CN105345839A - Variable-rigidity joint based on characteristics of torsional springs - Google Patents
Variable-rigidity joint based on characteristics of torsional springs Download PDFInfo
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- CN105345839A CN105345839A CN201510762247.1A CN201510762247A CN105345839A CN 105345839 A CN105345839 A CN 105345839A CN 201510762247 A CN201510762247 A CN 201510762247A CN 105345839 A CN105345839 A CN 105345839A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The invention relates to a variable-rigidity joint, in particular to a variable-rigidity joint based on characteristics of torsional springs. The variable-rigidity joint aims at solving the defects that in the prior art, energy saved by an existing rigid joint is not enough, variable-rigidity performance cannot be ensured easily and the variable-rigidity range is small, and aims at solving the problems that in the rigidity regulation manner that the position of a fulcrum is moved based on the lever principle, energy consumption generated when the fulcrum conducts sliding friction in a groove is large, the number of required parts is large and the structural design is not reasonable. The variable-rigidity joint comprises the set of torsional springs, a slide block, a slide rail, a first output plate, a second output plate, an input plate, an input plate rotating shaft, two rollers, a set of torsional spring supports and two connection pieces. The set of torsional springs include the first torsional spring and the second torsional spring. The set of torsional spring supports include the first torsional spring support and the second torsional spring support. The first output plate, the second output plate and the input plate are all disks. The variable-rigidity joint is used for the field of robot joints.
Description
Technical field
The present invention relates to a kind of variation rigidity joint, be specifically related to a kind of variation rigidity joint based on torsion spring characteristic.
Background technology
Variation rigidity joint is the adjustable flexible joint of a kind of class rigidity being different from conventional rigid joint.Due to the controllability of himself rigidity, the demand of more different application environment can be adapted to.Along with the development of Robot industry and application, more and more frequent with the contact of robot in human being's production life.The safety issue of man-machine collaboration is just causing the attention of people.But from the seventies in last century so far, there occurs a lot of robot all over the world successively and to hurt sb.'s feelings event.The generation of these regrettable events, reminds people, the importance of man-machine collaboration safety and the urgency of association area research.In addition, due to the rigidity adjustability in variation rigidity joint, make such as to carry optimization, servo antrol, the problems such as track following have had more wide research space, and the research in this field has become domestic and international study hotspot field.For the design problem in variation rigidity joint, Many researchers have developed the variation rigidity joint based on different principle, but it more or less also exists some problems, such as structure is too complicated, need parts many, quality and volume are comparatively large, the problems such as layout is unreasonable.Particularly, the problem adopting the adjustment rigidity mode of confrontation type spring energy-conservation not; Special material principle variable rigidity property is adopted to be difficult to the problem ensured; Adopt lever principle, by the problem that the tune of the position of mobile spring firm mode variation rigidity scope is little; Consumed energy large by adjustment rigidity mode central bearing point sliding friction in groove of the mobile position of the fulcrum based on lever principle and needed parts many, structural design is unreasonable.Through retrieval, publication number is the Chinese invention patent of CN104440936A, and this patent discloses a kind of joint of robot of stiffness variable, it is characterized in that joint of robot comprises transitioning end, for connecting precision speed reduction device and output.Output is made up of two parts, is bolted, and centre is placed with friction plate, and comprise the secondary friction plate of two panels and the main friction plate of a slice, friction plate has special texture, compacted under the pretightning force effect that bolt applies, and produces frictional force.The frictional behavior of friction plate is utilized to carry out the adjustment of rigidity.Utilize frictional behavior in this patent, when being subject to frictional force and being greater than stiction threshold value, between friction plate, produce relative sliding, thus change rigidity.This patent just achieves the passive change of rigidity value in certain situation, from high rigidity state to the saltus step of a certain rigidity value state, in prior art, the defect in rigidity joint is energy-conservation not, variable rigidity property is difficult to ensure, variation rigidity scope is little, and consume energy large by the sliding friction of the adjustment rigidity mode of mobile position of the fulcrum and need parts many, the irrational problem of structural design.
