CN106218746B - The processing and assembling of tow-armed robot walking mechanism - Google Patents

The processing and assembling of tow-armed robot walking mechanism Download PDF

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Publication number
CN106218746B
CN106218746B CN201610604571.5A CN201610604571A CN106218746B CN 106218746 B CN106218746 B CN 106218746B CN 201610604571 A CN201610604571 A CN 201610604571A CN 106218746 B CN106218746 B CN 106218746B
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axis
annular groove
wheel
assembling
tow
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CN106218746A (en
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李应煌
梁娟
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Liuzhou Funeng Robot Development Co Ltd
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Liuzhou Funeng Robot Development Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The present invention relates to robot, the specifically processing and assembling of tow-armed robot walking mechanism comprising the walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete;The one end in each joint is hinged with ground-engaging element;The other end in each joint and a tie-beam one end are hinged;The tie-beam other end is bolted to connection on walking beam;By each joint assembly deceleration mechanism.The present invention is moved by several joint drive robots in three dimensions, first axle and the second axis are assembled on the special shell in the joint, shell and linking arm can be driven to rotate horizontally by the rotation of first axle, linking arm can be driven to rotate vertically by the second axis, and third axis can then drive moving component to rotate vertically, it is seen that the present invention realizes the three-dimensional motion of moving component by the rotation of three axis;In implementation process, not only process simple, at low cost but also easy to assembly, quick.

Description

The processing and assembling of tow-armed robot walking mechanism
Technical field
The present invention relates to robot, the specifically processing and assembling of tow-armed robot walking mechanism.
Background technology
Existing robot mainly divides two major classes:Cartesian robot and prosthetic robot.Cartesian robot Mainly it is made of some linear motion units, driving motor, control system and end-effector etc..This robot can be directed to not Same application, fast and easy are combined into different dimensions, various strokes and different the wall-mounted of load capacity, cantilevered, planer-type Or the Cartesian robot of the diversified forms such as reversely hung Yong.Prosthetic robot mainly drives electricity by some rotary motion units The compositions such as machine, control system and end-effector.Prosthetic robot can be with Rapid Combination at not unlike Cartesian robot Same dimension.For different applications, such as tow-armed robot, the prosthetic robot of fixed different dimensions should be selected.
Currently, the kind of drive of tow-armed robot walking mechanism mainly has rope pulley transmission, linkage transmission, band to pass Dynamic, chain drive and gear drive etc., and these transmission parts are easily deformed a bit, transmission is inaccurate, as V belt translation, rope are slided Wheel transmission etc., certain structures are complicated, and process and assemble is difficult, suitable for application in the arc welding robot of microminiature, such as connecting rod machine Structure, gear drive etc..
Invention content
In view of the above technical problems, the present invention provides a kind of adding for simple, firm tow-armed robot walking mechanism of assembly Work assembly technology.
The technical solution adopted by the present invention is:The processing and assembling of tow-armed robot walking mechanism comprising following step Suddenly:
(1)The walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete;
(2)The one end in each joint is hinged with ground-engaging element;
(3)The other end in each joint and a tie-beam one end are hinged;
(4)The tie-beam other end is bolted to connection on walking beam;
(5)By each joint assembly deceleration mechanism.
Preferably, when assembly joint, the shell of U-type groove formula is taken, correspondence opens up through-hole respectively on the both side plate of shell, One bearing is installed in each through-hole;First axle is welded in the bottom plate upper edge U-type groove length direction of shell;By the linking arm in joint Axle sleeve is fixedly mounted in one end, and second axis one end is stretched into from the bearing on side plate between both side plate;It again will be on the linking arm Axle sleeve from being set between both side plate on the second axis, and axle sleeve is made to pass through key and the second axis connection;Tap the another of the second axis End makes described one end of the second axis that axle sleeve be passed through to be interference fitted with the bearing on another side plate;Pass through in the linking arm other end another Outer bearing installs third axis;The first axle, the second axis and third axis are connect with deceleration mechanism respectively.
Preferably, half slot is processed in the bottom plate upper edge U-type groove length direction, the sleeve with the outer diameters such as the half slot It is welded in half slot, the first axle passes through barrel bore to be keyed with the sleeve.
