation under-actuated robot finger device of the present invention is characterized in that: described air bag adopts flexible material.
The present invention also provides a kind of pneumatic type lack of driven robot multi-joint finger apparatus that adopts said conformal self adaptation under-actuated robot finger device, it is characterized in that: comprise that n refers to section and the individual described joint of owing to drive of n-1, wherein n is the integer greater than 2.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Conformal self adaptation under-actuated robot finger device of the present invention adopts air bag as receiving gas in deformable member and the deformable confined space as transmission medium; But in conjunction with the pneumatic flexible piece of axial stretching and axial bending, any direction object extruding passive owes to drive bending effect when comprehensively having realized the finger grasping objects; The rotation that utilizes the very little conformal distortion of air bag can bring the second finger section wide-angle; This device does not limit the direction of object extruding gasbag, and extruding gasbag can cause the rotation of the second finger section arbitrarily; This conformal self adaptation under-actuated robot finger device is fit to be installed on the manipulator as a finger of anthropomorphic robot's hand or a part of pointing; Cooperate the finger of other active drive or other active drive joints on the finger to realize grasping objects, and have the adaptation function to the shape size of grabbing object, this apparatus structure is simple; Volume is little; Quality is little, and manufacturing and maintenance cost are low, and be similar with the finger of staff.This device can be together in series and constitute high form adaptive and the high multi-joint finger of owing to drive; Can also constitute anthropomorphic robot's hand that height is owed to drive with a plurality of such simple joints or multi-joint finger, in order to reach the high joint freedom degrees of anthropomorphic robot's hand, the adaptive effect of high extracting.
Description of drawings
Fig. 1 is the side cut away view (be the B-B profile among Fig. 3, finger is straight configuration) of a kind of embodiment of conformal self adaptation under-actuated robot finger device provided by the invention.
Fig. 2 is a front cross-sectional view (for the A-A profile among Fig. 4) embodiment illustrated in fig. 1.
Fig. 3 is front appearance figure embodiment illustrated in fig. 1.
Fig. 4 is a side outside drawing embodiment illustrated in fig. 1.
Fig. 5 is a stereo appearance figure (finger is straight configuration) embodiment illustrated in fig. 1.
Fig. 6 is the side cut away view embodiment illustrated in fig. 1 (this moment, air bag was pressed by part, and second refers to that section turns an angle) of conformal self adaptation under-actuated robot finger device provided by the invention.
Fig. 7 is the stereo appearance figure of Fig. 6 state.
Fig. 8 is the side cut away view embodiment illustrated in fig. 1 (this moment, air bag was depressed to extreme position, and the second finger section is rotated than wide-angle) of conformal self adaptation under-actuated robot finger device provided by the invention.
Fig. 9 is the stereo appearance figure of Fig. 8 state.
Figure 10 is the side outside drawing (referring to that first section and second refers to intersegmental application extension spring) of another kind of embodiment of the present invention.
Figure 11 is the stereo appearance figure of Figure 10.
Figure 12 is the side outside drawing (referring to that first section and second refers to intersegmental application torsion spring) of another kind of embodiment of the present invention.
Figure 13 is the stereo appearance figure of Figure 12.
Figure 14 is the partial sectional view that adopts the pneumatic flexible piece of embedding spring silk rubber tube.
Figure 15 is the cutaway view of Figure 14.
Figure 16 is the pneumatic flexible piece stereo appearance figure that adopts cover spring silk rubber tube.
Figure 17 is the cutaway view of Figure 16.
Figure 18 is the pneumatic flexible piece stereo appearance figure that adopts the bellows type extensible member.
Figure 19 is the cutaway view of Figure 18.
Figure 20 is the stereo appearance figure of pneumatic flexible piece embodiment of the employing embedding spring silk rubber tube of band valve cock.
Figure 21 is the stereo appearance figure that the pneumatic flexible piece embodiment of spring silk rubber tube is overlapped in the employing of band valve cock.
Figure 22 is the stereo appearance figure of pneumatic flexible piece embodiment of the employing bellows type extensible member of band valve cock.
Figure 23, Figure 24, Figure 25, Figure 26 are the sketch mapes that the first finger section is fixed in the finger grip object embodiment illustrated in fig. 1 on the palm.
Figure 27, Figure 28, Figure 29, Figure 30 are the sketch mapes of the finger grip object embodiment illustrated in fig. 1 after the first finger section and active joint are connected.
Figure 31 is a side view of having used conformal self adaptation lack of driven robot multi-joint finger apparatus embodiment (adopted two and owed to drive the joint) embodiment illustrated in fig. 1.
Figure 32 is the front elevational view of the doublejointed finger of Figure 31.
