CN105599006A - Two-motor driven variable-stiffness elastic joint of robot - Google Patents
Two-motor driven variable-stiffness elastic joint of robot Download PDFInfo
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- 238000005096 rolling process Methods 0.000 claims description 4
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- 206010023230 Joint stiffness Diseases 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
本发明公开了一种双电机驱动的机器人变刚度弹性关节，包括位于同一旋转轴线上的输出轴、柔性传动机构，驱动端，所述驱动端包括两个同轴地驱动连接于所述柔性传动机构两端的空心轴驱动电机，所述的输出轴与所述柔性传动机构中部固定连接且一端穿过并延伸至空心轴驱动电机的空心轴外，所述输出轴在受到不同负载冲击时通过两空心轴驱动电机改变两个电机之间的转动夹角调整柔性传动机构驱动所述输出轴转动时的力臂长度实现刚度调整，实现弹性缓冲。本发明设计的双电机驱动的刚度可调的机器人弹性关节，其特点是实时响应速度快、调节精度高，提高了机器人的安全性与对环境的友好度，简单轻便，通用性强，应用范围广泛。
The invention discloses a variable stiffness elastic joint of a robot driven by double motors, which comprises an output shaft located on the same rotation axis, a flexible transmission mechanism, and a driving end. Hollow shaft drive motors at both ends of the mechanism, the output shaft is fixedly connected to the middle of the flexible transmission mechanism and one end passes through and extends outside the hollow shaft of the hollow shaft drive motor, the output shaft passes through the two shafts when impacted by different loads The hollow shaft driving motor changes the rotation angle between the two motors to adjust the length of the force arm when the flexible transmission mechanism drives the output shaft to rotate to realize stiffness adjustment and elastic buffering. The rigidity-adjustable robot elastic joint driven by dual motors designed in the present invention is characterized by fast real-time response speed and high adjustment precision, which improves the safety of the robot and the friendliness to the environment, and is simple, portable, and has strong versatility and wide application range. widely.
Description
技术领域technical field
本发明涉及一种机器人仿生关节，具体为一种双电机驱动的刚度可调的机器人弹性关节，该装置可以适用于各种关节型机器人，提高机器人的安全性与对环境的友好度。The invention relates to a robot bionic joint, in particular to a dual-motor-driven robot elastic joint with adjustable stiffness. The device is applicable to various joint-type robots and improves the safety and environmental friendliness of the robot.
背景技术Background technique
长期以来，传统的机器人关节设计理论认为，对于动力驱动装置与关节铰链之间的机械连接方式应优先考虑刚度较大的传动机构。因此，在工业机器手臂、仿生多足机器人以及康复医疗假肢等关节机器人的研究中，普遍采用电机输出轴与关节机构进行刚性连接的驱动方案，其优势在于结构简单、定位精准、响应快速，从而满足各种操作与应用的需求。但这种驱动方案由于缺乏柔顺性使得机器人更容易受到外部冲击的影响而损坏，甚至对与之协作的人类造成伤害，同时对于机器人实现自调整接触、低能耗运动等目标也存在不足和缺憾。变刚度弹性驱动关节能够使柔性机械臂系统像人类肌肉一样，遇到冲击的时候能够适当的弯曲，从而缓冲碰撞等产生的能量，同时获得像生物体一样的触觉，感知外界阻力以便产生反应，从而达到保护手臂和环境的作用。另外，像肌肉一样吸收、存储、再次利用能量，不仅提高了能量利用率，而且从一定程度上消除机械震荡，减轻零部件的机械损伤。For a long time, the traditional robot joint design theory believes that the transmission mechanism with higher stiffness should be given priority to the mechanical connection mode between the power drive device and the joint hinge. Therefore, in the research of joint robots such as industrial robot arms, bionic multi-legged robots, and rehabilitation medical prostheses, the driving scheme of rigid connection between the motor output shaft and the joint mechanism is generally used. Its advantages lie in simple structure, precise positioning, and fast response. Meet the needs of various operations and applications. However, due to the lack of compliance of this driving scheme, the robot is more vulnerable to external impact and damage, and even causes harm to the human beings who cooperate with it. The variable stiffness elastic drive joint can make the flexible manipulator system bend properly when encountering impacts like human muscles, so as to buffer the energy generated by collisions, etc. At the same time, it can obtain the same sense of touch as a living body, and sense external resistance in order to react. So as to achieve the effect of protecting the arm and the environment. In addition, absorbing, storing, and reusing energy like a muscle not only improves energy utilization, but also eliminates mechanical shock to a certain extent and reduces mechanical damage to parts.