Preferably, in process and assemble deceleration mechanism, first in inner shaft one end and hollow outer shaft one end elastic conjunction backstop Piece distinguishes process and assemble hole on two elliptical drive for wheel, and a ring spring is arranged in each pilot hole;Again by two ellipses Driving wheel is separately mounted to by pilot hole on interior outer shaft, and driving wheel is made to connect with stop tab;Then inner shaft is mounted on sky Heart outer shaft inner cavity, and the inner shaft other end is made to stretch out the hollow outer shaft other end;Then in the axial centre position of flexbile gear green body along week To one flat annular groove of turning;Again an annular V slot is circumferentially processed in flat annular groove slot bottom;In flexbile gear green body periphery position An exclusive tooth is processed respectively in annular groove both sides, and the tooth socket of each tooth is communicated with annular groove, and slot bottom is higher than annular groove Slot bottom is flushed with annular groove slot bottom;One end of flexbile gear green state joining first axle, the second axis or third axis is processed into outward Inclined breeze way;Two elliptical drive for wheel for being equipped with interior outer shaft are installed to flexbile gear inner ring again, make two elliptical drive for wheel and two Exclusive tooth is to coping with just;Finally the elliptical drive for wheel assembled and flexbile gear are installed to the firm gear inner ring for forming two rows of internal tooths, Two rows of external tooths are made to be engaged with two rows of internal tooths.
Preferably, being radially machined with annular groove along each pilot hole hole wall, first the ring spring is set to corresponding In annular groove, then by elliptical drive for wheel by pilot hole be mounted on corresponding axis on.
Preferably, the hollow outer shaft both ends are machined with accommodation space respectively, it is fixedly mounted in each accommodation space One bearing, the inner shaft both ends are mounted on hollow outer shaft inner cavity by the two bearings.
Preferably, the stop tab includes the axial interstage sleeve being interference fitted with respective shaft, interstage sleeve one end has radially extended Catch, the ring spring fixation are set on interstage sleeve, and two elliptical drive for wheel axially connect with catch, the interstage sleeve peripheral wall molding There are the several double wedges being axially arranged, each double wedge to be radially into the gap of ring spring.
Preferably, when processing tooth, from far from one laterally closer annular groove side feed of annular groove.
Preferably, the breeze way extends to billet surface from tooth socket slot bottom is axially inclined.
Preferably, the number of teeth of two rows of external tooths is unequal;The tip diameter of two rows of external tooths is unequal.
As can be known from the above technical solutions, the present invention is moved by several joint drive robots in three dimensions, the pass It saves and assembles first axle and the second axis on special shell, shell and linking arm can be driven to rotate horizontally by the rotation of first axle, Linking arm can be driven to rotate vertically by the second axis, and third axis can then drive moving component to rotate vertically, it is seen that the present invention is logical The three-dimensional motion of moving component is realized in the rotation for crossing three axis;In implementation process, not only process it is simple, at low cost, but also fill With convenient, fast.
Specific implementation mode
The present invention is described more detail below, illustrative examples of the invention and explanation are used for explaining the present invention herein, But it is not as a limitation of the invention.
The processing and assembling of tow-armed robot walking mechanism comprising following steps:
The walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete;Again by each The one end in joint is hinged with ground-engaging element;The other end in each joint and a tie-beam one end are hinged;The tie-beam other end is led to It crosses bolt to be fixedly connected on walking beam, by each joint assembly deceleration mechanism, to make joint safely and reliably by walking beam It is connected with ground-engaging element, joint can simultaneously drive ground-engaging element to walk in three dimensions, meet the walking requirement of robot.
When assembling joint, the shell of U-type groove formula is taken, the shell is by the both side plate being laterally arranged vertically and vertical longitudinal direction The bottom plate composition being arranged, and shell is an integral molding structure, it is easy to process, it is connected firmly, on the both side plate of shell respectively Correspondence opens up through-hole, a bearing is installed in each through-hole, to assemble the second axis.Since the shell of U-type groove formula is in three masks There is opening, the rotation of linking arm will not be interfered, ensures that linking arm safely and steadly moves.
First axle is welded in the bottom plate upper edge U-type groove length direction of shell;Specifically, first U-shaped in the bottom plate upper edge Slot length direction processes half slot, and for the sleeve weld with the outer diameters such as the half slot in half slot, the first axle passes through sleeve Inner cavity is keyed with the sleeve, is directly welded on bottom plate to can avoid axis, and damage first axle, and the design of half slot are prevented On the one hand it processes simply, conveniently, is on the other hand convenient for welding, is connected firmly.Axle sleeve is fixedly mounted in the linking arm one end in joint, Third axis is installed by other bearing in the linking arm other end, robot motion's component is fixedly connected on the third axis, this Sample moving component can directly be driven by third axis to be rotated vertically around the third axis, and the range rotated vertically is smaller;Meanwhile second Axis drives linking arm to be rotated vertically around second axis, to drive moving component to be rotated vertically on a large scale around second axis;Perpendicular While direct rotary turns, first axle can drive the shell water surface rotate, shell drive linking arm, then by linking arm drive moving component around First axle rotates horizontally, to realize that moving component is a wide range of or small-scale three-dimensional motion.
