CN105171747A - Robot hand and use method thereof - Google Patents
Robot hand and use method thereof Download PDFInfo
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- CN105171747A CN105171747A CN201510617669.XA CN201510617669A CN105171747A CN 105171747 A CN105171747 A CN 105171747A CN 201510617669 A CN201510617669 A CN 201510617669A CN 105171747 A CN105171747 A CN 105171747A
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- mechanical hand
- mechanical arm
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- motor driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses a robot hand and a use method thereof, and belongs to the technical field of automatic control. The robot hand comprises a mechanical arm, a position sensor, a torque sensor, a motor driver, a robot hand controller and an upper computer. The position sensor is used for detecting the movement angle of the mechanical arm. The torque sensor is used for detecting the acting force of the mechanical arm. The robot hand controller is used for transmitting data of the movement angle and data of the acting force to the upper computer. The upper computer is used for determining a control command used for controlling the mechanical arm according to the data of the movement angle and the data of the acting force. The robot hand controller is used for analyzing the control command to obtain a control signal generated after analysis. The motor driver is used for generating driving force used for controlling the mechanical arm according to the control signal generated after analysis. The mechanical arm is used for completing operation corresponding to the control signal according to the driving force. The problem of low reliability of a common robot hand is solved, and the reliability of the robot hand is improved.
Description
Technical field
The present invention relates to automatic control technology field, particularly a kind of mechanical hand and using method thereof.
Background technology
Along with the fast development of science and technology, industrial robot receives to be paid close attention to widely.Mechanical hand, as a kind of industrial robot, can be unsuitable in the environment of manual work at high temperature etc. in operation.
There is a kind of mechanical hand in prior art, the operation of regulation can be completed according to the operation procedure formulated in advance.This mechanical hand forms primarily of mechanical arm, motor driver, mechanical hand controller and host computer.Wherein, the control command that mechanical hand controller sends for receiving host computer, and the control signal after obtaining parsing is resolved to this control command, and the control signal after resolving is sent to motor driver, motor driver is used for the control signal after according to parsing and produces the driving force being used for controller mechanical arm, finally, mechanical arm completes operation corresponding to control signal according to driving force.
Because above-mentioned mechanical hand is when completing operation corresponding to control signal, the control command prestored in host computer is the order of the movement locus completing operation corresponding to control signal about mechanical arm, so when mechanical arm deviate from this movement locus, host computer the motion state current according to mechanical arm cannot reformulate new control command, mechanical arm possibly cannot complete operation corresponding to control signal, mechanical hand is fragile, and therefore, the reliability of mechanical hand is lower.
Summary of the invention
In order to the problem that the reliability solving mechanical hand is lower, the invention provides a kind of mechanical hand and using method thereof.Described technical scheme is as follows:
First aspect, provide a kind of mechanical hand, described mechanical hand comprises: mechanical arm, position sensor, torque sensor, motor driver, mechanical hand controller and host computer, described mechanical arm is electrically connected with described position sensor, described torque sensor, described motor driver respectively, and described mechanical hand controller is electrically connected with described position sensor, described torque sensor, described motor driver, described host computer respectively;
The data of described movement angle for detecting the movement angle of described mechanical arm, and are sent to described mechanical hand controller by described position sensor;
The data of described active force for detecting the active force of described mechanical arm, and are sent to described mechanical hand controller by described torque sensor;
Described mechanical hand controller is used for the data of the data of described movement angle and described active force to be sent to described host computer;
Described host computer is used for determining according to the data of described movement angle and the data of described active force the control command controlling described mechanical arm, and described control command is sent to described mechanical hand controller;
Described mechanical hand controller is used for resolving described control command obtaining the control signal after resolving, and the control signal after described parsing is sent to described motor driver;
Described motor driver is used for according to the driving force of control signal generation for controlling described mechanical arm after described parsing;
Described mechanical arm is used for completing operation corresponding to control signal according to described driving force.