目前，国内对弹性关节的研究还非常少。经对现有技术文献的检索发现，从现有公开的串联弹性驱动关节看，大部分不具有刚度调节功能，如江苏大学杨启志等提出一种基于阿基米德螺线弹性体的柔弹性关节，专利公开号CN105082170A，其弹性体采用两片圆形弹簧片，弹簧片上开有阿基米德螺线槽以增加关节柔性，该装置虽然结构紧凑但运动范围有限且不能进行刚度调节。即使目前有极少数该弹簧片装置带有刚度调节，也存在集成度较低、较为笨重、通用性较差等问题，如北京理工大学黄强等人提出的一种可变刚度的机器人关节，专利公开号CN104440936A，关节上安装了一片主摩擦片和两片副摩擦片，在螺栓施加预紧力作用下产生摩擦力，利用摩擦片的摩擦特性进行刚度调节，但是摩擦片属于消耗品，使用一段时间后就会丧失原有功能需要定期更换，且其只设两级刚度调节，不能实现线性可调的刚度特性。更重要的是，目前已公开的刚度可调柔性关节均使用了一个电机负责驱动关节，另一个电机调节刚度，而不负责驱动关节，如此对于刚度调节电机的动力形成了浪费；而如果使用低性能刚度调节电机，则又难以保障在遇到碰撞的情况下，关节刚度可以及时进行调整。At present, domestic research on elastic joints is still very little. After searching the existing technical literature, it is found that most of the existing public series elastic drive joints do not have the function of stiffness adjustment. For example, Yang Qizhi of Jiangsu University proposed a soft elastic joint based on Archimedes spiral elastic body , Patent Publication No. CN105082170A, the elastic body adopts two circular spring sheets, and there are Archimedes spiral grooves on the spring sheets to increase joint flexibility. Although the device is compact in structure, its range of motion is limited and its stiffness cannot be adjusted. Even if there are very few spring devices with stiffness adjustment at present, there are still problems such as low integration, cumbersomeness, and poor versatility. For example, a robot joint with variable stiffness proposed by Huang Qiang et al. of Beijing Institute of Technology, patent Publication No. CN104440936A, a main friction plate and two secondary friction plates are installed on the joint, and the friction force is generated under the pre-tightening force of the bolts. The friction characteristics of the friction plates are used to adjust the stiffness, but the friction plates are consumables. After a while, it will lose its original function and needs to be replaced regularly, and it only has two levels of stiffness adjustment, which cannot achieve linearly adjustable stiffness characteristics. More importantly, the currently disclosed stiffness-adjustable flexible joints all use one motor to drive the joint, and another motor to adjust the stiffness instead of driving the joint, which wastes the power of the stiffness-adjusting motor; and if a low The performance stiffness adjustment motor is difficult to ensure that the joint stiffness can be adjusted in time in the event of a collision.