Figure 33 is that the doublejointed of Figure 31 embodiment is pointed at two sketch mapes of owing to drive grasping large sized object under the joint rotation.
Figure 34 is three finger grip object sketch mapes of having used three doublejointed finger embodiment shown in Figure 31.
Figure 35 is the left view of Figure 34.
In Fig. 1 to Figure 35:
1-first refers to section, and 2-second refers to section, and 3-owes to drive the joint,
The 4-air bag, the 5-joint shaft, the 6-through hole,
The 7-pneumatic flexible piece, the section of finger in the middle of the 8-spring spare, 9-,
71-first end cap, 72-second end cap, 73-embedding spring silk rubber tube,
74-cover spring silk rubber tube, 75-bellows type extensible member, the 76-valve cock,
The 731-rubber tube, the 732-spring wire, the 741-rubber tube,
The 742-spring wire, the flexible outer cover of 751-, the 752-great circle,
The 753-ringlet.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment further explain concrete structure of the present invention, operation principle and the course of work.
A kind of embodiment of a kind of conformal self adaptation under-actuated robot finger device of the present invention's design analyses and observe like Fig. 1, shown in Figure 2 outward appearance such as Fig. 3, Fig. 4, shown in Figure 5.
Present embodiment comprise first refer to section 1, second refer to section 2 and be arranged between the two owe to drive joint 3; Describedly owe to drive joint 3 and comprise joint shaft 5 and pneumatic flexible piece 7; Described joint shaft 5 is set in first and refers in the section 1, and second refers to that section 2 is fixed on the joint shaft 5, and joint shaft 5 and second refers to that section 2 adopts pin to be connected; Described pneumatic flexible piece 7 comprises first end cap 71, second end cap 72 and the extensible member; Described extensible member two ends are tightly connected with first end cap 71, second end cap 72 respectively; But described extensible member adopts the cylindrical material of axial stretching and axial bending and hollow to process; Described pneumatic flexible piece 7 refers to that through first end cap 71 and first section 1 is fixedly connected, and pneumatic flexible piece 7 refers to that through second end cap 72 and second section 2 is fixedly connected; The two ends of described spring spare 8 connect first respectively and refer to that section 1 and second refers to section 2, and described spring spare 8 adopts extension spring, stage clip, torsion spring or sheet spring; The part of described air bag 4 is embedded in first and refers in the section 1, and another part of air bag 4 is exposed at first and refers to contact with grabbing object outside the section 1; Described air bag 4 refers to that through first the through hole 6 in the section 1 is connected with pneumatic flexible piece 7.There is gas in air bag, pneumatic flexible piece and the through hole.Described conformal self adaptation under-actuated robot finger device is installed on the manipulator, and this manipulator also has other fingers or the joint by the driver active drive, and these other fingers or joint are as drive source.
The scalable component of pneumatic flexible piece 7 has multiple mode to realize, the scheme that for example following (a) and (b), (c) are introduced.
(a) among the embodiment of a kind of preferred version of the present invention; Described extensible member adopts embedding spring silk rubber tube 73; Described embedding spring silk rubber tube 73 comprises rubber tube 731 and spring wire 732; Be nested with spring wire in the described rubber tube wall, described spring wire is close in the inwall of rubber tube along the radially spiral of rubber tube.Figure 14, Figure 15 are a kind of embodiment of this pneumatic flexible piece, and the extensible member of this pneumatic flexible piece has adopted embedding spring silk extensible member.
(b) among the embodiment of another preferred version of the present invention; Described extensible member adopts cover spring silk rubber tube 74; Described cover spring silk rubber tube 74 comprises rubber tube 741 and spring wire 742; The described rubber tube tube wall outside is with spring wire, and described spring wire is close on the outer wall of rubber tube along the radially spiral of rubber tube, and the two ends of described spring wire connect first end cap and second end cap respectively.Figure 16, Figure 17 are a kind of embodiment of this pneumatic flexible piece, and the extensible member in this pneumatic flexible piece adopts cover spring silk extensible member.
(c) among the embodiment of another preferred version of the present invention, described extensible member adopts bellows type extensible member 75, but described bellows type extensible member 75 is the accordion bellows structure of axial stretching and axial bending.Described bellows type extensible member comprises flexible outer cover 751, great circle 752 and ringlet 753, and for example great circle and ringlet adopt wire loop, and a great circle one ringlet ground straggly is equidistantly hidden in flexible outer cover, for example makees flexible outer cover with cloth.Figure 18, Figure 19 are a kind of embodiment of this pneumatic flexible piece, and the extensible member of this pneumatic flexible piece has adopted the bellows type extensible member.
