CN104924315A - Magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device - Google Patents
Magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device Download PDFInfo
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- CN104924315A CN104924315A CN201510234504.4A CN201510234504A CN104924315A CN 104924315 A CN104924315 A CN 104924315A CN 201510234504 A CN201510234504 A CN 201510234504A CN 104924315 A CN104924315 A CN 104924315A
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Abstract
The invention discloses a magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device, and belongs to the technical field of robots. The device comprises a flexible part, a tendon rope, fingers, a channel, coils, magnetorheological fluid, a driver and a base. The flexible part is of a cloth or net or film thin-wall structure, and the magnetorheological fluid is sealed inside the flexible part; the channel and the coils are arranged on the flexible part; and one end of the tendon rope is fixedly connected with an output shaft of the driver, and the other end of the tendon rope penetrates the channel and is fixedly connected with the tail end of the channel. According to the device, the tendon rope is utilized for pulling the channel, and the flexible part closes up a sealing opening, and the self-adaption grabbing function for objects in different shapes and with different sizes is achieved; elasticity of the fingers is utilized, the flexible part is kept in the optimum grabbing posture, and the flexible part can be reset; the characteristic that the magnetorheological fluid is solidified in a magnetic field is adopted, the grabbing form is fixed in an auxiliary manner, and reliable grasping is achieved; and according to the device, a few drivers are used for driving the multiple fingers, and the device is simple in structure and low in manufacturing and maintenance cost.
Description
Technical field
The invention belongs to robotics, particularly a kind of structural design of magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus
Background technology
Robot, as the execution terminal of robot, needs to realize capturing and release two actions.By the difference of use occasion, anthropomorphic manipulator and the large class robot of general grasping device two mainly can be divided into.Anthropomorphic manipulator is similar to staff, mainly as artifucial limb, for disabled person.General grasping device is industrially widely used, robotic gripper's object on automatic production line.
The people such as Christian Cipriani describe anthropomorphic manipulator SmartHand (the Cipriani C that a kind of tendon rope drives in the literature, et al.Objectives, criteria and methods for the design of the SmartHand transradial prosthesis [J] .Robotica, 2010,28 (06): 919-927.).This anthropomorphic manipulator, by 4 driver drives, moves finger motion by tendon rope band.In addition, the Shadow company of Britain has commercially produced tendon cable-driven humanoid manipulator (U.S. patent Nos US 2013313844A1).The mode that tendon rope drives can simplify the structure of anthropomorphic manipulator, is easy to design light and handy, multivariant Dextrous Hand.But such device due to driving element more, the free degree is high, makes complicated integral structure, manufacture processing cost high.
The people such as John Amend describe a kind of flexible universal grasping device (Amend J R based on bulk material blocking principle in the literature, et al.Apositive pressure universal gripper based on the jamming of granular material [J] .Robotics, IEEETransactions on, 2012,28 (2): 341-350.).Grasping device contacts time flexible and extrudes and waits to capture object, grasping device end ball generation deformation, a large amount of coffee particles is there is in ball, now, ball inside is vacuumized, filter membrane makes coffee particles constrain in the interior wedging mutually of confined space of ball, thus the ball shape after distortion is fixed up, and realizes capturing.This device is applicable to grasping of various shaped objects, and adaptive ability is stronger.The weak point of this device is: this device adopts pneumatic mode to realize, and whole system is bulky, and energy consumption is large, and noise is large, is difficult to miniaturization, involves great expense.
Magnetic flow liquid is the suspended substance mixed by high magnetic permeability, low hysteresis small soft magnetic particles and non-magnetic liquid.This suspended substance presents low viscous Newtonian fluid characteristic under zero magnetic field condition; And under strong magnetic field action, then present the Bingham bulk properties of high viscosity, lazy flow.Magnetic flow liquid has the features such as fast response time, the change of damping continuous reversible, Low-voltage Low-power, mechanism are succinct, long service life, therefore becomes a kind of intellectual material of of many uses, function admirable.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, a kind of magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus is provided, this device can realize the driving of tendon rope and grasp with flexible universal the effect combined, only need a driver, and possess different objects self adaptation drive lacking crawl function, and have employed magnetic flow liquid aid grip process, make crawl more reliable, its type of drive is succinctly reliable, compact conformation, manufactures, maintenance cost is low.