发明内容Contents of the invention
本发明的目的在于克服现有机器人关节设计上的不足，提出一种双电机驱动的机器人变刚度弹性关节，它能安装于大多数采用转动关节的机器人上。本发明使用两个驱动电机同时驱动关节，同时，两个电机之间的夹角通过四连杆机构调节弹簧片的有效长度，改变关节刚度，实现弹性缓冲。The purpose of the present invention is to overcome the shortcomings in the design of existing robot joints, and propose a dual-motor-driven robot variable stiffness elastic joint, which can be installed on most robots using rotary joints. The present invention uses two driving motors to simultaneously drive the joint, and at the same time, the angle between the two motors adjusts the effective length of the spring leaf through the four-bar linkage mechanism, changes the joint stiffness, and realizes elastic buffering.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
一种双电机驱动的机器人变刚度弹性关节，包括位于同一旋转轴线上的输出轴、柔性传动机构，驱动端，所述驱动端包括两个同轴地驱动连接于所述柔性传动机构两端的空心轴驱动电机，所述的输出轴与所述柔性传动机构中部固定连接且一端穿过并延伸至空心轴驱动电机的空心轴外，所述输出轴在受到不同负载冲击时通过两空心轴驱动电机改变两个电机之间的转动夹角调整柔性传动机构驱动所述输出轴转动时的力臂长度实现刚度调整。A variable stiffness elastic joint of a robot driven by dual motors, comprising an output shaft located on the same axis of rotation, a flexible transmission mechanism, and a driving end, the driving end comprising two coaxially driven hollow joints connected to both ends of the flexible transmission mechanism A shaft drive motor, the output shaft is fixedly connected to the middle part of the flexible transmission mechanism and one end passes through and extends outside the hollow shaft of the hollow shaft drive motor, and the output shaft drives the motor through two hollow shafts when impacted by different loads Changing the rotation angle between the two motors adjusts the length of the force arm when the flexible transmission mechanism drives the output shaft to rotate to achieve stiffness adjustment.
进一步地，所述的柔性传动机构包括弹性传力机构和刚性调节机构，所述弹性传力机构同轴地固定于输出轴上，所述的刚性调节机构两端分别连接空心轴驱动电机，中部与所述弹性传力机构滑动连接。Further, the flexible transmission mechanism includes an elastic force transmission mechanism and a rigid adjustment mechanism, the elastic force transmission mechanism is coaxially fixed on the output shaft, the two ends of the rigid adjustment mechanism are respectively connected to the hollow shaft driving motor, and the middle part It is slidably connected with the elastic force transmission mechanism.
进一步地，所述的驱动端还包括分别设置于柔性传动机构两端、用于固定两个空心轴驱动电机壳体的固定板。Further, the driving end further includes fixing plates respectively arranged at both ends of the flexible transmission mechanism and used for fixing the housings of the two hollow shaft driving motors.
进一步地，所述弹性传力机构包括固定在输出轴上的弹簧座、一端沿输出轴径向均匀固定在弹簧座上的若干矩形弹簧片，所述弹簧片长度方向的两侧面与刚性调节机构滑动连接。Further, the elastic force transmission mechanism includes a spring seat fixed on the output shaft, a number of rectangular spring pieces uniformly fixed on the spring seat along the radial direction of the output shaft at one end, the two sides of the spring piece in the length direction and the rigidity adjustment mechanism Swipe to connect.
进一步地，所述的刚性调节机构包括同轴设置的环形第一传动板和环形第二传动板、位于第一传动板和第二传动板之间的若干第一传动连杆、第二传动连杆和滑块机构，所述第一传动板与所述第一空心轴驱动电机的输出端相连，所述第二传动板与所述第二空心轴驱动电机的输出端相连；各第一传动连杆一端沿周向均匀铰接在第一传动板边缘，另一端分别与各个滑块机构上端活动铰接；各第二传动连杆一端沿周向均匀铰接在第二传动板边缘，另一端分别与各个滑块机构下端活动铰接；所述滑块机构中部与所述弹簧片长度方向的两侧面紧密接触且可沿所述弹簧片长度方向往复移动。Further, the rigidity adjustment mechanism includes an annular first transmission plate and an annular second transmission plate arranged coaxially, a plurality of first transmission links located between the first transmission plate and the second transmission plate, a second transmission link Rod and slider mechanism, the first transmission plate is connected with the output end of the first hollow shaft driving motor, the second transmission plate is connected with the output end of the second hollow shaft driving motor; each first transmission One end of the connecting rod is uniformly hinged to the edge of the first transmission plate along the circumferential direction, and the other end is respectively movably hinged to the upper end of each slider mechanism; one end of each second transmission connecting rod is uniformly hinged to the edge of the second transmission plate along the circumferential direction, and the other end is respectively connected to The lower end of each slider mechanism is hinged; the middle part of the slider mechanism is in close contact with the two sides in the length direction of the spring piece and can move back and forth along the length direction of the spring piece.
