CN103753598A - Rigidity-flexibility automatic switching variable rigidity flexible driver device - Google Patents

Rigidity-flexibility automatic switching variable rigidity flexible driver device Download PDF

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Publication number
CN103753598A
CN103753598A CN201310538679.5A CN201310538679A CN103753598A CN 103753598 A CN103753598 A CN 103753598A CN 201310538679 A CN201310538679 A CN 201310538679A CN 103753598 A CN103753598 A CN 103753598A
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output shaft
stiffness tuning
spring
pinion
axle
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CN201310538679.5A
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CN103753598B (en
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崔泽
彭昀
钱东海
杨海伟
周媛
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Abstract

The invention relates to a rigidity-flexibility automatic switching variable rigidity flexible driver device which comprises a rigidity adjusting mechanism, a rigidity-flexibility switching mechanism and a transmission mechanism. A rigidity adjusting motor controls displacement of a slider on the rigidity adjusting mechanism to change the distance between a compression spring and the axis of an output shaft by the aid of the rigidity adjusting mechanism, so that the rigidity of a driver is adjusted, an annular electromagnet in the rigidity-flexibility switching mechanism controls a lower chuck to axially move, so that the lower chuck and an upper chuck are clamped and separated, rigidity-flexibility automatic switching functions are achieved, and a main motor controls output of the output shaft by the aid of the transmission mechanism. The rigidity-flexibility automatic switching variable rigidity flexible driver device is used for flexible driving of a robot joint, and the flexibility of a driving system on control is realized without increasing a sensor, so that safety of people in the man-machine interaction process is improved.

Description

Hard and soft automatic switchover stiffness variable soft drive apparatus
Technical field
The present invention relates to a kind of hard and soft automatic switchover stiffness variable soft drive apparatus, the soft drive for joint of robot, belongs to robot field.
Background technology
Robot field, often adopt motor to drive the motion in control joint.Motor drives to be had that precision is high, precise control, responds advantage rapidly, but because motor-driven mechanism is pure rigidity, is unfavorable for the safety of human and computer people in the process of man-machine exchange, has reduced the possibility of human-computer interaction.
Development along with Robotics, increasing researcher by Robotics apply to rehabilitation, look after old man and disabled person, the field of carrying etc. and people's close contact, require machine person to person to get along amiably and peacefully, make the design of robot must have enough securities, this just requires joint of robot motion to have certain compliance.The common solution of pure rigidity driving for conventional motors is to increase sensor, on controlling, realizes the flexibility of drive system, but has increased the difficulty of controlling and the appearance that has caused the unreliable problems such as signal processing delay.Therefore, having flexible driver becomes drive system of robot and better selects.
At present, the domestic and international research about flexible actuator is divided into antagonism formula and Seriation Design two classes substantially.The design and research of Pneumatic artificial muscle and nonlinear spring is partial in the design of antagonism formula, being deformed into of Pneumatic artificial muscle is non-linear, making accurately to control displacement very difficult, there is error in design and in manufacturing processing in nonlinear spring, is difficult to obtain desirable non-linear relation; Seriation Design is divided into by changing the starting force of adjusting rigidity and changing spring in position adjusts rigidity.Although relevant Seriation Design has reached the requirement that becomes rigidity soft drive, does not have hard and soft automatic switching function, insufficient rigidity when in the face of emergency situations, does not have enough securities.And there are some structures not there is interchangeability, can only be applied to specific drives structure, limited range of application.
Summary of the invention
The object of the invention is to the defect existing for prior art, provide a kind of hard and soft automatic switchover stiffness variable soft drive apparatus, to solve defect and the potential safety hazard that drive system of robot Flexible Control exists all the time.
For solving the problems of the technologies described above design of the present invention, be:
A hard and soft automatic switchover stiffness variable flexible actuator, thereby it is mainly by a stiffness tuning motor, by stiffness tuning mechanism controls slide block, the displacement on matrix changes the size of the distance governor motion rigidity in Compress Spring and output shaft axle center; By the adhesive of ring electromagnet, thereby control lower chuck, along moving axially of the centre of location, make itself and upper chuck realize clamping to realize hard and soft automatic switching function with separated.
