CN105150219A - Super-redundant flexible mechanical arm based on rope driving - Google Patents

Super-redundant flexible mechanical arm based on rope driving Download PDF

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Publication number
CN105150219A
CN105150219A CN201510631030.7A CN201510631030A CN105150219A CN 105150219 A CN105150219 A CN 105150219A CN 201510631030 A CN201510631030 A CN 201510631030A CN 105150219 A CN105150219 A CN 105150219A
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China
Prior art keywords
mechanical arm
rope
joint
driving
rotating shaft
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CN201510631030.7A
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Chinese (zh)
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CN105150219B (en
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徐文福
刘天亮
牟宗高
梁斌
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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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Abstract

The invention discloses a super-redundant flexible mechanical arm based on rope driving. The super-redundant flexible mechanical arm comprises a driving module, a mechanical arm module and a plurality of driving ropes; the mechanical arm module comprises a plurality of joints in serial connection, the adjacent joints are connected through cross and perpendicular rotating shafts arranged between the adjacent joints, and at least three driving ropes are fixedly connected to any joint; the driving ropes can be driven by the driving module to move independently; and the driving ropes arranged on the same joint are arranged in a manner that the joint can be pulled by the driving ropes to rotate around the rotating shafts relative to the adjacent joints. According to the super-redundant flexible mechanical arm, all joints can be adjusted independently and controlled more accurately, the weight of the joints is greatly reduced, the bearing capacity of the mechanical arm is further improved, and the high-speed movement and the quick response of the mechanical arm are achieved. Meanwhile, the distributing work of electric lines is removed, the mechanical arm is only composed of mechanical structures and is not prone to being affected by severe environments, the service life is prolonged, and the mechanical arm is convenient to disassembly, maintain and assemble.

Description

A kind of super redundancy flexible mechanical arm driven based on rope
Technical field
The present invention relates to robot field, especially relate to mechanical arm field.
Background technology
Ultra-redundant degree of freedom mechanical arm is that the problem for solving conventional serial robot dexterity poor puts forward, it is by increasing a large amount of Joint motion, make the dimension of joint space much larger than task space dimension, the introducing of Joint motion makes mechanical arm can realize the end pose expected more neatly.Therefore, this mechanical arm is especially suitable for use as: the operating equipment 1, in Anomalistic space, a large amount of Joint motion can make mechanical arm possess and extremely strong keep away barrier ability, make it be especially suitable for use as specialized robot, such as, seek through rubble rubble the lifesaving robot, nuclear reactor inspection machine people etc. that rescue survivor as after earthquake disaster; 2, capture the manipulator of irregular object, namely adopt full arm winding mode to capture large-size and irregular object, may be used for the eliminating of explosive and the maintenance of space station.
But current ultra-redundant degree of freedom mechanical arm adopts motor and the driver of discrete mostly, and motor is directly installed on cradle head place, and driver is fixed in switch board, and the two connects with cable, can bring a lot of shortcoming like this:
1, the electric wiring of mechanical arm is very loaded down with trivial details, brings great inconvenience, also easily cause potential safety hazard to follow-up maintenance;
2, add inertia and the quality of mechanical arm, cause its bearing capacity to be subject to certain restrictions, be unfavorable for high-speed motion and response fast;
3, motor-driven joint is all generally the joint of single-degree-of-freedom, will inevitably cause the complicated of control system to realize multifreedom motion;
4, manufacturing cost is increased.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of super redundancy flexible mechanical arm driven based on rope, it can carry out independent adjustment to each joint, makes control more accurate; The weight in joint can be alleviated greatly, thus increase the bearing capacity of mechanical arm further, be conducive to the high-speed mobile and the response fast that realize mechanical arm; Meanwhile, eliminate the arrangement work of electric wiring, mechanical arm is only made up of frame for movement, be not vulnerable to the impact of adverse circumstances, contribute to increasing the service life, be convenient to dismounting, safeguard and assembling.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of super redundancy flexible mechanical arm driven based on rope, comprise driver module, mechanical arm module and some driving to restrict, mechanical arm module comprises the joint of multiple series connection, adjacent joint intersects therebetween and vertical rotating shaft connection mutually by being located at, any joint is connected with the driving rope at least three places, drive rope can self-movement under the driving of driver module, and the driving rope be positioned on same joint meet and arrange: this joint can with driving pulling and rotating around the shaft occurring relative to the joint closed on of rope.