两台电机共同协作，通过两个电机之间的转动夹角变化，调整所述柔性传动机构的刚性调节机构调节弹簧片的有效长度，改变关节刚度，实现弹性缓冲，即当所述第一空心轴驱动电机与第二空心轴驱动电机之间的夹角改变时，带动所述第一传动板、第二传动板的夹角改变，进而移动各传动连杆，进而移动各滑块机构沿弹簧片滑动，调整弹簧片的有效长度，改变关节刚度，实现弹性缓冲。The two motors work together to adjust the rigidity adjustment mechanism of the flexible transmission mechanism to adjust the effective length of the spring piece through the change of the rotation angle between the two motors, to change the stiffness of the joint, and to achieve elastic buffering, that is, when the first hollow When the angle between the shaft drive motor and the second hollow shaft drive motor changes, the angle between the first transmission plate and the second transmission plate is driven to change, thereby moving each transmission connecting rod, and then moving each slider mechanism along the spring Slide the piece, adjust the effective length of the spring piece, change the stiffness of the joint, and achieve elastic cushioning.
进一步地，所述滑块机构包括调节滑块，所述调节滑块的中部贯穿地设有供所述弹簧片穿过的挖空部，所述挖空部内对称设置有两个夹紧并可沿弹簧片长度方向的两侧面滚动的辊轴。Further, the slider mechanism includes an adjustment slider, the middle part of the adjustment slider is provided with a hollow part through which the spring leaf passes, and two clamping parts are symmetrically arranged in the hollow part and can Rollers that roll along both sides of the leaf spring length.
进一步地，所述辊轴通过滚动轴承及销轴安装于所述弹簧片的挖空部内。Further, the roller shaft is installed in the hollow part of the spring leaf through a rolling bearing and a pin shaft.
本发明相比现有技术具有以下优点：Compared with the prior art, the present invention has the following advantages:
1)采用双驱动电机提供动力，共同驱动柔性关节提高工作效率，实时响应速度快、调节精度高。1) Dual drive motors are used to provide power to jointly drive the flexible joints to improve work efficiency, fast real-time response and high adjustment accuracy.
2)两台驱动电机共同协作，调节弹簧片的工作长度，改变关节的刚度调节实现了从全刚性到极大柔性的调节，像肌肉一样吸收、存储、再次利用能量，不仅提高了能量利用率，而且从一定程度上消除机械震荡，减轻零部件的机械损伤，对环境友好，具有更高安全性。2) The two driving motors work together to adjust the working length of the spring and change the stiffness of the joint to achieve adjustment from full rigidity to extreme flexibility. It absorbs, stores, and reuses energy like a muscle, which not only improves energy utilization. , and eliminate mechanical shock to a certain extent, reduce mechanical damage to parts, be environmentally friendly and have higher safety.
3)整个关节结构紧凑，简单轻便，通用性强，应用范围广泛。3) The entire joint has a compact structure, is simple and portable, has strong versatility, and has a wide range of applications.
附图说明Description of drawings
图1示出了刚度可调弹性关节的总体结构示意图。Fig. 1 shows a schematic diagram of the overall structure of an elastic joint with adjustable stiffness.
图2示出了刚度可调弹性关节的输出轴结构图。Fig. 2 shows the structural diagram of the output shaft of the elastic joint with adjustable stiffness.
图3示出了刚度可调弹性关节的柔性传动机构示意图。Fig. 3 shows a schematic diagram of a flexible transmission mechanism of an elastic joint with adjustable stiffness.
图中：1第一固定板，2第二固定板，3第一空心轴驱动电机，4第二空心轴驱动电机，5柔性传动机构，6第一传动板，7第二传动板，8第一传动连杆，9第二传动连杆，10调节滑块，11输出轴，12弹簧座，13弹簧片。In the figure: 1 first fixed plate, 2 second fixed plate, 3 first hollow shaft driving motor, 4 second hollow shaft driving motor, 5 flexible transmission mechanism, 6 first transmission plate, 7 second transmission plate, 8th 1 transmission link, 9 second transmission links, 10 adjustment sliders, 11 output shafts, 12 spring seats, 13 leaf springs.