According to foregoing invention design, the present invention adopts following technical proposals:
A hard and soft automatic switchover stiffness variable soft drive apparatus, comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism,
1) described stiffness tuning mechanism is by stiffness tuning motor, harmonic speed reducer, pinion shaft, bottom closure flap, the first pinion, gear wheel, bearing, matrix, bevel gear shaft, the second pinion, bevel pinion, bevel gear wheel, stiffness tuning axle, sleeve, stiffness tuning axle fixed block, slide block, spring fitting axle, linear compression spring, spring block, output shaft connecting rod, the output shaft centre of location, output shaft forms, described stiffness tuning motor is connected by harmonic speed reducer with pinion shaft, described pinion shaft is arranged in bottom closure flap by bearing, described the first pinion is that interference is connected with pinion shaft, described gear wheel is arranged on the axle of matrix by bearing, described gear wheel lower end is meshed with the first pinion, upper end is meshed with the second pinion, described the second pinion and bevel pinion are monoblock type and are arranged on bevel gear shaft by bearing, described bevel gear shaft is connected and fixed and is arranged on matrix by interference, described bevel gear wheel is that interference is connected with stiffness tuning axle, described sleeve and stiffness tuning axle are matched in clearance, be used for regulating the axial position of bevel gear wheel, described matrix has dovetail groove, stiffness tuning axle fixed block is fixedly mounted on matrix dovetail groove two ends by screw, described stiffness tuning axle is connected by revolute with two stiffness tuning axle fixed blocks, described stiffness tuning axle is connected by left hand thread with left slider, be connected by right-handed thread with right side slide block, described slide block in dovetail groove by the rotation of stiffness tuning axle to two side shiftings, described linear compression spring, spring block is connected by cylindrical moving sets with spring fitting axle, two ends, linear compression spring left and right directly contact with sliding block spring slide block respectively, described spring fitting axle and slide block are threaded connection, described output shaft connecting rod is that interference is connected with output shaft, described spring block contacts with output shaft connecting rod, described matrix band movable slider, spring block rotates, promoting output shaft connecting rod rotates, output shaft connecting rod drives output shaft rotation, thereby spring block is subject to the thrust of output shaft connecting rod and makes linear compression spring-compressed, therefore system has flexibility, described stiffness tuning axle is connected, is connected by right-handed thread with right side slide block by left hand thread with left slider, bevel gear wheel drives stiffness tuning axle to rotate, left and right two slide blocks move axially along stiffness tuning axle, spring block and output shaft connecting rod contact position change, therefore the rigidity of system changes, by the contact position of stiffness tuning Electric Machine Control spring block and output shaft connecting rod, realize the control to system stiffness size,
2) described hard and soft switching mechanism is by the output shaft centre of location, output shaft, top cover plate, ring electromagnet, inhale iron block, upper chuck, lower chuck, extension spring forms, the described output shaft centre of location is arranged on matrix center by screw, output shaft centre of location upper end has hole, form revolute pair with output shaft lower end, on described output shaft upper end is arranged on the cover plate of top by bearing, described upper chuck is that interference is connected with output shaft, described lower chuck adopts regular hexagon profile to be connected with the output shaft centre of location, lower chuck moves axially along the output shaft centre of location, described ring electromagnet is that screw is connected with top cover plate, described suction iron block and lower chuck are welding, lower chuck bottom is connected with extension spring, extension spring bottom is connected with the output shaft centre of location, described ring electromagnet is in normally off, during work, attract inhaling iron block moves up and drives lower chuck to move up mutually to clamp with upper chuck, now output shaft and matrix are for being rigidly connected, system does not have flexibility, after described ring electromagnet power-off, lower chuck moves down under the pulling force effect of extension spring, make system recover flexible,
3) described transmission mechanism is comprised of main motor, harmonic speed reducer, needle bearing, shell, and described main motor is connected with the power shaft of matrix by harmonic speed reducer, and described matrix and needle bearing inner ring are fixed, and described needle bearing outer ring is arranged on shell.