Summary of the invention
Content of the present invention is the defect in order to solve rigidity joint in prior art is energy-conservation not, variable rigidity property is difficult to ensure, variation rigidity scope is little, and consume energy large by the sliding friction in groove of the adjustment rigidity mode central bearing point based on the mobile position of the fulcrum of lever principle and need parts many, the irrational problem of structural design, and then a kind of variation rigidity joint based on torsion spring characteristic is provided.
The present invention is the technical scheme adopted that solves the problem:
A kind of variation rigidity joint based on torsion spring characteristic, it comprises one group of torsion spring, slide block, slide rail, the first output panel, the second output panel, input disc, input disc rotating shaft, two rollers, one group of torsion spring support and two connectors, and one group of torsion spring comprises the first torsion spring and the second torsion spring, one group of torsion spring support comprise the first torsion spring support and the second torsion spring support, first output panel, second output panel and input disc are disk, first output panel and the second output panel are oppositely arranged, first output panel is fixedly connected with by two connectors with the second output panel, and two connectors are symmetrical arranged, input disc rotating shaft is inserted on the second output panel, input disc rotating shaft and the second output panel are rotationally connected, one end of input disc and input disc rotating shaft is fixed, input disc is arranged between the first output panel and the second output panel, second output panel and input disc are coaxially arranged, slide rail is arranged on the first output panel side, skid is arranged on slide rail, two rollers are fixedly mounted on slide block, one group of torsion spring support is installed on input disc, and one group of torsion spring support is all arranged between the first output panel and the second output panel, first torsion spring support and the second torsion spring support are separately positioned on the both sides of slide rail, first torsion spring is arranged on the first torsion spring support, second torsion spring is arranged on the second torsion spring support, one end of first torsion spring is fixed on the first torsion spring support, the other end of the first torsion spring contacts with the periphery of a roller and arranges, one end of second torsion spring is fixed on the second torsion spring support, the other end of the second torsion spring contacts with the periphery of another roller and arranges.
The invention has the beneficial effects as follows:
1, present invention achieves the innovation of variation rigidity joint variation rigidity principle.Designed unique variation rigidity principle, being the application point by changing torsion spring and roller, realizing joint variation rigidity.Achieve when input disc is identical with the first output panel angle, the change of slide position, can change the application point of torsion spring and roller, and then realizes the change that input disc acts on the torque on the first output panel.The ratio of this torque value and input disc and the first output panel angle is the output rigidity value of joint for outside, and the change of moment of torsion achieves the change exporting rigidity.And when slide position is constant, although the application point of torsion spring and roller can change to some extent along with the change of input disc and the first output panel corner, its variable quantity is very little, makes the output rigidity of device can keep stable, change very little, have and determine rigidity property preferably:
2, the present invention achieves the consecutive variations on a large scale that variation rigidity joint arrangement exports rigidity innovatively.When roller is in the first output panel circle centre position, export rigidity very little, close to zero stiffness; Along with roller is away from the center of circle, exports rigidity and increase gradually, and when roller is in torsion spring line place, export very high rigidity, close to perfect rigidity:
3, the present invention employs two roller, torsion spring structure innovatively.Each roller only have side and torsion spring arm tangent, be rolling friction, sliding friction problem when effectively avoiding prior art roller to move in groove, and roller moving direction is vertical with torsion spring torsional direction, has and regulates rigidity to consume energy low feature:
4, the present invention only uses torsion spring innovatively, roller, and the less parts such as sliding-rail sliding just achieve the variation rigidity of joint arrangement, have required parts few, the simple feature of structure.