Optionally, one end of described position sensor is fixedly connected with one end of described motor driver;
The other end of described motor driver is fixedly connected with one end of described mechanical arm;
One end that described torque sensor is connected with described motor driver with described mechanical arm is fixedly connected with;
Described torque sensor is positioned at the cross section side of described mechanical arm, described motor driver and described position sensor are positioned at the opposite side of the cross section of described mechanical arm, described cross section is be parallel to the plane that the length direction of described mechanical arm and width formed, and described torque sensor, described motor driver and described position sensor are arranged along the linear array perpendicular to described cross section.
Optionally, described mechanical hand also comprises decelerator;
The other end of described motor driver is fixedly connected with by described decelerator one end with described mechanical arm.
Optionally,
The mode that the hollow shaft of described decelerator adopts woodruff key to be connected with the output shaft of described motor driver connects.
Optionally, described mechanical hand also comprises base;
Described base is provided with cavity, one end that described base is connected with described motor driver with described mechanical arm is fixedly connected with, described position sensor, described motor driver and described decelerator are arranged in the cavity of described base, and described decelerator is fixedly connected with described base.
Optionally, described mechanical hand also comprises actuator;
Described actuator is fixedly connected with the other end of described mechanical arm, and described actuator is used for fixing operation device.
Optionally,
Described mechanical hand controller is electrically connected with described host computer by general-purpose serial bus USB interface.
Second aspect, provides a kind of using method of mechanical hand, and described mechanical hand comprises for the mechanical hand described in first aspect, described method:
Position sensor detects the movement angle of mechanical arm;
The data of described movement angle are sent to mechanical hand controller by described position sensor;
Torque sensor detects the active force of described mechanical arm;
The data of described active force are sent to described mechanical hand controller by described torque sensor;
The data of the data of described movement angle and described active force are sent to host computer by described mechanical hand controller;
Described host computer determines according to the data of the data of described movement angle and described active force the control command controlling described mechanical arm;
Described control command is sent to described mechanical hand controller by described host computer;
Described mechanical hand controller is resolved described control command and is obtained the control signal after resolving;
Control signal after described parsing is sent to described motor driver by described mechanical hand controller;
Described motor driver produces the driving force for controlling described mechanical arm according to the control signal after described parsing;
Described mechanical arm completes operation corresponding to control signal according to described driving force.
Optionally, the data of described movement angle are sent to mechanical hand controller by described position sensor, comprising:
The data of described movement angle are sent to mechanical hand controller by general-purpose serial bus USB interface by described position sensor.
Optionally, the data of described active force are sent to described mechanical hand controller by described torque sensor, comprising:
The data of described active force are sent to described mechanical hand controller by described USB interface by described torque sensor.
The invention provides a kind of mechanical hand and using method thereof, because the data of the movement angle of the mechanical arm detected can be sent to mechanical hand controller by the position sensor of this mechanical hand, the data of the active force of the mechanical arm detected can be sent to mechanical hand controller by torque sensor, thus make host computer determine the control command of controller mechanical arm according to the data of movement angle and the data of active force, compared to prior art, host computer the motion state current according to mechanical arm can reformulate new control command, therefore, improve the reliability of mechanical hand.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the present invention.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structured flowchart of a kind of mechanical hand that the embodiment of the present invention provides;
Fig. 2 is the structural representation of a kind of mechanical hand that the embodiment of the present invention provides;
Fig. 3 is the flow chart of the another kind of mechanical hand that the embodiment of the present invention provides;
Fig. 4 is the flow chart of the using method of a kind of mechanical hand that the embodiment of the present invention provides.
By above-mentioned accompanying drawing, illustrate the embodiment that the present invention is clear and definite more detailed description will be had hereinafter.These accompanying drawings and text description be not in order to limited by any mode the present invention design scope, but by reference to specific embodiment for those skilled in the art illustrate concept of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiments provide a kind of mechanical hand, as shown in Figure 1, this mechanical hand comprises: mechanical arm 01, position sensor 02, torque sensor 03, motor driver 04, mechanical hand controller 05 and host computer 06.Wherein, mechanical arm 01 is electrically connected with position sensor 02, torque sensor 03, motor driver 04 respectively, and mechanical hand controller 05 is electrically connected with position sensor 02, torque sensor 03, motor driver 04, host computer 06 respectively.