Second axis one end is stretched into from the bearing on side plate between both side plate;Again by the axle sleeve on the linking arm from two It is set between side plate on the second axis, and axle sleeve is made to pass through key and the second axis connection;Then the other end for tapping the second axis makes Described one end of two axis passes through axle sleeve to be interference fitted with the bearing on another side plate, to which the second axis is connected across on both side plate, And linking arm one end drives linking arm rotation between both side plate, and by the rotation of the second axis, realizes linking arm and movement The purpose that component rotates vertically around second axis;Finally the first axle, the second axis and third axis are connected with deceleration mechanism respectively It connects.
In process and assemble deceleration mechanism, first in inner shaft one end and hollow outer shaft one end elastic conjunction stop tab;Interior outer shaft It can be respectively driven by two motors, can also be respectively driven by two different transmission mechanisms by a motor;Stop tab can make Driving wheel is mounted on the designated position of axis, and driving wheel is avoided to move axially.Process and assemble hole is distinguished on two elliptical drive for wheel, Elliptical drive for wheel can be mounted on corresponding axis by pilot hole;Two elliptical drive for wheel can drive the gear of the different numbers of teeth, Wave producer of the elliptical drive for wheel as harmonic speed reducer.It, can be in the periphery of the elliptical drive for wheel point when as wave producer The several idler wheels being axially arranged are furnished with, the flexbile gear rotation of two different numbers of teeth can be thus driven, to export different drive ratios Power.
One ring spring is set in each pilot hole;In implementation process, radially add along each pilot hole hole wall Work has annular groove, the ring spring to be set in corresponding annular groove, and elliptical drive for wheel is fixedly mounted on corresponding by corresponding ring spring On axis;It on the one hand can avoid elliptical drive for wheel so directly to contact with corresponding axis and damage elliptical drive for wheel, another party's donut The elastic force of spring can make assembly more convenient;Meanwhile elliptical drive for wheel and respective shaft even can be used the mode of clearance fit and carry out Transmission avoids the two from contacting, wear phenomenon occurs, and when the effect of attrition of axis and ring spring is driven, only need to change ring spring i.e. Can, save repair and maintenance cost.In the present invention, ring spring is the elasticity part for having radical elasticity, in the effect of its elastic force Under, elliptical drive for wheel can be fixed on axis, ensure that axis drives elliptical drive for wheel rotation.Two elliptical drive for wheel are passed through into assembly Hole is separately mounted on the interior outer shaft, and driving wheel is made to connect with stop tab;Stop tab includes being interference fitted with respective shaft Axial interstage sleeve keeps stop tab dynamic with shaft rotation, and interstage sleeve one end has radially extended catch, and the ring spring fixation is set on interstage sleeve, can Make ring spring is not direct to be contacted with axis, avoids damage ring spring, two elliptical drive for wheel from axially connecting with catch, prevent drive shaft To movement;The interstage sleeve peripheral wall forms the several double wedges being axially arranged, and each double wedge is radially into the gap of ring spring, to Ring spring is blocked, can ensure that ring spring is dynamic with shaft rotation in this way.
Then inner shaft is mounted on hollow outer shaft inner cavity, and the inner shaft other end is made to stretch out the hollow outer shaft other end;As excellent Choosing, the inner shaft are mounted on hollow outer shaft inner cavity by bearing;Specifically, the hollow outer shaft both ends are machined with receiving respectively Space, each accommodation space is interior to be fixedly mounted a bearing, and the inner shaft both ends are mounted on hollow by the two bearings Outer shaft inner cavity;When inner shaft is installed, the inner shaft other end is first penetrated into inner cavity from the bearing of one end described in hollow outer shaft, then from hollow The bearing of the outer shaft other end is pierced by.Preferably, first placing hollow outer shaft vertically, described one end is located above, then The other end described in inner shaft is placed in the bearing centre hole of one end described in hollow outer shaft, then one end described in inner shaft is applied downwards Pressure makes its other end penetrate inner cavity, then is pierced by from the bearing centre hole of the hollow outer shaft other end;The inner shaft other end is from hollow outer When the bearing centre hole of the axis other end is pierced by, pressure is applied from bottom to top to the bearing of the hollow outer shaft other end, prevents the bearing Because the downward pressure of inner shaft disengages it from outer shaft.