具体实施方式detailed description
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
如图1至图3所示，一种双电机驱动的机器人变刚度弹性关节，包括位于同一旋转轴线上的输出轴11、柔性传动机构5，驱动端，所述驱动端包括两个同轴地驱动连接于所述柔性传动机构5两端的空心轴驱动电机，所述的驱动端还包括分别设置于柔性传动机构5两端、用于固定两个空心轴驱动电机壳体的固定板；所述的输出轴11与所述柔性传动机构5中部固定连接且一端穿过并延伸至空心轴驱动电机的空心轴外，所述输出轴11在受到不同负载冲击时通过两空心轴驱动电机改变两个电机之间的转动夹角调整柔性传动机构5驱动所述输出轴11转动时的力臂长度实现刚度调整。As shown in Figures 1 to 3, a dual-motor-driven robotic variable stiffness elastic joint includes an output shaft 11 located on the same axis of rotation, a flexible transmission mechanism 5, and a driving end, which includes two coaxial Drive the hollow shaft driving motor connected to the two ends of the flexible transmission mechanism 5, and the driving end also includes fixing plates respectively arranged at the two ends of the flexible transmission mechanism 5 for fixing the housings of the two hollow shaft driving motors; The output shaft 11 described above is fixedly connected to the middle part of the flexible transmission mechanism 5 and one end passes through and extends to the outside of the hollow shaft of the hollow shaft driving motor. The rotation angle between the two motors is adjusted to adjust the length of the moment arm when the flexible transmission mechanism 5 drives the output shaft 11 to rotate to realize the stiffness adjustment.
如图2和图3所示，所述的柔性传动机构5包括弹性传力机构和刚性调节机构，所述弹性传力机构包括固定在输出轴11上的弹簧座12、一端沿输出轴1径向均匀固定在弹簧座12上的四块矩形弹簧片13，所述弹簧片13长度方向的两侧面与刚性调节机构滑动连接。所述的刚性调节机构包括同轴设置的环形第一传动板6和环形第二传动板7、位于第一传动板6和第二传动板7之间的四根第一传动连杆8、四根第二传动连杆9和四个滑块机构10，所述第一传动板6与所述第一空心轴驱动电机3的输出端相连，所述第二传动板7与所述第二空心轴驱动电机4的输出端相连；各第一传动连杆8一端沿周向均匀铰接在第一传动板6边缘，另一端分别与各个滑块机构10上端活动铰接；各第二传动连杆9一端沿周向均匀铰接在第二传动板7边缘，另一端分别与各个滑块机构10下端活动铰接；所述滑块机构10包括调节滑块，所述调节滑块的中部贯穿地设有供所述弹簧片13穿过的挖空部，所述挖空部内对称设置有两个夹紧并可沿弹簧片4长度方向的两侧面滚动的辊轴，所述辊轴通过滚动轴承及销轴安装于所述弹簧片13的挖空部内，即所述滑块机构10与所述弹簧片13长度方向的两侧面紧密接触且可沿所述弹簧片13长度方向往复移动，滑块机构10沿所述弹簧片13长度方向往复移动时，两者之间采用摩擦力极少的滚动摩擦的形式，既节约了能耗，又能减少两者的磨损，提高弹簧片13的使用寿命和工作稳定性、可靠性。As shown in Figures 2 and 3, the flexible transmission mechanism 5 includes an elastic force transmission mechanism and a rigid adjustment mechanism. To the four rectangular spring pieces 13 evenly fixed on the spring seat 12, the two sides of the spring piece 13 in the length direction are slidably connected with the rigidity adjusting mechanism. The rigidity adjustment mechanism includes a coaxially arranged annular first transmission plate 6 and an annular second transmission plate 7, four first transmission connecting rods 8, four A second transmission link 9 and four slider mechanisms 10, the first transmission plate 6 is connected to the output end of the first hollow shaft drive motor 3, the second transmission plate 7 is connected to the second hollow shaft The output end of the shaft drive motor 4 is connected; one end of each first transmission link 8 is uniformly hinged on the edge of the first transmission plate 6 along the circumferential direction, and the other end is respectively articulated with the upper ends of each slider mechanism 10; each second transmission link 9 One end is evenly hinged on the edge of the second transmission plate 7 along the circumferential direction, and the other end is respectively movably hinged with the lower ends of each slider mechanism 10; The hollow part through which the spring leaf 13 passes, two roller shafts that are clamped symmetrically and can roll along the two sides of the spring leaf 4 in the length direction are arranged symmetrically in the hollow part, and the roller shafts are installed by rolling bearings and pin shafts. In the hollowed out portion of the spring sheet 13, that is, the slider mechanism 10 is in close contact with both sides in the length direction of the spring sheet 13 and can move back and forth along the length direction of the spring sheet 13. The slider mechanism 10 moves along the length direction of the spring sheet 13. When the spring piece 13 moves back and forth in the length direction, the form of rolling friction with very little friction is adopted between the two, which not only saves energy consumption, but also reduces the wear of the two, and improves the service life and working stability of the spring piece 13 ,reliability.