The present invention compared with prior art, has following outstanding inner characteristic point and remarkable advantage:
This hard and soft automatic switchover stiffness variable flexible actuator can be realized by frame for movement adjusting and the hard and soft automatic switching function of rigidity.First, stiffness tuning mechanism can realize the stiffness tuning between main motor and output shaft; Secondly, hard and soft switching mechanism can be realized the hard and soft handoff functionality between main motor and output shaft; In addition, this apparatus structure is simple, is easy to control, and can be directly installed on mechanical joint, needn't on controlling, realize the flexibility of drive system by increasing sensor.
Accompanying drawing explanation
Fig. 1 is that hard and soft automatic switchover stiffness variable flexible actuator is always schemed.
Fig. 2, Fig. 3 are stiffness tuning structural scheme of mechanism.
Fig. 4 is hard and soft switching mechanism schematic diagram.
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is as follows:
As shown in Figures 1 to 4, a kind of hard and soft automatic switchover stiffness variable soft drive apparatus, comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism:
1) described stiffness tuning mechanism is by stiffness tuning motor 1, harmonic speed reducer 2, pinion shaft 3, bottom closure flap 4, the first pinion 5, gear wheel 6, bearing 7, matrix 8, bevel gear shaft 9, the second pinion 10, bevel pinion 11, bevel gear wheel 12, stiffness tuning axle 13, sleeve 14, stiffness tuning axle fixed block 15, slide block 16, spring fitting axle 17, linear compression spring 18, spring block 19, output shaft connecting rod 20, output shaft 22 forms, described stiffness tuning motor 1 is connected by harmonic speed reducer 2 with pinion shaft 3, described pinion shaft 3 is arranged in bottom closure flap 4 by bearing, described the first pinion 5 and pinion shaft 3 are connected for interference, described gear wheel 6 is arranged on the axle of matrix 8 by bearing 7, described gear wheel 6 lower ends are meshed with the first pinion 5, upper end is meshed with the second pinion 10, described the second pinion 10 is monoblock type with bevel pinion 11 and is arranged on bevel gear shaft 9 by bearing, described bevel gear shaft 9 is connected and fixed and is arranged on matrix 8 by interference, described bevel gear wheel 12 and stiffness tuning axle 13 are connected for interference, described sleeve 14 is matched in clearance with stiffness tuning axle 13, be used for regulating bevel gear wheel 12 axial locations, described matrix 8 has dovetail groove, stiffness tuning axle fixed block 15 is fixedly mounted on matrix 8 dovetail groove two ends by screw, described stiffness tuning axle 13 is connected by revolute with two stiffness tuning axle fixed blocks 15, described stiffness tuning axle 13 is connected by left hand thread with left slider 16, be connected by right-handed thread with right side slide block 16, described slide block 16 in dovetail groove by the rotation of stiffness tuning axle 13 to two side shiftings, described linear compression spring 18, spring block 19 are connected by cylindrical moving sets with spring fitting axle 17, linear compression spring 18 two ends, left and right directly contact with slide block 16 spring blocks 19 respectively, described spring fitting axle 17 is threaded connection with slide block 16, described output shaft connecting rod 20 is with output shaft 22 for interference is connected, and described spring block 19 contacts with output shaft connecting rod 20, described matrix 8 band movable sliders 16, spring block 19 rotate, promoting output shaft connecting rod 20 rotates, output shaft connecting rod 20 drives output shaft 22 to rotate, and make 18 compressions of linear compression spring, so system has flexibility thereby spring block 19 is subject to the thrust of output shaft connecting rod 20, described stiffness tuning axle 13 is connected, is connected by right-handed thread with right side slide block 16 by left hand thread with left slider 16, bevel gear wheel 12 drives stiffness tuning axle 13 to rotate, left and right two slide blocks 16 move axially along stiffness tuning axle 13, spring block 19 changes with output shaft connecting rod 20 contact positions, therefore the rigidity of system changes, contact position by stiffness tuning motor 1 control spring slide block 19 with output shaft connecting rod 20, realizes the control to system stiffness size,