Accompanying drawing explanation
Fig. 1 is overall structure front view of the present invention, Fig. 2 is structural representation of the present invention, Fig. 3 is the installing mechanism schematic diagram of slide block 3, slide rail 4 and the first output panel 6, and Fig. 4 is the present invention's one group of torsion spring 1 variation rigidity schematic diagram, and Fig. 5 is the present invention one group of torsion spring 1 variation rigidity geometrical relationship figure.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 5 illustrates present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, it comprises one group of torsion spring 1, slide block 3, slide rail 4, first output panel 6, second output panel 7, input disc 8, input disc rotating shaft 10, two rollers 2, one group of torsion spring support 5 and two connectors, 9, one group of torsion spring 1 and comprises the first torsion spring 11 and the second torsion spring 12, one group of torsion spring support 5 comprises the first torsion spring support 51 and the second torsion spring support 52, first output panel 6, second output panel 7 and input disc 8 are disk, first output panel 6 and the second output panel 7 are oppositely arranged, first output panel 6 is fixedly connected with by two connectors 9 with the second output panel 7, and two connectors 9 are symmetrical arranged, input disc rotating shaft 10 is inserted on the second output panel 7, input disc rotating shaft 10 and the second output panel 7 are rotationally connected, input disc 8 is fixed with one end of input disc rotating shaft 10, input disc 8 is arranged between the first output panel 6 and the second output panel 7, second output panel 7 and input disc 8 are coaxially arranged, slide rail 4 is arranged on the first output panel 6 side, slide block 3 is slidably mounted on slide rail 4, two rollers 2 are fixedly mounted on slide block 3, one group of torsion spring support 5 is installed on input disc 8, and one group of torsion spring support 5 is all arranged between the first output panel 6 and the second output panel 7, first torsion spring support 51 and the second torsion spring support 52 are separately positioned on the both sides of slide rail 4, first torsion spring 11 is arranged on the first torsion spring support 51, second torsion spring 12 is arranged on the second torsion spring support 52, one end of first torsion spring 11 is fixed on the first torsion spring support 51, the other end of the first torsion spring 11 contacts with the periphery of a roller 2 and arranges, and the periphery of roller 2 rolls on one end of the first torsion spring 11, one end of second torsion spring 12 is fixed on the second torsion spring support 52, the other end of the second torsion spring 12 contacts with the periphery of another roller 2 and arranges, and the periphery of roller 2 rolls on one end of the second torsion spring 12.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, described first torsion spring 11 is identical with the structure of the second torsion spring 12, and the first torsion spring 11 is contrary with the second torsion spring 12 rotation direction, first torsion spring 11 and the second torsion spring 12 axial symmetry are arranged on the both sides of slide rail 4, described first torsion spring support 51 and the second torsion spring support 52 are symmetricly set on the both sides of slide rail 4, and other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 and Fig. 2 illustrate present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, in described two connectors 9, a connector 9 is processed with output mounting interface end 9-1, other is identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1-Fig. 3 illustrates present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, described slide block 3 comprises slide body 3-1 and slide protrusion 3-2, first output panel 6 is processed with two projections, slide rail 4 is ' U ' shape plate, the inwall of slide rail 4 is processed with two sliding trays, slide protrusion 3-2 is arranged on slide body 3-1, and slide protrusion 3-2 is arranged in two sliding trays of ' U ' shape plate inwall.Slide protrusion 3-2 slides in two sliding trays of ' U ' shape plate, and other is identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1-Fig. 2 illustrates present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, described first torsion spring support 51 comprises the first fixed axis 5-1 and the first fixed head 5-2, second torsion spring support 52 comprises the second dead axle 5-3 and the second fixed head 5-4, first fixed head 5-2 is processed with spring fixed hole, one end of first fixed axis 5-1 and a side of the first fixed head 5-2 are fixed, the other end of the first fixed axis 5-1 and a side of input disc 8 are fixed, second fixed head 5-4 is processed with spring fixed hole, one end of second dead axle 5-3 and a side of the second fixed head 5-4 are fixed, the other end of the second dead axle 5-3 and a side of input disc 8 are fixed, other is identical with detailed description of the invention one.