As the further improved procedure of such scheme, rope is driven to be fixed in the tail end in joint.
As the further improved procedure of such scheme, rope is driven to be 3 places, 120 °, interval setting between adjacent driven rope.
As the further improved procedure of such scheme, drive rope to be 4 places, the axle head of corresponding rotating shaft is respectively arranged.
As the further improved procedure of such scheme, driver module comprises servomotor, leading screw, slide block, nut and guide rail, wherein, the quantity of servomotor, leading screw, slide block, nut and guide rail with drive quantity correspondent equal of restricting, leading screw one end is connected with the driving shaft of servomotor, and the other end and nut are spirally connected, and slide block is fixed on nut, and can opposite rail slide, drive rope two ends respectively with corresponding joint and nut affixed.
As the further improved procedure of such scheme, driver module comprises frame, and multiple driving rope and accordingly servomotor, leading screw, slide block, nut, guide rail are arranged in same frame side by side, and multiple frame stacked on top of one another is arranged.
As the further improved procedure of such scheme, mechanical arm module comprises contiguous block, contiguous block is provided with two and mutually intersects and vertical rotating shaft installing hole, rotating shaft is located in rotating shaft installing hole respectively, and place rotating shaft is passed in the through hole of another spindle central position, the two ends in joint are equipped with hinged seat, adjacent joint respectively by the hinged seat of the two adjacent end and rotating shaft hinged.
As the further improved procedure of such scheme, the two ends in joint are provided with wiring limit, and wiring limit is provided with some string holes.
As the further improved procedure of such scheme, comprise wiring disk, it is located between driver module and mechanical arm module, and the circumference along disk is evenly distributed with some string holes and flexible pipe, the quantity correspondent equal that its quantity is restricted with driving.
The invention has the beneficial effects as follows:
Independent adjustment can be carried out to each joint, control more accurate; The weight in joint can also be alleviated greatly, thus increase the bearing capacity of mechanical arm further, be conducive to the high-speed mobile and the response fast that realize mechanical arm; Meanwhile, eliminate the arrangement work of electric wiring, mechanical arm is only made up of frame for movement, be not vulnerable to the impact of adverse circumstances, contribute to increasing the service life, be convenient to dismounting, safeguard and assembling.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the overall schematic of one embodiment of the invention;
Fig. 2 is the schematic diagram of a driver module of the present invention embodiment;
Fig. 3 is the schematic diagram (hide and drive rope) that adjacent segment of the present invention connects;
The assembling schematic diagram of stiff end and movable end when Fig. 4 is joint of the present invention connection;
The decomposing schematic representation of stiff end and movable end when Fig. 5 is joint of the present invention connection;
Fig. 6 is that the present invention connects up the schematic diagram of disk.
Detailed description of the invention
Clear, complete description is carried out, to understand object of the present invention, scheme and effect fully below with reference to embodiment and the accompanying drawing technique effect to design of the present invention, concrete structure and generation.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
It should be noted that, if no special instructions, when a certain feature is called as " fixing ", " connection " in another feature, it can directly be fixed, be connected in another feature, also indirectly can fix, be connected in another feature.In addition, it is only relative to the mutual alignment relation of each part of the present invention in accompanying drawing that the upper and lower, left and right used in the present invention etc. describe.
In addition, unless otherwise defined, all technology used herein are identical with the implication that those skilled in the art understand usually with scientific terminology.The term used in description is herein to describe specific embodiment, instead of in order to limit the present invention.Term as used herein " and/or " comprise the arbitrary combination of one or more relevant Listed Items.