In implementation process, the end face of bearing can not only save space, but also in transmission process with outer shaft end face In avoid interfering with other component;Both ends described in inner shaft are mounted in two bearings, not only make interior outer shaft that phase can occur in this way To rotation, ensure that interior outer shaft has higher concentricity;And may make inner shaft support more secured, transmission is more stable.Interior outer shaft Relative motion this sample loading mode can be used, inner shaft by motor drive rotate when, outer shaft can be made not rotate, only by elliptical drive for wheel Outer gear rotation is driven, to export power;When outer shaft is driven by motor and rotated, inner shaft can be made not rotate, only by ellipse The gear rotation of the other different numbers of teeth of drive wheel, to the power of output and outer shaft different drive ratios, it is seen that the present invention can Realize the transmission of different drive ratios.In implementation process, two elliptical drive for wheel can drive the flexbile gear gear of the different numbers of teeth, because This can be such that outer shaft does not rotate, only be turned by the first Ellipse motion driven wheel drive first row external tooth when inner shaft is driven by motor and rotated It is dynamic, and second row external tooth is still within meshing state with internal tooth at this time, since outer shaft does not have driving force, second row external tooth not to drive Dynamic flexbile gear rotation, and it is rotated under the action of engagement force with flexbile gear;Similarly, when outer shaft is driven by motor and rotated, can make interior Axis does not rotate, and is only rotated by the gear of the other different numbers of teeth of the second Ellipse motion driven wheel drive, to output with the first driving wheel not With the power of transmission ratio, it is seen that the transmission of different drive ratios can be achieved in the present invention.
In implementation process, the axial centre position of flexbile gear green body circumferentially one flat annular groove of turning, then in flat ring Connected in star slot bottom circumferentially processes an annular V slot, and being then located at annular groove side in flexbile gear green body periphery processes an exclusive tooth, It is located at the annular groove other side in flexbile gear green body periphery and processes another exclusive tooth;It in process, should be from far from annular groove One laterally closer annular groove side feed, and the tooth socket of each tooth is communicated with annular groove, and tooth socket slot bottom should also be made to be higher than ring Connected in star slot bottom is flushed with annular groove slot bottom;The clast in process can be made to flow into annular V slot in this way, provided for processing It is convenient;Meanwhile when lubricating two toothrows, the precipitable a part of waste residue of lubricating oil in annular groove ensures the lubricating oil at tooth It is more clean;Annular V slot can facilitate clast and waste residue to flow into slot bottom along inclined cell wall, prevent the splashings such as clast and waste residue.
Two elliptical drive for wheel for being equipped with interior outer shaft are installed to flexbile gear, corresponding with two toothrows pair of two elliptical drive for wheel are made Just, i.e., so that each driving wheel is located at the corresponding flexbile gear inner ring of tooth, in flexbile gear transmission process, since wheel body is sent out in elliptical wave It is deformed during the driving of raw device, output one end will produce deformation, transmission may be caused not steady enough, and then make first Axis, the second axis or the transmission of third axis are not steady enough, and one end of flexbile gear green state joining first axle, the second axis or third axis is processed It can alleviate above-mentioned deformation at the buffering being inclined outwardly, ensure that the transmission of first axle, the second axis or third axis is more stable.It finally will dress The elliptical drive for wheel and flexbile gear prepared is installed to the firm gear inner ring for forming two rows of internal tooths, keeps two rows of external tooths corresponding with two rows of internal tooths Engagement.
The breeze way of the present invention extends to billet surface from tooth socket slot bottom is axially inclined, and the inclination extends to linear extension Or to extend to recessed arc so that close to being relatively large in diameter for first axle, the second axis or third axis side;Since wheel body is passing Dynamic generate in the process is radially enlarged deformation, and having makes the wheel body close to first axle, the second axis or third axis side generate The increased trend of radial deformation, therefore during passing power, close to the big straight of first axle, the second axis or third axis side The deformation effect that diameter buffer part is subject to is smaller, to ensure flange transmission stationarity.In the present invention, two rows of external tooths The number of teeth it is unequal, to provide two different transmission ratios, to meet the transmission requirement of robot;The outside circle of two rows of external tooths Diameter is unequal, also determines that the outside circle of two rows of internal tooths is unequal, and in assembly, the smaller external tooth of tip diameter should be close Assembly direction, it is smaller with tip diameter that so smaller external tooth of tip diameter may pass through the larger internal tooth of tip diameter Interior tooth engagement ensures that assembling process does not interfere phenomenon.