Detailed description of the invention six: composition graphs 1-Fig. 2 illustrates present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, first fixed axis 5-1 of described first torsion spring support 51 is set with the first torsion spring 11, one end of first torsion spring 11 is inserted in the spring fixed hole of the first fixed head 5-2, second dead axle 5-3 of the second torsion spring support 52 is set with the second torsion spring 12, one end of second torsion spring 12 is inserted in the spring fixed hole of the second fixed head 5-4, and other is identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 3 and Fig. 4 illustrate present embodiment, the spring body of one group of torsion spring 1 in Fig. 3, the first output panel 6 and two rollers 2 substitute with circular pattern in the diagram.A kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, the initial position that in present embodiment, one group of torsion spring 1 represents from dotted line turns to solid line position, and roller 2 is when being still in dotted line position, the torsion angle of one group of torsion spring 1 changes, moment of torsion acted on described first output panel 6 by roller 2 is also corresponding changes for it, and the first output panel 6 rotates under this torsional interaction.But be defined as the ratio of torque value and the angle of deviation owing to exporting rigidity value, therefore joint output stiffness variation is little.Namely input disc 8 is by the effect of one group of torsion spring 1 with roller 2, drives output panel 8 to rotate, realizes articulation.When one group of torsion spring 1 is in solid line position, namely input disc 8 and the first output panel 6 relative rotation certain, and roller 2 is when moving to solid line position from dotted line position, the torsion angle of one group of torsion spring 1 also changes, and its moment of torsion acted on described first output panel 6 by described roller 2 is also changed.Export the definition of rigidity according to joint, joint exports rigidity and changes.Namely the radial position of roller 2 is moved and is realized joint stiffness adjustment.Other is identical with detailed description of the invention one.
Detailed description of the invention eight: composition graphs 5 illustrates present embodiment, a kind of variation rigidity joint based on torsion spring characteristic described in present embodiment, when the present embodiment uses, variation rigidity principle is represented by following geometrical relationship:
One group of torsion spring 1 produces moment:
T1＝K·(q1-q0),T2＝K·(q2+q0)
One group of torsion spring 1 acts on the power on described roller 2:
F1＝T1/((r2+r3)/k1)
F2＝T2/((r2+r3)/k2)
One group of torsion spring 1 acts on the moment of torsion on the first output panel 6:
T11＝F1·(h·cos(θ)+r1·sin(θ))
T12＝F2·(h·cos(θ)-r1·sin(θ))
First output panel 6 is subject to action torque T0 and the joint output stiffness K 0 of input disc 8:
T0＝T11+T12,K0＝T0/θ
Wherein, K is the rigidity of one group of torsion spring 1, and q1 is the torsion angle variable quantity of the first torsion spring 11, and q2 is the torsion angle variable quantity of the second torsion spring 12, solves by geometrical relationship; And q0 is the precompressed angle of one group of torsion spring 1; R1 be two roller 2 distance of center circle from half, r2 is the radius of roller 2, and r3 is the first torsion spring 11 spring body radius, the first torsion spring 11 spring body radius and the second torsion spring 12 spring body radius equal; H is the distance that two roller 2 circle center line connectings depart from first output panel 6 center of circle; K1 is the circle center line connecting of the first torsion spring 11 spring body and roller 2 and the angle tangent value of two circle internal common tangents, and k2 is the circle center line connecting of the second torsion spring 12 spring body and roller 2 and the angle tangent value of two circle internal common tangents, can be solved by geometrical relationship; θ is the relative rotation of described input disc 8 and described first output panel 6.Other is identical with detailed description of the invention seven.
Operation principle
When the present invention works, one end of the first torsion spring 11 is parallel with one end of the second torsion spring 12, and the first torsion spring 11 has pressure to contact with roller 2 with the second torsion spring 12 all the time, and detailed process can be divided into two parts, and one is articulation, and one is stiffness tuning.Wherein, simple articulation, namely suppose that the radial position of roller 2 is constant, joint drives input disc rotating shaft 10 to drive input disc 8 to rotate by external agency, input disc 8 drives the first torsion spring 11 simultaneously, second torsion spring 12, first torsion spring support 51 and the second torsion spring support 52 rotate, contacted with the periphery of roller 2 by the first torsion spring 11, second torsion spring 12 and roller 2 periphery contact, be delivered on roller 2, and then be applied on the first output panel 6, cause the rotation of the first output panel 6, complete the transmission of moment of torsion from input disc 8 to the first output panel 6, because the first output panel 6 and the second output panel 7 are fixed by two connectors 9, so the first output panel 6 and the second output panel 7 rotate simultaneously, reach the object of articulation.