With reference to Fig. 1, show the overall schematic of one embodiment of the invention, it comprises driver module 1, mechanical arm module 2 drives with some (not shown) of restricting, wherein mechanical arm module 2 comprises the joint 21 of multiple series connection, adjacent joint 21 intersects therebetween and vertical rotating shaft connection mutually by being located at, just can relative to there is rotating in two frees degree between such joint, by the combination in multiple similar joint, mechanical arm module just can spatially free bend.
Joint is preferably 10 places in the present embodiment.
Any joint is connected with the driving rope at least three places, rope is driven to be driven by driver module 1 as the Transfer Medium of power, and drive the motion between rope to be all independently arbitrarily, so at one time, different driving ropes can be in respectively and tighten up or the state of diastole, thus pulls corresponding joint to deflect towards different directions.In addition, in order to ensure that the rotation of joint on two rotating shaft four directions can be subject to driving the control of rope, to same joint driving the affixed position of rope have a definite limitation in the present invention, namely drive rope can not concentrate on certain side, such joint could with driving pulling and relative to the joint closed on, rotating in all directions occurring of rope.
Concrete, drive rope to be fixed in the tail end in joint, be convenient to exert a force to joint.In the present invention, joint tail end and head end are defined as follows: along the length direction of mechanical arm, and be tail end near one end of driver module 1, the one end away from driver module 1 is head end, lower same.
Drive the preferred embodiment of rope as the present invention, drive rope to be 3 places, and 120 °, interval setting between adjacent driving rope.As example, for meeting the control in each joint of mechanical arm, the sum of rope is driven to should be 30, described driving rope through first paragraph joint, wherein 3 affixed with first paragraph joint, remaining 27 reach second segment joint through behind this joint, now separating 3 again drives rope and second segment joint affixed, remaining driving rope moves on, and by that analogy until arrive last joint, one end, so just achieves separately controlling of each end joint.
As another embodiment driving rope, drive rope to be 4 places, the axle head of corresponding first rotating shaft 23 and the second rotating shaft 24 is respectively arranged, and each root drives the rotation in all corresponding direction of rope like this, thus makes control more accurate.
With reference to Fig. 2, show the schematic diagram of a driver module of the present invention embodiment, comprise servomotor 11, leading screw 12, slide block 13, nut 14 and guide rail 15, wherein, the quantity of servomotor 11, leading screw 12, slide block 13, nut 14 and guide rail 15 with drive quantity correspondent equal of restrict, namely place's motor correspondence controls a place and drives and restrict.Concrete, leading screw 12 one end is connected by shaft coupling with the driving shaft of servomotor 11, the other end and nut 14 are spirally connected, slide block 13 is fixed on nut 14, and can slide by opposite rail 15, drive the two ends of rope 3 affixed with corresponding joint, nut respectively, like this along with the rotation of leading screw, band movable slider 13 moves forward and backward along guide rail by nut 14, and then by driving rope to pull joint to deflect.
Preferably, driver module 1 comprises frame 16, and servomotor 11 is fixed on the head end of frame 16, and leading screw 12 is affixed by leading screw mount pad 17 and frame 16, and guide rail 15 is fixed along the length direction of frame 16.Same frame is provided with side by side multiple driving rope and corresponding servomotor, leading screw, slide block, nut and guide rail, multiple frame stacked on top of one another, to form above-mentioned driver module, is convenient to driver module installation and management.
With reference to Fig. 3 to Fig. 5, show the accompanying drawings of mechanical arm module, for arbitrary neighborhood joint, interarticular rotation mainly occurs between the head end in last joint (being namely close to the joint of driver module) and the tail end in a rear joint (namely away from the joint of driver module), and the head end in last joint relatively remains static in rotation process, the tail end rotated primarily of a rear joint completes, for convenience of description, therefore the head end in last joint is referred to as stiff end 21, the tail end in a rear joint is referred to as movable end 22, therebetween rotating shaft is referred to as the first rotating shaft 23 and the second rotating shaft 24, wherein the first rotating shaft 23 and the second rotating shaft 24 realize the key element that rotates as joint, adopt the structure of right-angled intersection in the present invention, movable end 22 can respectively around the first rotating shaft 23, second rotating shaft 24 is stiff end 21 flexible rotating relatively, be understandable that, the rotating shaft connecting structure of right-angled intersection formula is one embodiment of the present invention, movable end 22 also can adopt any other known technology to realize the rotation in two frees degree.