2) described hard and soft switching mechanism is by the output shaft centre of location 21, output shaft 22, top cover plate 23, ring electromagnet 24, inhale iron block 25, upper chuck 26, lower chuck 27, extension spring 28 forms, the described output shaft centre of location 21 is arranged on matrix 8 centers by screw, the output shaft centre of location 21 upper ends have hole, form revolute pair with output shaft 22 lower ends, described output shaft 22 upper ends are arranged on the cover plate of top on 23 by bearing, described upper chuck 26 and output shaft 22 are connected for interference, described lower chuck 27 adopts regular hexagon profile to be connected with the output shaft centre of location 21, lower chuck 27 moves axially along the output shaft centre of location 21, described ring electromagnet 24 and top cover plate 23 are connected for screw, described suction iron block 25 is welding with lower chuck 27, lower chuck 27 bottoms are connected with extension spring 28, extension spring 28 bottoms are connected with the output shaft centre of location 21, described ring electromagnet 24 is in normally off, during work, attract inhaling iron block 25 moves up and drives lower chuck 27 to move up mutually to clamp with upper chuck 26, now output shaft 22 and matrix 8 are for being rigidly connected, system does not have flexibility, after described ring electromagnet 24 power-off, lower chuck 27 moves down under the pulling force effect of extension spring 28, make system recover flexible,
3) described transmission mechanism is comprised of main motor 29, harmonic speed reducer 30, needle bearing 31, shell 32, described main motor 29 is connected with the power shaft of matrix 8 by harmonic speed reducer 30, described matrix 8 is fixed with needle bearing 31 inner rings, and described needle bearing 31 outer rings are arranged on shell 32.
This hard and soft automatic switchover stiffness variable flexible actuator is used adjustment process as follows:
Referring to Fig. 3, ring electromagnet 24 power-off, in normally off.Matrix 8 rotates band movable slider 16 and rotates around axle center around axle center, being arranged on spring block 19 on slide block 16 follows slide block 16 and around axle center, rotates together, because spring block 19 is with 20 contacts of output shaft connecting rod, therefore spring block 19 promotes that output shaft connecting rods 20 rotate together around output shaft axle center and along spring fitting axle 17 axial compression springs 18, the compression of spring 18 makes to have flexibility between matrix 8 and output shaft 22, makes system have flexibility.
Referring to Fig. 2, ring electromagnet 24 power-off, in normally off, system has flexibility.Stiffness tuning motor 1 drives the first pinion 5 to rotate by harmonic speed reducer 2, the first pinion 5 is by gear wheel 6, the second pinion 10 and bevel pinion 11, bevel gear wheel 12 drives stiffness tuning axle 13 to rotate, stiffness tuning axle 13 is connected by left hand thread with left slider 16, be connected by right-handed thread with right side slide block 16, therefore left and right two slide blocks 16 move in opposite directions or dorsad with the rotation of stiffness tuning axle 13, the mobile distance that changes linear compression spring 18 and output shaft 22 axle center of slide block 16, therefore changed system stiffness, realized the adjusting of system stiffness variable.
Referring to Fig. 1, ring electromagnet 24 power-off, in normally off, system has flexibility.Main motor 29 rotates on needle bearing 31 by harmonic speed reducer 30 band kinetoplast 8, and matrix 8 drives output shaft 22 to rotate by stiffness tuning mechanism urges output shaft connecting rod 20, has realized main motor 29 to the input and output of output shaft 22; Now bevel gear wheel 12 is followed matrix 8 rotations, through stiffness tuning mechanism, drives stiffness tuning motor 1 passive rotation, and the passive rotation of stiffness tuning motor 1 does not affect the movement of slide block 16.
Referring to Fig. 4, ring electromagnet 24 energisings, adhesive is inhaled iron block 25 and is driven lower chuck 27 to move upward and upper chuck 26 clampings along the output shaft centre of location 21, because the output shaft centre of location 21 is fixedly connected with by screw with matrix 8, the lower chuck 27 output shaft centres of location 21 adopt regular hexagon profile to connect, therefore now output shaft 22 can not relatively rotate with matrix 8, system has pure rigidity, when ring electromagnet 24 power-off, lower chuck 27 moves downward separated with upper chuck 26 under the pulling force effect of extension spring 28, and it is flexible that system is recovered.