Among the embodiment of a kind of preferred version of the present invention, described extensible member is provided with valve cock 76, like Figure 20, Figure 21, shown in Figure 22.
The present invention also provides a kind of pneumatic type lack of driven robot multi-joint finger apparatus that adopts said conformal self adaptation under-actuated robot finger device, it is characterized in that: comprise that n refers to section and the individual described joint of owing to drive of n-1, wherein n is the integer greater than 2.A kind of embodiment that adopts the pneumatic type lack of driven robot doublejointed finger apparatus of said conformal self adaptation under-actuated robot finger device like Figure 31 and shown in Figure 32, comprises that 3 refer to that section and 2 are described and owe to drive the joint.Figure 33 is the situation of this doublejointed finger grasping objects, and Figure 34 and Figure 35 are the situation of 3 doublejointed finger grasping objects.
The two ends of the spring spare among the present invention 8 connect first respectively and refer to that section 1 and second refers to section 2, and its function is: under the nature and when decontroling object, spring spare 8 makes pneumatic flexible piece 7 and air bag 4 resile, and has both kept pointing straight configuration; During grasping objects, spring spare 8 will be out of shape under the promotion of foreign object.Figure 10, embodiment illustrated in fig. 11 be exactly to have adopted extension spring, Figure 12, the torsion spring that just adopted embodiment illustrated in fig. 13.
Introduce the operation principle of the embodiment of conformal self adaptation under-actuated robot finger device below in conjunction with accompanying drawing.
(i) if first of present embodiment is referred to that section 1 is fixed on the palm of anthropomorphic robot's hand, the operation principle of present embodiment, like Figure 23,24,25, shown in 26, narrate as follows:
When robot did not contact object, finger was in free state, and air bag 4 is not squeezed, and pneumatic flexible piece 7 is undeformed, and finger keeps straight configuration.
When the robot grasping objects, other fingers rotate back compressing object, object extruding gasbag 4; Pushing first refers to gas in section 1 through hole; Because the restriction of spring wire 732, pneumatic flexible piece 7 can radial deformations, only axial elongation and axial bending can take place; Spring wire is stretcher strain also; Strength will promote the second finger section 2 and make wide-angle rotational angle α around closing joint shaft 5 center lines, and till the second finger section 2 contacts objects, thereby this robot will have the automatic adaptability to object size, shape.This makes second to refer to that section has driver drives such as motor general seemingly when rotating, and can fasten object fast, has realized that finger self without driver, but can have the purpose of joint freedom degrees.
When robot is decontroled object; Other fingers leave object under motor rotates; Object is compression bladder 4 no longer just also; The back stretch of spring wire 732 will spur second and refer to that section is got back to around joint shaft 5 center lines and initially stretch the position that strength will push the interior gas of through hole this moment, make air bag 4 restPose and the position.Can also install a spring spare 8 in the present embodiment in addition additional and assist this process, can certainly not need this spring spare.
If (ii) first of present embodiment (embodiment illustrated in fig. 1) is referred to that section 1 root is fixed on the active joint shaft by driver drives, the operation principle of present embodiment, like Figure 27,28,29, shown in 30, narrate as follows:
When the robot grasping objects, rotate under driving moment m effect in the active joint that is with the first finger section 1, makes whole finger apparatus rotate around the center line of active joint shaft together with the active joint shaft of root; Up to air bag 4 contact objects; Because object can not leave under the effect of other fingers, so, when the active joint shaft is rotated further; Air bag 4 stops that object the foundation institute object appearance of grabbing is to internal strain under the extruding, and the process that grasps thereafter is with (a) similar.
Adopt the operating principle of the pneumatic type lack of driven robot multi-joint finger apparatus of said conformal self adaptation under-actuated robot finger device to be: when the robot grasping objects; Owe to drive for two and close the festival-gathering sequentially-operating, finally adapt to shape, the size of object automatically.This finger has the motor active drive general owing to drive joint seemingly.
Conformal self adaptation under-actuated robot finger device of the present invention adopts air bag as receiving gas in deformable member and the deformable confined space as transmission medium; But in conjunction with the pneumatic flexible piece of axial stretching and axial bending, any direction object extruding passive owes to drive bending effect when comprehensively having realized the finger grasping objects; The rotation that utilizes the very little conformal distortion of air bag can bring the second finger section wide-angle; This device does not limit the direction of object extruding gasbag, and extruding gasbag can cause the rotation of the second finger section arbitrarily; This conformal self adaptation under-actuated robot finger device is fit to be installed on the manipulator as a finger of anthropomorphic robot's hand or a part of pointing; Cooperate the finger of other active drive or other active drive joints on the finger to realize grasping objects, and have the adaptation function to the shape size of grabbing object, this apparatus structure is simple; Volume is little; Quality is little, and manufacturing and maintenance cost are low, and be similar with the finger of staff.This device can be together in series and constitute high form adaptive and the high multi-joint finger of owing to drive; Can also constitute anthropomorphic robot's hand that height is owed to drive with a plurality of such simple joints or multi-joint finger, in order to reach the high joint freedom degrees of anthropomorphic robot's hand, the adaptive effect of high extracting.