The present invention is the connection realized between movable end and stiff end, is also provided with contiguous block 25, and contiguous block 25 is preferably a square, and which is provided with two and mutually intersect and vertical rotating shaft installing hole, movable end 22 is corresponding with on stiff end 21 is provided with hinged seat.First rotating shaft 23 is through hinged with the hinged seat on stiff end 21 after a wherein rotating shaft installing hole, such contiguous block 25 just can rotate relative to stiff end 21 around the first rotating shaft 23, first rotating shaft 23 center is provided with through hole, second rotating shaft 24 is hinged with the hinged seat on movable end after passing the through hole in another rotating shaft installing hole and the first rotating shaft 23, such movable end 22 just can rotate relative to contiguous block 25 around the second rotating shaft 24, and can with contiguous block 25 one rotate relative to stiff end 21, to realize the rotation of joint in two frees degree, the movement of the first rotating shaft along rotating shaft installing hole can also be limited simultaneously, connected by above-mentioned mode in some joints, just can be formed can the mechanical arm of free bend.
Further, the second rotating shaft 24 comprises a screw 241, and one end of screw 241 is bolted with stop nut 242, is provided with axle sleeve 243 between screw 241 and respective axes of rotation installing hole.
Preferably, in order to realize the ordered arrangement driving rope, be convenient to follow-up maintenance, stiff end 21 is provided with the periphery of movable end 22 limit 26 of connecting up, limit 26 is evenly distributed with some string holes 261 along its circumference in wiring, driving rope 3 through being fixed in string holes corresponding on movable end 22 after the string holes on stiff end 21, driving rope separated from one another like this, effectively can avoid the winding between rope.
In the present invention, the stiff end in joint keeps geo-stationary, movable end has the free degree of both direction relative to stiff end, its different rotational angle in these two frees degree correspond to the length driving rope different respectively, therefore, rope lengths variable quantity corresponding to the joint angles required for calculating can be separated by inverse, assign it to driver module, just can realize the motion planning function of simple joint two frees degree.
With reference to Fig. 6, when the joint of mechanical arm is more, drive the quantity of rope can become very huge, in order to prevent occurring between rope being wound around, the disk 4 that connects up also is provided with between driver module 1 and mechanical arm module 2, wiring disk 4 is evenly distributed with some string holes 41 and flexible pipe 42 along its circumference, its quantity and the quantity correspondent equal driving rope 3, first the driving rope of drawing from driver module guides in respective string holes 41 by flexible pipe 42, connect with corresponding joint respectively again, thus the arrangement making rope orderly, be convenient to management.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.

Claims (9)

1. the super redundancy flexible mechanical arm driven based on rope, it is characterized in that, comprise driver module, mechanical arm module and some driving are restricted, described mechanical arm module comprises the joint of multiple series connection, adjacent described joint intersects therebetween and vertical rotating shaft connection mutually by being located at, any described joint is connected with the described driving rope at least three places, described driving rope can self-movement under the driving of described driver module, and be positioned at driving rope on same joint and meet and arrange: this joint can drive pulling and relative to the joint closed on, rotating around described rotating shaft occurring of rope with described.
2. the super redundancy flexible mechanical arm driven based on rope according to claim 1, is characterized in that, the described tail end driving rope to be fixed in described joint.
3. the super redundancy flexible mechanical arm driven based on rope according to claim 2, it is characterized in that, described driving rope is 3 places, 120 °, interval setting between adjacent described driving rope.
4. the super redundancy flexible mechanical arm driven based on rope according to claim 2, it is characterized in that, described driving rope is 4 places, and the axle head of corresponding described rotating shaft is respectively arranged.