Claims (1)

1. a hard and soft automatic switchover stiffness variable soft drive apparatus, comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism, it is characterized in that:
1) described stiffness tuning mechanism is by stiffness tuning motor (1), harmonic speed reducer (2), pinion shaft (3), bottom closure flap (4), the first pinion (5), gear wheel (6), bearing (7), matrix (8), bevel gear shaft (9), the second pinion (10), bevel pinion (11), bevel gear wheel (12), stiffness tuning axle (13), sleeve (14), stiffness tuning axle fixed block (15), slide block (16), spring fitting axle (17), linear compression spring (18), spring block (19), output shaft connecting rod (20), output shaft (22) forms, described stiffness tuning motor (1) is connected by harmonic speed reducer (2) with pinion shaft (3), described pinion shaft (3) is arranged in bottom closure flap (4) by bearing, described the first pinion (5) and pinion shaft (3) are connected for interference, described gear wheel (6) is arranged on the axle of matrix (8) by bearing (7), described gear wheel (6) lower end is meshed with the first pinion (5), and upper end is meshed with the second pinion (10), described the second pinion (10) is monoblock type with bevel pinion (11) and is arranged on bevel gear shaft (9) by bearing, described bevel gear shaft (9) is connected and fixed and is arranged on matrix (8) by interference, described bevel gear wheel (12) and stiffness tuning axle (13) are connected for interference, described sleeve (14) is matched in clearance with stiffness tuning axle (13), be used for regulating bevel gear wheel (12) axial location, described matrix (8) has dovetail groove, stiffness tuning axle fixed block (15) is fixedly mounted on matrix (8) dovetail groove two ends by screw, described stiffness tuning axle (13) is connected by revolute with two stiffness tuning axle fixed blocks (15), described stiffness tuning axle (13) is connected by left hand thread with left slider (16), be connected by right-handed thread with right side slide block (16), described slide block (16) in dovetail groove by the rotation of stiffness tuning axle (13) to two side shiftings, described linear compression spring (18), spring block (19) are connected by cylindrical moving sets with spring fitting axle (17), linear compression spring (18) two ends, left and right directly contact with slide block (16) spring block (19) respectively, described spring fitting axle (17) is threaded connection with slide block (16), described output shaft connecting rod (20) is with output shaft (22) for interference is connected, and described spring block (19) contacts with output shaft connecting rod (20), described matrix (8) band movable slider (16), spring block (19) rotate, promoting output shaft connecting rod (20) rotates, output shaft connecting rod (20) drives output shaft (22) to rotate, spring block (19) be subject to output shaft connecting rod (20) thus thrust make linear compression spring (18) compression, so system has flexibility, described stiffness tuning axle (13) is connected, is connected by right-handed thread with right side slide block (16) by left hand thread with left slider (16), bevel gear wheel (12) drives stiffness tuning axle (13) to rotate, left and right two slide blocks (16) move axially along stiffness tuning axle (13), spring block (19) changes with output shaft connecting rod (20) contact position, therefore the rigidity of system changes, contact position by stiffness tuning motor (1) control spring slide block (19) with output shaft connecting rod (20), realizes the control to system stiffness size,
2) described hard and soft switching mechanism is by the output shaft centre of location (21), output shaft (22), top cover plate (23), ring electromagnet (24), inhale iron block (25), upper chuck (26), lower chuck (27), extension spring (28) forms, the described output shaft centre of location (21) is arranged on matrix (8) center by screw, the output shaft centre of location (21) upper end has hole, form revolute pair with output shaft (22) lower end, described output shaft (22) upper end is arranged on the cover plate of top on (23) by bearing, described upper chuck (26) and output shaft (22) are connected for interference, described lower chuck (27) adopts regular hexagon profile to be connected with the output shaft centre of location (21), lower chuck (27) moves axially along the output shaft centre of location (21), described ring electromagnet (24) and top cover plate (23) are connected for screw, described suction iron block (25) is welding with lower chuck (27), lower chuck (27) bottom is connected with extension spring (28), extension spring (28) bottom is connected with the output shaft centre of location (21), described ring electromagnet (24) is in normally off, during work, attract inhaling iron block (25) moves up and drives lower chuck (27) to move up mutually to clamp with upper chuck (26), now output shaft (22) and matrix (8) are for being rigidly connected, system does not have flexibility, after described ring electromagnet (24) power-off, lower chuck (27) moves down under the pulling force effect of extension spring (28), make system recover flexible,
3) described transmission mechanism is comprised of main motor (29), harmonic speed reducer (30), needle bearing (31), shell (32), described main motor (29) is connected with the power shaft of matrix (8) by harmonic speed reducer (30), described matrix (8) is fixed with needle bearing (31) inner ring, and described needle bearing (31) outer ring is arranged on shell (32).