The data of movement angle for detecting the movement angle of mechanical arm 01, and are sent to mechanical hand controller 05 by position sensor 02; The data of active force for detecting the active force of mechanical arm 01, and are sent to mechanical hand controller 05 by torque sensor 03; Mechanical hand controller 05 is for being sent to host computer 06 by the data of movement angle and the data of active force, and namely mechanical hand controller is used for host computer feedback data; Control command for determining the control command of controller mechanical arm 01 according to the data of movement angle and the data of active force, and is sent to mechanical hand controller 05 by host computer 06; Mechanical hand controller 05 obtains the control signal after resolving for resolving control command, and the control signal after resolving is sent to motor driver 04; Motor driver 04 is for producing the driving force being used for controller mechanical arm 01 according to the control signal after parsing; Mechanical arm 01 is for completing operation corresponding to control signal according to driving force.
In sum, the mechanical hand that the embodiment of the present invention provides, because the data of the movement angle of the mechanical arm detected can be sent to mechanical hand controller by the position sensor of this mechanical hand, the data of the active force of the mechanical arm detected can be sent to mechanical hand controller by torque sensor, thus make host computer determine the control command of controller mechanical arm according to the data of movement angle and the data of active force, compared to prior art, host computer the motion state current according to mechanical arm can reformulate new control command, therefore, improve the reliability of mechanical hand.
It is (English: UniversalSerialBus that mechanical hand controller can pass through USB; Be called for short: USB) interface is electrically connected with host computer.Host computer refers to the computer that directly can send operational order.USB interface is the serial ports bus-bar standard connecting external device (ED), uses extensively on computers.Mechanical hand controller realizes the mutual of data by USB interface and host computer, on the one hand, mechanical hand controller receives the control command for controller mechanical arm of host computer transmission by USB interface, mechanical hand controller can be resolved control command, obtain the control signal after resolving, and the control signal after resolving is sent to motor driver; On the other hand, the data of the active force of the mechanical arm that the data of the movement angle of the mechanical arm that position sensor detects by mechanical hand controller and torque sensor detect are sent to host computer by USB interface, the data of the movement angle of mechanical arm and the data of active force can be presented on the human-computer interaction interface of host computer, like this, the current motion state of the information determination mechanical hand that operator can show according to human-computer interaction interface, thus carry out analysis and inspection, make the control command of precise and high efficiency, for the permanently effective operation of mechanical hand provides decision-making foundation.
Further, as shown in Figure 2, one end a1 of position sensor 02 is fixedly connected with one end b1 of motor driver 04; The other end b2 of motor driver 04 is fixedly connected with one end c1 of mechanical arm 01; One end c1 that torque sensor 03 and mechanical arm 01 are connected with motor driver 04 is fixedly connected with; Torque sensor 03 is positioned at cross section (Fig. 2 does not draw) side of mechanical arm 01, and motor driver 04 and position sensor 02 are positioned at the opposite side of the cross section of mechanical arm 01.Wherein, cross section is be parallel to the plane that the length direction of mechanical arm 01 and width formed, and torque sensor 03, motor driver 04 and position sensor 02 are along the straight line m array arrangement perpendicular to cross section.
The mechanical arm of mechanical hand can bear axial compressive force and tilting moment when actual job, and in order to reduce axial compressive force that mechanical arm is subject to and tilting moment, as shown in Figure 3, this mechanical hand also comprises decelerator 07; The other end b2 of motor driver 04 is fixedly connected with one end c1 of mechanical arm 01 by decelerator 07.Example, decelerator can be RV decelerator, and RV reductor is made up of the prime of a planet-gear speed reducer and the rear class of a cycloidal planetary gear speed reducer, and RV decelerator has compact conformation, the features such as gearratio is large, be one of the most frequently used reductor, RV vibration reducer is little, and noise is low, energy consumption is low, precision is high, rigidity is large, it can bear axial compressive force and radial moment of torsion, and is conducive to the driving-chain shortening mechanical hand, simplifies structural design.Other labels in Fig. 3 can be described by reference diagram 2.Optionally, the mode that the hollow shaft of decelerator 07 and the output shaft of motor driver 04 can adopt woodruff key to be connected connects.The mode adopting woodruff key to connect carrys out the detailed process of connection reducer and motor driver can with reference to prior art, and the embodiment of the present invention is not construed as limiting this.