The present invention adopts following technical scheme:
A kind of magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: this magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus comprises flexible piece, at least one tendon rope, at least two fingers, at least one passage, coil, at least one driver of magnetic flow liquid, pedestals; Be connected with pedestal in the middle part of described flexible piece, flexible piece inner sealing has magnetic flow liquid; Described finger is arranged on flexible piece; Described channel setting is on flexible piece; Described driver is arranged in pedestal; Described tendon rope one end and the output shaft fixed connection of driver, the other end passes passage and is connected with the end of passage; Described coil is arranged on around flexible piece.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described flexible piece is thin-walled twin-layer structure; Flexible piece adopts cloth, net or film; Described tendon rope adopts weaving rope, plastic ties, rubber rope or wire.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described finger longitudinal direction and the angle of passage tangential direction are 45 °-135 °; Finger is radially arranged.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described finger one end is connected with pedestal; Finger to adopt in sheet spring, leaf spring, extension spring, stage clip or clockwork spring one or more combination;
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described finger is connected with pedestal by spring part, joint shaft; With one point be connected spring part, joint shaft quantity be at least 1; Finger adopts the rigid structure of shaft-like, tubulose or sheet.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described passage can axial stretching; Passage adopts flexible annular chamber, earring-shaped structure or bellows.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: also comprise conduit; Through hole is provided with in described pedestal; Two ends connecting through hole and the passage respectively of described conduit; Described tendon rope is through through hole and conduit.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: also comprise large coil; Described large coil is arranged at base bottom near flexible piece place; Described coil is distributed in the surface of flexible piece or is embedded in flexible piece inside.
Magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: also comprise transmission mechanism; Described transmission mechanism comprises decelerator, rotating shaft, reel; Described driver output shaft is connected with the power shaft of decelerator; Described rotating shaft one end is connected with the output shaft of decelerator, and the other end is connected with support member; Described support member is arranged in pedestal; Described reel is solidly set in rotating shaft; Described tendon rope is connected with reel.
The present invention compared with prior art, has following outstanding feature:
Apparatus of the present invention utilize tendon rope to pull passage, make flexible piece draw sealing in, achieve the self-adapting grasping function of difformity, different size object; This device utilizes the elasticity of finger, makes flexible piece keep optimum crawl attitude, and realizes the reset of flexible piece; This device uses the motion of a two or more finger of driver control, achieves drive lacking; This device utilizes the feature of magnetic flow liquid consolidation under magnetic field, enhances the reliability of crawl; This apparatus structure is compact, manufactures, maintenance cost is low.
Accompanying drawing explanation
Fig. 1 is the three-dimensional appearance figure of a kind of embodiment of magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus provided by the invention.
Fig. 2 is three dimensional sectional view embodiment illustrated in fig. 1.
Fig. 3 is partial enlarged drawing embodiment illustrated in fig. 2.
Fig. 4 is the structural representation adopting elastic finger embodiment.
Fig. 5 is partial enlarged drawing embodiment illustrated in fig. 4.
Fig. 6 is the structural representation of employing two passages.
Fig. 7 is the structural representation adopting rigidity finger and elastic joint embodiment.
Fig. 8 is partial enlarged drawing embodiment illustrated in fig. 7.
Fig. 9 is the structural representation in employing two joints.
Figure 10, Figure 11, Figure 12 are the three-dimensional appearance figure of crawl object process embodiment illustrated in fig. 1.
Figure 13, Figure 14, Figure 15 are the front section views of middle crawl object process embodiment illustrated in fig. 1.
In Fig. 1 to Figure 15:
11-pedestal, 12-top base, 13-support member,
14-rotating shaft, 15-through hole,
21-driver, 22-decelerator, 23-reel,
31-conduit, 32-tendon rope, 33-flexible piece,
34-passage, 35-points, 351-joint shaft,
352-spring part,
41-bolt, 42-sleeve, 43-nut,
51-coil, 52-magnetic flow liquid, the large coil of 53-.
Detailed description of the invention
Concrete structure of the present invention, operation principle and the course of work is further described below in conjunction with drawings and Examples.