两台电机共同协作，通过两个电机之间的转动夹角变化，调整所述柔性传动机构的刚性调节机构调节弹簧片的有效长度，改变关节刚度，实现弹性缓冲，即当所述第一空心轴驱动电机与第二空心轴驱动电机之间的夹角改变时，带动所述第一传动板6、第二传动板7的夹角改变，进而移动各传动连杆，进而移动各滑块机构沿弹簧片13滑动，调整弹簧片13的有效长度，改变关节刚度，实现弹性缓冲。The two motors work together to adjust the rigidity adjustment mechanism of the flexible transmission mechanism to adjust the effective length of the spring piece through the change of the rotation angle between the two motors, to change the stiffness of the joint, and to achieve elastic buffering, that is, when the first hollow When the angle between the shaft drive motor and the second hollow shaft drive motor changes, the angle between the first transmission plate 6 and the second transmission plate 7 is driven to change, thereby moving each transmission connecting rod, and then moving each slider mechanism Sliding along the spring piece 13, the effective length of the spring piece 13 is adjusted, the stiffness of the joint is changed, and elastic buffering is realized.
本实施例的动力传输路径包括：第一空心轴驱动电机3、第二空心轴驱动电机4，第一传动板6、第二传动板7、第一传动连杆8、第二传动连杆9，调节滑块10、弹簧片13、弹簧座12、输出轴11。The power transmission path of this embodiment includes: a first hollow shaft driving motor 3, a second hollow shaft driving motor 4, a first transmission plate 6, a second transmission plate 7, a first transmission connecting rod 8, and a second transmission connecting rod 9 , Adjust slider 10, spring leaf 13, spring seat 12, output shaft 11.
本发明的刚度调整方法为：第一空心轴驱动电机3、第二空心轴驱动电机4之间的夹角改变时，带动第一传动板6、第二传动板7的夹角改变，继而移动各传动连杆，从而移动调节滑块10沿弹簧片13长度方向移动，调整弹簧片13的有效长度，改变关节刚度。The stiffness adjustment method of the present invention is as follows: when the angle between the first hollow shaft drive motor 3 and the second hollow shaft drive motor 4 changes, the angle between the first drive plate 6 and the second drive plate 7 is driven to change, and then move Each transmission link moves the adjusting slider 10 along the length direction of the spring leaf 13 to adjust the effective length of the spring leaf 13 and change the joint stiffness.
本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.
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| CN109318253B (en) * | 2018-11-08 | 2021-05-07 | 中国矿业大学 | Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method |
| CN109434815A (en) * | 2018-11-27 | 2019-03-08 | 东南大学 | A kind of snake-shaped robot and its joint trajectories/stiffness reliability method based on CPG model |
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| CN111015647A (en) * | 2020-01-07 | 2020-04-17 | 广东思谷智能技术有限公司 | Flexible variable-rigidity self-adaptive transmission device for human joint track |
| CN112869778A (en) * | 2021-01-11 | 2021-06-01 | 北京航空航天大学 | Variable rigidity throat swab holder |
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