In order to alleviate the cantilevered weights of mechanical hand, as shown in Figure 3, mechanical hand can also comprise base 08; Base 08 is provided with cavity 081, and one end c1 that base 08 and mechanical arm 01 are connected with motor driver 04 is fixedly connected with, and position sensor 02, motor driver 04 and decelerator 07 are arranged in the cavity 081 of base 08.Decelerator 07 is fixedly connected with base 08.
Further, as shown in Figure 3, mechanical hand also comprises actuator 09.Actuator 09 is fixedly connected with the other end c2 of mechanical arm 01.Actuator 09 is for fixing operation device.Actuator, as a fixed platform, fixedly can carry out the operation tool of needs during operation as pneumatic tightening tool etc.It should be noted that, because motor driver is directly connected with decelerator, mechanical arm rotate mode be motor driver connection reducer directly drive mode, so the rotation of mechanical arm can not affect the orientation moved horizontally of actuator.
It should be added that, the mechanical hand that the embodiment of the present invention provides adopts torque sensor to realize the feedback of the active force of mechanical arm; Adopt position sensor to detect movement angle and the positional information of mechanical arm, and the positional information of PID (i.e. ratio, integration and differentiation) algorithm computer mechanical arm can be utilized, thus the control command that host computer is determined is more accurate; Adopt mechanical hand controller that the data of movement angle and the data of active force are sent to host computer by USB interface; The oscillogram of the motion state adopting host computer display device hand current, therefore, this mechanical hand possesses the ability of sensory feedback, have the advantages that cost is low, efficiency is high, volume is little, can be applied to and variously be not suitable in the operating environment of manual work, especially the operating environment in manufacturing industry, as the part mate environment of electronic circuit board.Replace manual work by mechanical hand, highly shortened the activity duration, improve operating efficiency.In addition, adopt PC control mechanical hand, be conducive to the control based on network realizing mechanical hand.
In sum, the mechanical hand that the embodiment of the present invention provides, because the data of the movement angle of the mechanical arm detected can be sent to mechanical hand controller by the position sensor of this mechanical hand, the data of the active force of the mechanical arm detected can be sent to mechanical hand controller by torque sensor, thus make host computer determine the control command of controller mechanical arm according to the data of movement angle and the data of active force, compared to prior art, host computer the motion state current according to mechanical arm can reformulate new control command, therefore, improve the reliability of mechanical hand.
Embodiments provide a kind of using method of mechanical hand, this mechanical hand is the mechanical hand shown in Fig. 1 to Fig. 3, and as shown in Figure 4, the method comprises:
Step 301, position sensor detect the movement angle of mechanical arm.
The movement angle of the mechanical arm of mechanical hand is detected, so that the data of the movement angle of mechanical hand are sent to mechanical hand controller by position sensor by position sensor.Example, position sensor can utilize pid algorithm to detect and the movement angle of computer mechanical arm, obtains the positional information of mechanical arm.
The data of movement angle are sent to mechanical hand controller by step 302, position sensor.
After position sensor detects the movement angle of mechanical arm, the data of movement angle are sent to mechanical hand controller.
Step 303, torque sensor detect the active force of mechanical arm.
Torque sensor can detect the active force of various rotation or non-rotary mechanical parts.Torque sensor can convert the physical change of active force to the accurate signal of telecommunication.It should be noted that, step 303 can perform with step 301 simultaneously.
The data of active force are sent to mechanical hand controller by step 304, torque sensor.
After torque sensor detects the active force of mechanical arm, the data of active force are sent to mechanical hand controller.It should be noted that, step 304 can perform with step 302 simultaneously.
The data of movement angle and the data of active force are sent to host computer by step 305, mechanical hand controller.
Mechanical hand controller is electrically connected with host computer, realizes the mutual of data.The data of the active force of the mechanical arm that the data of the movement angle of the mechanical arm detected by position sensor by mechanical hand controller and torque sensor are detected are sent to host computer, thus the data of the movement angle of mechanical arm and the data of active force are presented on the human-computer interaction interface of host computer.The current motion state of the information determination mechanical hand that operator shows according to human-computer interaction interface, formulates the control command of precise and high efficiency.
Step 306, host computer determine the control command of controller mechanical arm according to the data of movement angle and the data of active force.