A kind of a kind of embodiment of magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention's design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15.The present embodiment comprises flexible piece 33, at least one tendon rope 32, at least two fingers 35, at least one passage 34, coil 51, magnetic flow liquid 52, at least one driver 21, pedestals 11; Be connected with pedestal 11 in the middle part of described flexible piece 33, flexible piece 33 inner sealing has magnetic flow liquid 52; Described finger 35 is arranged on flexible piece 33; Described passage 34 is arranged on flexible piece 33; Described driver 21 is arranged in pedestal 11; Described tendon rope 32 one end and the output shaft fixed connection of driver 21, the other end passes passage 34 and is connected with the end of passage 34; Described coil 51 is arranged on around flexible piece 33.
In the present embodiment, described flexible piece 33 is in thin-walled twin-layer structure; Flexible piece 33 adopts cloth, net or film; Described tendon rope 32 adopts weaving rope, plastic ties, rubber rope or wire.
In the present embodiment, the angle of described finger 35 longitudinal direction and passage 34 tangential direction is 45 °-135 °; Finger 35 is radially arranged.
In the present embodiment, described finger 35 one end is connected with pedestal 11; Finger 35 to adopt in sheet springs, leaf spring, extension spring, stage clip or clockwork spring one or more combination;
In the present embodiment, described finger 35 is connected with pedestal 11 by spring part 352, joint shaft 351; Point the 35 spring parts 352 be connected with one, the quantity of joint shaft 351 is at least 1; Finger 35 adopts the rigid structure of shaft-like, tubulose or sheet.
In the present embodiment, described passage 34 can axial stretching; Passage 34 adopts flexible annular chamber, earring-shaped structure or bellows.
In the present embodiment, also comprise conduit 31; Through hole 15 is provided with in described pedestal 11; Two ends connecting through hole 15 and the passage 34 respectively of described conduit 31; Described tendon rope 32 is through through hole 15 and conduit 31.
In the present embodiment, also comprise large coil 53; Described large coil 53 is arranged at pedestal 11 bottom near flexible piece 33 place; Described coil 51 is distributed in the surface of flexible piece 33 or is embedded in flexible piece 33 inside.
In the present embodiment, also comprise transmission mechanism; Described transmission mechanism comprises decelerator 22, rotating shaft 14, reel 23; Described driver 21 output shaft is connected with the power shaft of decelerator 22; Described rotating shaft 14 one end is connected with the output shaft of decelerator 22, and the other end is connected with support member 13; Described support member 13 is arranged in pedestal 11; Described reel 23 is solidly set in rotating shaft 14; Described tendon rope 32 is connected with reel 23.
In the present embodiment, also comprise bindiny mechanism; Comprise top base 12, bolt 41, sleeve 42, nut 43; Described sleeve 42 is set up between pedestal 11 and top base 12; Described bolt 41 passes top base 12, sleeve 42, pedestal 11, and fastening by nut 43; Robot hand device is connected with the mechanical arm of peripheral hardware by top base 12.
In the embodiment of a preferred embodiment of the present invention, described finger 35 adopts sheet spring; Adopt six fingers 35 radially uniform with flexible piece 33 center, as shown in Figure 4.Described passage 34 adopts bellows, bellows around and be connected in flexible piece 33 outer rim, as shown in Figure 5.According to two passages 34, then as shown in Figure 6.
In the embodiment of the another kind of preferred version of invention, described finger 35 adopts the laminated structure of rigidity; Described pedestal 11 is arranged with joint shaft 351, and finger 35 is solidly set on joint shaft 351; Described joint shaft 351 is arranged with torsion spring 352; Described torsion spring 352 two ends are affixed respectively at pedestal 11, finger 35; As shown in Figure 7, Figure 8.If finger 35 adopts two joints, then as shown in Figure 9.
The operation principle of the embodiment of the magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus shown in Fig. 1 is introduced below in conjunction with accompanying drawing.
As shown in Figure 10, now driver 21 does not work the original state of the present embodiment, and under the return action of finger 35, flexible piece 33 is unfolded to the form close to plane or umbrella cover.
When driver 21 rotates forward work, carried on tendon rope 32 by reel 23, make the contraction in length of tendon rope 23 in passage 34.Because tendon rope 23 end and passage 34 are connected, passage 34 is shortened under the pulling force effect of tendon rope 32.The finger 35 be arranged on flexible piece 33 has certain rigidity, makes flexible piece 33 outer rim downwardly towards interior contraction.So flexible piece 33 form transits to bowl-shape form by close to plane, as shown in figure 11.