Claims (8)
1. conformal self adaptation under-actuated robot finger device, comprise first refer to section (1), second refer to section (2) and be arranged between the two owe to drive joint (3); Describedly owe to drive the joint and comprise joint shaft (5) and pneumatic flexible piece (7); Described joint shaft (5) is set in first and refers in the section (1), and second refers to that section (2) is fixed on the joint shaft (5); Described pneumatic flexible piece (7) comprises first end cap (71), second end cap (72) and extensible member; Described pneumatic flexible piece (7) refers to that through first end cap (71) and first section (1) is fixedly connected, and pneumatic flexible piece (7) refers to that through second end cap (72) and second section (2) is fixedly connected; Described first refers to be provided with through hole (6) in the section; It is characterized in that: describedly owe to drive the joint and also comprise air bag (4); The part of described air bag is embedded in first and refers in the section, and another part of air bag is exposed at first and refers to contact with grabbing object outside the section; Described air bag (4) and pneumatic flexible piece (7) refer to that through first the through hole (6) in the section (1) is connected.
2. conformal self adaptation under-actuated robot finger device as claimed in claim 1; It is characterized in that: the extensible member of described pneumatic flexible piece (7) adopts embedding spring silk rubber tube (73); This embedding spring silk rubber tube (73) comprises rubber tube (731) and spring wire (732), and described spring wire (732) is close in the inwall of rubber tube along the radially spiral of rubber tube (73).
3. conformal self adaptation under-actuated robot finger device as claimed in claim 1; It is characterized in that: the extensible member of described pneumatic flexible piece (7) adopts cover spring silk rubber tube (74); This cover spring silk rubber tube (74) comprises rubber tube (741) and spring wire (742); Described spring wire is close on the outer wall of rubber tube along the radially spiral of rubber tube, and the two ends of described spring wire connect first end cap and second end cap respectively.
4. conformal self adaptation under-actuated robot finger device as claimed in claim 1; It is characterized in that: the extensible member of described pneumatic flexible piece (7) adopts bellows type extensible member (75), and described bellows type extensible member (75) is the accordion bellows structure of axial stretching and axial bending.
5. like claim 1,2,3 or 4 described conformal self adaptation under-actuated robot finger devices, it is characterized in that: refer to that first section (1) and second refers to install spring spare additional between section (2), described spring spare adopts extension spring, stage clip, torsion spring or sheet spring.
6. like claim 1,2,3 or 4 described conformal self adaptation under-actuated robot finger devices, it is characterized in that: described extensible member is provided with valve cock (76).
7. like claim 1,2,3 or 4 described conformal self adaptation under-actuated robot finger devices, it is characterized in that: described air bag (4) adopts flexible material.
8. the pneumatic lack of driven robot multi-joint finger apparatus of employing such as claim 1,2,3 or 4 said conformal self adaptation under-actuated robot finger devices; It is characterized in that: comprise that n refers to section and the individual described joint of owing to drive of n-1, wherein n is the integer greater than 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012102537924A CN102756376A (en) | 2012-07-20 | 2012-07-20 | Finger device for underactuated robot adapting along with shapes automatically |
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| CN2012102537924A CN102756376A (en) | 2012-07-20 | 2012-07-20 | Finger device for underactuated robot adapting along with shapes automatically |
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| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
| CN104890004A (en) * | 2015-06-09 | 2015-09-09 | 杭州南江机器人股份有限公司 | Robot bionic finger |
| CN105583838A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Fluid type contact grabbing linkage self-adaptive robot finger device |
| CN108818589A (en) * | 2018-07-20 | 2018-11-16 | 浙江树人学院 | A kind of folding flexible robot |
| CN108943023A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN109483584A (en) * | 2018-12-17 | 2019-03-19 | 燕山大学 | Extension type flexible drive rescue robot and its rescue mode |
| CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
| CN113199501A (en) * | 2021-05-27 | 2021-08-03 | 新疆大学 | Adjustable flexible grabbing manipulator |
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| CN109483584A (en) * | 2018-12-17 | 2019-03-19 | 燕山大学 | Extension type flexible drive rescue robot and its rescue mode |
| CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
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