Simple stiffness tuning, namely input disc 8 does not rotate, and external action is certain moment of torsion on the first output panel 6 and the second output panel 7, causes input disc 8 and the first output panel 6 to produce relative rotation.Now, joint is moved on slide rail 4 by external agency's band movable slider 3, change the position of the periphery contact point of the first torsion spring 11 and roller 2 and the periphery contact point of the second torsion spring 12 and roller 2, and then change the effect transitive relation of roller 2 and torsion spring 1, realize the change of the relative rotation of input disc 8 and the first output panel 6, the ratio of the relative rotation size of external torque value and caused input disc 8 and the first output panel 6 is shown as again owing to exporting rigidity, therefore when external torque value is certain, the relative rotation of input disc 8 and the first output panel 6 changes and namely can be considered that joint exports rigidity and there occurs change.Reach the object of stiffness tuning.It should be noted that joint exports the character that rigidity is joint, not relevant with external torque value size, just suppose the effect of joint by certain external torque for convenience of description herein.
In the present invention, articulation and stiffness tuning two processes can be carried out simultaneously, do not conflict.The adjustment realizing joint stiffness while articulation is final purpose of the present invention.
Claims (6)
1. the variation rigidity joint based on torsion spring characteristic, it is characterized in that: it comprises one group of torsion spring (1), slide block (3), slide rail (4), the first output panel (6), the second output panel (7), input disc (8), input disc rotating shaft (10), two rollers (2), one group of torsion spring support (5) and two connectors (9), one group of torsion spring (1) comprises the first torsion spring (11) and the second torsion spring (12), one group of torsion spring support (5) comprise the first torsion spring support (51) and the second torsion spring support (52), first output panel (6), second output panel (7) and input disc (8) are disk, first output panel (6) and the second output panel (7) are oppositely arranged, first output panel (6) is fixedly connected with by two connectors (9) with the second output panel (7), and two connectors (9) are symmetrical arranged, input disc rotating shaft (10) is inserted on the second output panel (7), input disc rotating shaft (10) and the second output panel (7) are rotationally connected, input disc (8) is fixed with one end of input disc rotating shaft (10), input disc (8) is arranged between the first output panel (6) and the second output panel (7), second output panel (7) and input disc (8) are coaxially arranged, slide rail (4) is arranged on the first output panel (6) side, slide block (3) is slidably mounted on slide rail (4), two rollers (2) are fixedly mounted on slide block (3), one group of torsion spring support (5) is installed on input disc (8), and one group of torsion spring support (5) is all arranged between the first output panel (6) and the second output panel (7), first torsion spring support (51) and the second torsion spring support (52) are separately positioned on the both sides of slide rail (4), first torsion spring (11) is arranged on the first torsion spring support (51), second torsion spring (12) is arranged on the second torsion spring support (52), one end of first torsion spring (11) is fixed on the first torsion spring support (51), the other end of the first torsion spring (11) contacts with the periphery of a roller (2) and arranges, one end of second torsion spring (12) is fixed on the second torsion spring support (52), the other end of the second torsion spring (12) contacts with the periphery of another roller (2) and arranges.
2. a kind of variation rigidity joint based on torsion spring characteristic according to claim 1, it is characterized in that: described first torsion spring (11) is identical with the structure of the second torsion spring (12), and the first torsion spring (11) is contrary with the second torsion spring (12) rotation direction, first torsion spring (11) and the second torsion spring (12) axial symmetry are arranged on the both sides of slide rail (4), and described first torsion spring support (51) and the second torsion spring support (52) are symmetricly set on the both sides of slide rail (4).
3. a kind of variation rigidity joint based on torsion spring characteristic according to claim 1, is characterized in that: in described two connectors (9), a connector (9) is processed with output mounting interface end (9-1).
4. a kind of variation rigidity joint based on torsion spring characteristic according to claim 1, it is characterized in that: described slide block (3) comprises slide body (3-1) and slide protrusion (3-2), first output panel (6) is processed with two projections, slide rail (4) is ' U ' shape plate, the inwall of slide rail (4) is processed with two sliding trays, slide protrusion (3-2) is arranged on slide body (3-1), and slide protrusion (3-2) is arranged in two sliding trays of ' U ' shape plate inwall.