If driver 2 continues to rotate forward, flexible piece 33 will continue downwardly towards interior contraction, and form transits to lantern-shaped by bowl-shape, reach crawl attitude, as shown in figure 12.Now be energized to coil 51 and large coil 53, produce magnetic field.The magnetic flow liquid 52 of flexible piece 33 inside is become solid-state under the influence of a magnetic field from liquid state, thus it is firm that crawl attitude is shaped, and being grasped thing can not be freely movable in flexible piece 33, realizes reliably capturing.
When coil 51 and the power-off of large coil 53, when driver 21 reverses, magnetic flow liquid 52 reverts to liquid state by solid-state, and under the return action of finger 35, flexible piece 33 by lantern-shaped form, will finally return back to the initial configuration close to plane through bowl-shape form, realize resetting.
Specifically, when flexible facies palmaris self adaptation under-actuated robot hand captures object, manipulator motion, magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand is close to be waited to capture object.After object, flexible piece 33 starts distortion under the driving effect of driver 2, surrounds downwards and waits to capture object, until flexible piece 33 is subject to waiting that capturing spacing can not the continuation of object is out of shape.Now be energized to coil 51 and large coil 53, magnetic flow liquid 52 solidifies, and makes treating in flexible piece 33 capture object and fixes, realize reliably capturing.Capture motion process as shown in Figure 13,14,15.
Apparatus of the present invention utilize tendon rope to pull passage, make flexible piece draw sealing in, achieve the self-adapting grasping function of difformity, different size object; This device utilizes the elasticity of finger, makes flexible piece keep optimum crawl attitude, and realizes the reset of flexible piece; This device uses the motion of a two or more finger of driver control, achieves drive lacking; This device utilizes the feature of magnetic flow liquid consolidation under magnetic field, enhances the reliability of crawl; This apparatus structure is compact, manufactures, maintenance cost is low.
Claims (9)
1. a magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus, is characterized in that: this magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus comprises flexible piece (33), at least one tendon rope (32), at least two fingers (35), at least one passage (34), coil (51), magnetic flow liquid (52), at least one driver (21), pedestal (11); Described flexible piece (33) middle part is connected with pedestal (11), and flexible piece (33) inner sealing has magnetic flow liquid (52); Described finger (35) is arranged on flexible piece (33); Described passage (34) is arranged on flexible piece (33); Described driver (21) is arranged in pedestal (11); Described tendon rope (32) one end and the output shaft fixed connection of driver (21), the other end passes passage (34) and is connected with the end of passage (34); Described coil (51) is arranged on flexible piece (33) around.
2. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described flexible piece (33) is in thin-walled twin-layer structure; Flexible piece (33) adopts cloth, net or film; Described tendon rope (32) adopts weaving rope, plastic ties, rubber rope or wire.
3. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described finger (35) longitudinal direction and the angle of passage (34) tangential direction are 45 °-135 °; Finger (35) is radially arranged.
4. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described finger (35) one end is connected with pedestal (11); Finger (35) to adopt in sheet spring, leaf spring, extension spring, stage clip or clockwork spring one or more combination;
5. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described finger (35) is connected with pedestal (11) by spring part (352), joint shaft (351); Point spring part (352) that (35) be connected with one, the quantity of joint shaft (351) is at least 1; Finger (35) adopts the rigid structure of shaft-like, tubulose or sheet.
6. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described passage (34) can axial stretching; Passage (34) adopts flexible annular chamber, earring-shaped structure or bellows.
7. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: also comprise conduit (31); Through hole (15) is provided with in described pedestal (11); Two ends connecting through hole (15) and the passage (34) respectively of described conduit (31); Described tendon rope (32) is through through hole (15) and conduit (31).
8. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: also comprise large coil (53); Described large coil (53) is arranged at pedestal (11) bottom near flexible piece (33) place; Described coil (51) is distributed in the surface of flexible piece (33) or is embedded in flexible piece (33) inside.