After the data of movement angle and the data of active force are sent to host computer by mechanical hand controller, host computer then can determine the control command of controller mechanical arm according to the data of the data of movement angle and active force.
Control command is sent to mechanical hand controller by step 307, host computer.
By host computer, the control command being used for controller mechanical arm is sent to mechanical hand controller.
Step 308, mechanical hand controller are resolved control command and are obtained the control signal after resolving.
After control command is sent to mechanical hand controller by host computer, mechanical hand controller needs to resolve this control command, obtains the control signal after resolving.
Control signal after parsing is sent to motor driver by step 309, mechanical hand controller.
Control signal after parsing is sent to motor driver by mechanical hand controller, so that motor driver produces the driving force being used for controller mechanical arm according to the control signal after parsing.
Step 310, motor driver produce the driving force being used for controller mechanical arm according to the control signal after parsing.
Motor driver produces driving force according to the control signal after parsing, and this driving force is for controlling manipulator motion.
Step 311, mechanical arm complete operation corresponding to control signal according to driving force.
In sum, the using method of the mechanical hand that the embodiment of the present invention provides, because the data of the movement angle of the mechanical arm detected can be sent to mechanical hand controller by the position sensor of mechanical hand by the method, by torque sensor, the data of the active force of the mechanical arm detected are sent to mechanical hand controller, thus make host computer determine the control command of controller mechanical arm according to the data of movement angle and the data of active force, compared to prior art, host computer the motion state current according to mechanical arm can reformulate new control command, therefore, improve the reliability of mechanical hand.
Mechanical hand controller can be electrically connected with host computer by USB interface, and accordingly, step 302 can comprise: the data of movement angle are sent to mechanical hand controller by USB interface by position sensor.
Step 304 comprises: the data of active force are sent to mechanical hand controller by USB interface by torque sensor.
In sum, the using method of the mechanical hand that the embodiment of the present invention provides, because the data of the movement angle of the mechanical arm detected can be sent to mechanical hand controller by the position sensor of mechanical hand by the method, by torque sensor, the data of the active force of the mechanical arm detected are sent to mechanical hand controller, thus make host computer determine the control command of controller mechanical arm according to the data of movement angle and the data of active force, compared to prior art, host computer the motion state current according to mechanical arm can reformulate new control command, therefore, improve the reliability of mechanical hand.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the specific works process of the method for foregoing description, with reference to the corresponding process in aforementioned means embodiment, can not repeat them here.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only storage, disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a mechanical hand, it is characterized in that, described mechanical hand comprises: mechanical arm, position sensor, torque sensor, motor driver, mechanical hand controller and host computer, described mechanical arm is electrically connected with described position sensor, described torque sensor, described motor driver respectively, and described mechanical hand controller is electrically connected with described position sensor, described torque sensor, described motor driver, described host computer respectively;
The data of described movement angle for detecting the movement angle of described mechanical arm, and are sent to described mechanical hand controller by described position sensor;
The data of described active force for detecting the active force of described mechanical arm, and are sent to described mechanical hand controller by described torque sensor;
Described mechanical hand controller is used for the data of the data of described movement angle and described active force to be sent to described host computer;
Described host computer is used for determining according to the data of described movement angle and the data of described active force the control command controlling described mechanical arm, and described control command is sent to described mechanical hand controller;
Described mechanical hand controller is used for resolving described control command obtaining the control signal after resolving, and the control signal after described parsing is sent to described motor driver;
Described motor driver is used for according to the horse district power of control signal generation for controlling described mechanical arm after described parsing;
Described mechanical arm is used for completing operation corresponding to control signal according to described driving force.
2. mechanical hand according to claim 1, is characterized in that,
One end of described position sensor is fixedly connected with one end of described motor driver;
The other end of described motor driver is fixedly connected with one end of described mechanical arm;
One end that described torque sensor is connected with described motor driver with described mechanical arm is fixedly connected with;
Described torque sensor is positioned at the cross section side of described mechanical arm, described motor driver and described position sensor are positioned at the opposite side of the cross section of described mechanical arm, described cross section is be parallel to the plane that the length direction of described mechanical arm and width formed, and described torque sensor, described motor driver and described position sensor are arranged along the linear array perpendicular to described cross section.