5. the super redundancy flexible mechanical arm driven based on rope according to any one of claim 2 to 4, it is characterized in that, described driver module comprises servomotor, leading screw, slide block, nut and guide rail, wherein, the quantity of described servomotor, leading screw, slide block, nut and guide rail and describedly drive quantity correspondent equal of restricting, described leading screw one end is connected with the driving shaft of servomotor, the other end and described nut are spirally connected, described slide block is fixed on described nut, and can relatively described slide, the two ends of described driving rope are affixed with corresponding joint, nut respectively.
6. the super redundancy flexible mechanical arm driven based on rope according to claim 5, it is characterized in that, described driver module comprises frame, multiple described driving rope and accordingly servomotor, leading screw, slide block, nut, guide rail are arranged in same frame side by side, and multiple described frame stacked on top of one another is arranged.
7. the super redundancy flexible mechanical arm driven based on rope according to any one of claim 2 to 4, it is characterized in that, described mechanical arm module comprises contiguous block, described contiguous block is provided with two and mutually intersects and vertical rotating shaft installing hole, described rotating shaft is located in described rotating shaft installing hole respectively, and place rotating shaft is passed in the through hole of another spindle central position, the two ends in described joint are equipped with hinged seat, adjacent described joint respectively by the hinged seat of the two adjacent end and described rotating shaft hinged.
8. the super redundancy flexible mechanical arm driven based on rope according to claim 7, is characterized in that, the two ends in described joint are provided with wiring limit, and described wiring limit is provided with some string holes.
9. the super redundancy flexible mechanical arm driven based on rope according to any one of claim 2 to 4, it is characterized in that, comprise wiring disk, it is located between described driver module and mechanical arm module, circumference along described disk is evenly distributed with some string holes and flexible pipe, the quantity correspondent equal that its quantity is restricted with driving.
CN201510631030.7A 2015-09-28 2015-09-28 A kind of super redundancy flexible mechanical arm driven based on rope Active CN105150219B (en)

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CN105666479A (en) * 2015-12-29 2016-06-15 上海大学 Control methods for driving rear-mounted continuous multi-joint mechanical arm
CN105798947A (en) * 2016-04-15 2016-07-27 南京航空航天大学 Reconfigurable rope-driven tandem decoupling mechanical arm joint and working method thereof
CN105798900A (en) * 2016-04-15 2016-07-27 南京航空航天大学 Rope drive decoupling mechanism based on gear train and decoupling method thereof
CN105798898A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof
CN105798899A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Modular rope-driven decoupling mechanical arm joint and working method thereof
CN106393172A (en) * 2016-11-06 2017-02-15 浙江大学 Multi-joint flexible underwater mechanical arm
CN106625639A (en) * 2017-02-28 2017-05-10 哈尔滨工业大学深圳研究生院 Flexible arm linkage joint section
CN106737689A (en) * 2017-01-19 2017-05-31 哈尔滨工业大学深圳研究生院 Super redundant mechanical arm based on mode function mixes Converse solved method and system
CN106945542A (en) * 2017-02-28 2017-07-14 深圳源创智能机器人有限公司 A kind of flexible charging robot driven based on closed loop line
CN107186707A (en) * 2017-07-21 2017-09-22 清华大学 The mechanical structure of flexible arm
CN107214695A (en) * 2017-07-21 2017-09-29 清华大学 The drive device of flexible arm
CN107322584A (en) * 2017-08-30 2017-11-07 享奕自动化科技(上海)有限公司 A kind of snakelike arm