9. magnetic flow liquid auxiliary flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: also comprise transmission mechanism; Described transmission mechanism comprises decelerator (22), rotating shaft (14), reel (23); Described driver (21) output shaft is connected with the power shaft of decelerator (22); Described rotating shaft (14) one end is connected with the output shaft of decelerator (22), and the other end is connected with support member (13); Described support member (13) is arranged in pedestal (11); Described reel (23) is solidly set in rotating shaft (14); Described tendon rope (32) is connected with reel (23).
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| CN201510234504.4A CN104924315B (en) | 2015-05-11 | 2015-05-11 | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device |
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| CN201510234504.4A CN104924315B (en) | 2015-05-11 | 2015-05-11 | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device |
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| CN104924315A true CN104924315A (en) | 2015-09-23 |
| CN104924315B CN104924315B (en) | 2020-09-25 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN105619427A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Active locking fluid type flexible rod cluster adaptive robot hand device |
| CN105798935A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope-driven magnetic current self-adaption grasping device |
| CN105798940A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope driven magnetorheological fluid particle-reinforced universal grasping device |
| CN105856185A (en) * | 2016-05-19 | 2016-08-17 | 清华大学 | Piston-drive magnetic flow flexible robot hand device |
| CN105856269A (en) * | 2016-05-27 | 2016-08-17 | 清华大学 | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device |
| CN105881564A (en) * | 2016-05-19 | 2016-08-24 | 清华大学 | Spherical self-adaptation robot hand device using tendon ropes to drive particle blocking |
| CN106113068A (en) * | 2016-05-31 | 2016-11-16 | 清华大学 | Magnetic flow liquid bar bunch self adaptation arm device |
| CN109176586A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of self-adapting flexible gripper and robot based on torsionspring |
| CN109397278A (en) * | 2018-12-07 | 2019-03-01 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
| CN109605417A (en) * | 2018-11-28 | 2019-04-12 | 重庆大学 | More structure state software handgrips |
| CN112720428A (en) * | 2021-01-19 | 2021-04-30 | 杨慧 | New-generation industrial robot based on high-end equipment manufacturing industry |
| CN114227741A (en) * | 2021-12-31 | 2022-03-25 | 浙江工业大学 | Multistable manipulator driven and controlled by magnetorheological elastomer |
| CN114310983A (en) * | 2021-12-29 | 2022-04-12 | 南京信息工程大学 | Gripping device and method with controllable surface adhesion force based on magnetorheological fluid |
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| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN105619427A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Active locking fluid type flexible rod cluster adaptive robot hand device |
| CN105798935A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope-driven magnetic current self-adaption grasping device |
| CN105798940A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope driven magnetorheological fluid particle-reinforced universal grasping device |
| CN105856185A (en) * | 2016-05-19 | 2016-08-17 | 清华大学 | Piston-drive magnetic flow flexible robot hand device |
| CN105881564A (en) * | 2016-05-19 | 2016-08-24 | 清华大学 | Spherical self-adaptation robot hand device using tendon ropes to drive particle blocking |
| CN105856269A (en) * | 2016-05-27 | 2016-08-17 | 清华大学 | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device |
| CN106113068A (en) * | 2016-05-31 | 2016-11-16 | 清华大学 | Magnetic flow liquid bar bunch self adaptation arm device |
| CN109176586A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of self-adapting flexible gripper and robot based on torsionspring |
| CN109605417A (en) * | 2018-11-28 | 2019-04-12 | 重庆大学 | More structure state software handgrips |
| CN109397278A (en) * | 2018-12-07 | 2019-03-01 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
| CN109397278B (en) * | 2018-12-07 | 2023-09-12 | 苑航 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
| CN112720428A (en) * | 2021-01-19 | 2021-04-30 | 杨慧 | New-generation industrial robot based on high-end equipment manufacturing industry |
| CN114310983A (en) * | 2021-12-29 | 2022-04-12 | 南京信息工程大学 | Gripping device and method with controllable surface adhesion force based on magnetorheological fluid |
| CN114310983B (en) * | 2021-12-29 | 2023-05-09 | 南京信息工程大学 | Grabbing device and method based on magnetorheological fluid and with controllable surface adhesion force |
| CN114227741A (en) * | 2021-12-31 | 2022-03-25 | 浙江工业大学 | Multistable manipulator driven and controlled by magnetorheological elastomer |
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