3. mechanical hand according to claim 2, is characterized in that, described mechanical hand also comprises decelerator;
The other end of described motor driver is fixedly connected with by described decelerator one end with described mechanical arm.
4. mechanical hand according to claim 3, is characterized in that,
The mode that the hollow shaft of described decelerator adopts woodruff key to be connected with the output shaft of described motor driver connects.
5. mechanical hand according to claim 3, is characterized in that, described mechanical hand also comprises base;
Described base is provided with cavity, one end that described base is connected with described motor driver with described mechanical arm is fixedly connected with, described position sensor, described motor driver and described decelerator are arranged in the cavity of described base, and described decelerator is fixedly connected with described base.
6. mechanical hand according to claim 2, is characterized in that, described mechanical hand also comprises actuator;
Described actuator is fixedly connected with the other end of described mechanical arm, and described actuator is used for fixing operation device.
7., according to the arbitrary described mechanical hand of claim 1 to 6, it is characterized in that,
Described mechanical hand controller is electrically connected with described host computer by general-purpose serial bus USB interface.
8. a using method for mechanical hand, described mechanical hand is the arbitrary described mechanical hand of claim 1 to 7, and it is characterized in that, described method comprises:
Position sensor detects the movement angle of mechanical arm;
The data of described movement angle are sent to mechanical hand controller by described position sensor;
Torque sensor detects the active force of described mechanical arm;
The data of described active force are sent to described mechanical hand controller by described torque sensor;
The data of the data of described movement angle and described active force are sent to host computer by described mechanical hand controller;
Described host computer determines according to the data of the data of described movement angle and described active force the control command controlling described mechanical arm;
Described control command is sent to described mechanical hand controller by described host computer;
Described mechanical hand controller is resolved described control command and is obtained the control signal after resolving;
Control signal after described parsing is sent to described motor driver by described mechanical hand controller;
Described motor driver produces the driving force for controlling described mechanical arm according to the control signal after described parsing;
Described mechanical arm completes operation corresponding to control signal according to described driving force.
9. method according to claim 8, is characterized in that, the data of described movement angle are sent to mechanical hand controller by described position sensor, comprising:
The data of described movement angle are sent to mechanical hand controller by general-purpose serial bus USB interface by described position sensor.
10. method according to claim 9, is characterized in that, the data of described active force are sent to described mechanical hand controller by described torque sensor, comprising:
The data of described active force are sent to described mechanical hand controller by described USB interface by described torque sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510617669.XA CN105171747A (en) | 2015-09-23 | 2015-09-23 | Robot hand and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510617669.XA CN105171747A (en) | 2015-09-23 | 2015-09-23 | Robot hand and use method thereof |
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| CN201510617669.XA Pending CN105171747A (en) | 2015-09-23 | 2015-09-23 | Robot hand and use method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108748164A (en) * | 2018-07-19 | 2018-11-06 | 深圳市慧传科技有限公司 | The control method of manipulator automatic clamping dynamics and gripping state |
| CN109664297A (en) * | 2018-12-14 | 2019-04-23 | 深圳市汇川技术股份有限公司 | Vibration suppressing method, system, device and the computer-readable memory of robot |
| WO2021212389A1 (en) * | 2020-04-22 | 2021-10-28 | 南京阿凡达机器人科技有限公司 | Testing system and method for mechanical finger component, and storage medium |
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- 2015-09-23 CN CN201510617669.XA patent/CN105171747A/en active Pending
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| 徐宝国 等: "基于运动想象脑电的上肢康复机器人", 《机器人》 * |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748164A (en) * | 2018-07-19 | 2018-11-06 | 深圳市慧传科技有限公司 | The control method of manipulator automatic clamping dynamics and gripping state |
| CN109664297A (en) * | 2018-12-14 | 2019-04-23 | 深圳市汇川技术股份有限公司 | Vibration suppressing method, system, device and the computer-readable memory of robot |
| WO2021212389A1 (en) * | 2020-04-22 | 2021-10-28 | 南京阿凡达机器人科技有限公司 | Testing system and method for mechanical finger component, and storage medium |
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Application publication date: 20151223 |