CN107322583A (en) * 2017-08-30 2017-11-07 享奕自动化科技(上海)有限公司 A kind of snakelike arm
CN108161917A (en) * 2018-03-19 2018-06-15 上海盾构设计试验研究中心有限公司 A kind of Snakelike mechanical arm for shield cutter detection
CN108177160A (en) * 2017-12-29 2018-06-19 哈尔滨工业大学深圳研究生院 A kind of cooperating joint group and mechanical arm that continuous iso-curvature bending can be achieved
CN108237551A (en) * 2017-12-30 2018-07-03 哈尔滨工业大学深圳研究生院 A kind of rope driving flexible mechanical shoulder joint group of double freedom linkage
CN108237519A (en) * 2016-12-26 2018-07-03 中国科学院沈阳自动化研究所 A kind of hyper-redundant robot
CN108393876A (en) * 2017-07-06 2018-08-14 沈阳新松机器人自动化股份有限公司 A kind of line driving non-individual body robot
CN108453722A (en) * 2018-03-29 2018-08-28 清华大学深圳研究生院 A kind of flexible mechanical arm based on elastic tube
CN108908318A (en) * 2018-07-13 2018-11-30 哈尔滨工业大学(深圳) A kind of small-sized super redundancy flexible mechanical arm
CN108908332A (en) * 2018-07-13 2018-11-30 哈尔滨工业大学(深圳) The control method and system, computer storage medium of super redundancy flexible robot
CN109278032A (en) * 2018-10-15 2019-01-29 享奕自动化科技(上海)有限公司 Drive lacking rope drives mechanical arm
CN110000787A (en) * 2019-04-12 2019-07-12 清华大学深圳研究生院 A kind of control method of super redundant mechanical arm
CN110039547A (en) * 2019-05-27 2019-07-23 清华大学深圳研究生院 A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating
CN110368619A (en) * 2019-07-12 2019-10-25 东南大学 A kind of intelligent extinguishing device based on Bionic flexible arm
CN111230852A (en) * 2020-01-16 2020-06-05 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Multi-arm manipulator and robot

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CN105666479A (en) * 2015-12-29 2016-06-15 上海大学 Control methods for driving rear-mounted continuous multi-joint mechanical arm
CN105798900B (en) * 2016-04-15 2017-10-31 南京航空航天大学 Rope driving decoupling mechanism and its decoupling method based on train
CN105798900A (en) * 2016-04-15 2016-07-27 南京航空航天大学 Rope drive decoupling mechanism based on gear train and decoupling method thereof
CN105798898A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof
CN105798899A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Modular rope-driven decoupling mechanical arm joint and working method thereof
CN105798947A (en) * 2016-04-15 2016-07-27 南京航空航天大学 Reconfigurable rope-driven tandem decoupling mechanical arm joint and working method thereof
CN105798899B (en) * 2016-04-15 2017-10-20 南京若希自动化科技有限公司 Modularization rope driving decoupling joint of mechanical arm and its method of work
CN106393172A (en) * 2016-11-06 2017-02-15 浙江大学 Multi-joint flexible underwater mechanical arm
CN108237519A (en) * 2016-12-26 2018-07-03 中国科学院沈阳自动化研究所 A kind of hyper-redundant robot
CN108237519B (en) * 2016-12-26 2020-11-03 中国科学院沈阳自动化研究所 Super-redundancy robot
CN106737689B (en) * 2017-01-19 2019-04-23 哈尔滨工业大学深圳研究生院 Super redundant mechanical arm based on mode function mixes Converse solved method and system
CN106737689A (en) * 2017-01-19 2017-05-31 哈尔滨工业大学深圳研究生院 Super redundant mechanical arm based on mode function mixes Converse solved method and system
CN106945542A (en) * 2017-02-28 2017-07-14 深圳源创智能机器人有限公司 A kind of flexible charging robot driven based on closed loop line
CN106625639A (en) * 2017-02-28 2017-05-10 哈尔滨工业大学深圳研究生院 Flexible arm linkage joint section
CN106625639B (en) * 2017-02-28 2019-07-23 哈尔滨工业大学深圳研究生院 A kind of flexible arm cooperating joint section
CN108393876A (en) * 2017-07-06 2018-08-14 沈阳新松机器人自动化股份有限公司 A kind of line driving non-individual body robot
CN107186707A (en) * 2017-07-21 2017-09-22 清华大学 The mechanical structure of flexible arm
CN107214695A (en) * 2017-07-21 2017-09-29 清华大学 The drive device of flexible arm
CN107322583A (en) * 2017-08-30 2017-11-07 享奕自动化科技(上海)有限公司 A kind of snakelike arm
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