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CN104608142A (en) * 2015-01-09 2015-05-13 河北工业大学 Rotating type rigidity-changing flexible joint
CN104647397A (en) * 2015-03-17 2015-05-27 河北工业大学 Rigidity-variable flexible joint
CN104669261A (en) * 2015-02-11 2015-06-03 北京航空航天大学 Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness
CN105014270A (en) * 2015-08-10 2015-11-04 徐金鹏 Automatic welding robot
CN105729460A (en) * 2016-04-20 2016-07-06 机器时代(北京)科技有限公司 flexible transmission device, adjustable spring, energy storage component, robot and locking device
CN106514701A (en) * 2017-01-12 2017-03-22 哈尔滨工业大学 Variable-rigidity flexible joint
CN106584505A (en) * 2017-01-19 2017-04-26 哈尔滨工业大学 Modularized variable-stiffness robot joint
CN106695870A (en) * 2017-01-19 2017-05-24 哈尔滨工业大学 Flexible variable-stiffness joint mechanism
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CN104669261A (en) * 2015-02-11 2015-06-03 北京航空航天大学 Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness
CN104669261B (en) * 2015-02-11 2016-08-17 北京航空航天大学 A kind of can synchronization control displacement-type variation rigidity joint driver and a kind of method of adjustment of joint of robot rigidity
CN104647397A (en) * 2015-03-17 2015-05-27 河北工业大学 Rigidity-variable flexible joint
CN104647397B (en) * 2015-03-17 2016-02-03 河北工业大学 A kind of flexible joint of stiffness variable
CN105014270B (en) * 2015-08-10 2016-08-24 哈尔滨工大服务机器人有限公司 A kind of automatic welding machine people
CN105014270A (en) * 2015-08-10 2015-11-04 徐金鹏 Automatic welding robot
CN105729460B (en) * 2016-04-20 2017-11-28 机器时代(北京)科技有限公司 Flexible gearing and adjustable spring and energy storage component and lock uint and robot
CN105729460A (en) * 2016-04-20 2016-07-06 机器时代(北京)科技有限公司 flexible transmission device, adjustable spring, energy storage component, robot and locking device
CN106737818A (en) * 2016-12-26 2017-05-31 哈尔滨工业大学 A kind of flexible machine person joint of stiffness variable
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CN106584505A (en) * 2017-01-19 2017-04-26 哈尔滨工业大学 Modularized variable-stiffness robot joint
CN106695870A (en) * 2017-01-19 2017-05-24 哈尔滨工业大学 Flexible variable-stiffness joint mechanism
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CN108942908A (en) * 2018-08-03 2018-12-07 燕山大学 A kind of cradle head variation rigidity actuator
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CN109877808A (en) * 2019-04-08 2019-06-14 山东大学 A kind of stiffness variable driving actuator and robot
CN111571636A (en) * 2020-06-01 2020-08-25 山东科技大学 Variable-rigidity flexible driver
CN111571636B (en) * 2020-06-01 2023-08-22 山东科技大学 Variable-rigidity flexible driver
CN112757277A (en) * 2021-01-07 2021-05-07 之江实验室 Variable-rigidity flexible joint
CN114152381A (en) * 2021-12-09 2022-03-08 河北科技大学 Rigidity-adjustable force measurement branch and corresponding parallel multidimensional force sensor
CN114152381B (en) * 2021-12-09 2023-07-07 河北科技大学 Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor
CN114932558A (en) * 2022-06-27 2022-08-23 联想(北京)有限公司 Mechanical arm, joint mechanism and joint mechanism control method
CN114932558B (en) * 2022-06-27 2024-04-23 联想(北京)有限公司 Mechanical arm, joint mechanism and joint mechanism control method

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