5. a kind of variation rigidity joint based on torsion spring characteristic according to claim 1, it is characterized in that: described first torsion spring support (51) comprises the first fixed axis (5-1) and the first fixed head (5-2), second torsion spring support (52) comprises the second dead axle (5-3) and the second fixed head (5-4), first fixed head (5-2) is processed with spring fixed hole, one end of first fixed axis (5-1) and a side of the first fixed head (5-2) are fixed, the other end of the first fixed axis (5-1) and a side of input disc (8) are fixed, second fixed head (5-4) is processed with spring fixed hole, one end of second dead axle (5-3) and a side of the second fixed head (5-4) are fixed, the other end of the second dead axle (5-3) and a side of input disc (8) are fixed.
6. a kind of variation rigidity joint based on torsion spring characteristic according to claim 5, it is characterized in that: first fixed axis (5-1) of described first torsion spring support (51) is set with the first torsion spring (11), one end of first torsion spring (11) is inserted in the spring fixed hole of the first fixed head (5-2), second dead axle (5-3) of the second torsion spring support (52) is set with the second torsion spring (12), and one end of the second torsion spring (12) is inserted in the spring fixed hole of the second fixed head (5-4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510762247.1A CN105345839B (en) | 2015-11-10 | 2015-11-10 | Variable-rigidity joint based on characteristics of torsional springs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510762247.1A CN105345839B (en) | 2015-11-10 | 2015-11-10 | Variable-rigidity joint based on characteristics of torsional springs |
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| CN105345839A true CN105345839A (en) | 2016-02-24 |
| CN105345839B CN105345839B (en) | 2017-04-12 |
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| CN106042006A (en) * | 2016-06-13 | 2016-10-26 | 重庆金山科技（集团）有限公司 | Reducer anti-torque structure of medical robot |
| CN106114671A (en) * | 2016-06-23 | 2016-11-16 | 吉林大学 | A kind of passive vibration damping joint of stiffness function |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| CN113442163A (en) * | 2021-06-11 | 2021-09-28 | 哈尔滨工业大学（深圳） | Active variable stiffness joint with differential gear train |
| CN114321243A (en) * | 2021-12-24 | 2022-04-12 | 兰州飞行控制有限责任公司 | Rigidity-adjustable airplane control force sensing device |
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| JP2011083884A (en) * | 2009-10-19 | 2011-04-28 | Yaskawa Electric Corp | Variable rigidity mechanism and robot |
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN104440936A (en) * | 2014-12-25 | 2015-03-25 | 北京理工大学 | Variable-rigidity robot joint |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
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| JP2011083884A (en) * | 2009-10-19 | 2011-04-28 | Yaskawa Electric Corp | Variable rigidity mechanism and robot |
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106042006A (en) * | 2016-06-13 | 2016-10-26 | 重庆金山科技（集团）有限公司 | Reducer anti-torque structure of medical robot |
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| CN106114671B (en) * | 2016-06-23 | 2018-01-05 | 吉林大学 | A kind of passive vibration damping joint of stiffness function |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| CN108890689B (en) * | 2018-07-27 | 2020-11-10 | 北京航天控制仪器研究所 | Variable-rigidity joint of flexible robot |
| CN113442163A (en) * | 2021-06-11 | 2021-09-28 | 哈尔滨工业大学（深圳） | Active variable stiffness joint with differential gear train |
| CN113442163B (en) * | 2021-06-11 | 2023-06-30 | 哈尔滨工业大学（深圳） | Active rigidity-variable joint with differential gear train |
| CN114321243A (en) * | 2021-12-24 | 2022-04-12 | 兰州飞行控制有限责任公司 | Rigidity-adjustable airplane control force sensing device |
| CN114321243B (en) * | 2021-12-24 | 2024-03-01 | 兰州飞行控制有限责任公司 | Rigidity-adjustable aircraft maneuvering force sensing device |
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|---|---|
| CN105345839B (en) | 2017-04-12 |
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