It is provided for the embodiments of the invention technical solution above to be described in detail, specific case used herein The principle and embodiment of the embodiment of the present invention are expounded, the explanation of above example is only applicable to help to understand this The principle of inventive embodiments;Meanwhile for those of ordinary skill in the art, embodiment according to the present invention, in specific embodiment party There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.

Claims (7)

1. the processing and assembling of tow-armed robot walking mechanism comprising following steps:
(1)The walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete;
(2)The one end in each joint is hinged with ground-engaging element;
(3)The other end in each joint and a tie-beam one end are hinged;
(4)The tie-beam other end is bolted to connection on walking beam;
(5)By each joint assembly deceleration mechanism;When assembling joint, the shell of U-type groove formula is taken, on the both side plate of shell respectively Correspondence opens up through-hole, and a bearing is installed in each through-hole;First axle is welded in the bottom plate upper edge U-type groove length direction of shell; Axle sleeve is fixedly mounted in the linking arm one end in joint, second axis one end is stretched into from the bearing on side plate between both side plate;Again By the axle sleeve on the linking arm from being set between both side plate on the second axis, and axle sleeve is made to pass through key and the second axis connection;It strikes The other end for hitting the second axis makes described one end of the second axis that axle sleeve be passed through to be interference fitted with the bearing on another side plate;It is connecting The arm other end installs third axis by other bearing;The first axle, the second axis and third axis are connected with deceleration mechanism respectively It connects;Half slot is processed in the bottom plate upper edge U-type groove length direction, the sleeve weld with the outer diameters such as the half slot is in half slot Interior, the first axle passes through barrel bore to be keyed with the sleeve;In process and assemble deceleration mechanism, first in inner shaft one end and sky Heart outer shaft one end elastic conjunction stop tab is distinguished process and assemble hole on two elliptical drive for wheel, is set in each pilot hole Set a ring spring;Two elliptical drive for wheel are separately mounted to by pilot hole on interior outer shaft again, and make driving wheel and stop tab Connect;Then inner shaft is mounted on hollow outer shaft inner cavity, and the inner shaft other end is made to stretch out the hollow outer shaft other end;Then in flexbile gear The axial centre position of green body circumferentially one flat annular groove of turning;Again a ring is circumferentially processed in flat annular groove slot bottom Shape V slots;It is located at annular groove both sides in flexbile gear green body periphery and processes an exclusive tooth, tooth socket and the annular groove phase of each tooth respectively It is logical, and slot bottom is flushed higher than annular groove slot bottom or with annular groove slot bottom;By flexbile gear green state joining first axle, the second axis or It is processed into the breeze way being inclined outwardly in one end of three axis;Two elliptical drive for wheel for being equipped with interior outer shaft are installed to flexbile gear again Circle makes two elliptical drive for wheel with two rows of external tooths to coping with just;Finally the elliptical drive for wheel assembled and flexbile gear are installed to molding The firm gear inner ring for having two rows of internal tooths makes two rows of external tooths be engaged with two rows of internal tooths.
2. the processing and assembling of tow-armed robot walking mechanism according to claim 1, it is characterised in that:Along each described Pilot hole hole wall is radially machined with annular groove, and first the ring spring is set in corresponding annular groove, then elliptical drive for wheel is passed through dress Distribution is mounted on corresponding axis.
3. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that:The hollow outer shaft Both ends are machined with accommodation space respectively, are fixedly mounted a bearing in each accommodation space, the inner shaft both ends by this two Bearing is mounted on hollow outer shaft inner cavity.
4. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that:The stop tab packet The axial interstage sleeve being interference fitted with respective shaft is included, interstage sleeve one end has radially extended catch, and the ring spring fixation is set on interstage sleeve, Two elliptical drive for wheel axially connect with catch, and the interstage sleeve peripheral wall forms the several double wedges being axially arranged, each double wedge It is radially into the gap of ring spring.
5. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that:When processing tooth, from Far from one laterally closer annular groove side feed of annular groove.
6. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that:The breeze way from Tooth socket slot bottom is axially inclined to extend to billet surface.
7. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that:The tooth of two rows of external tooths Number is unequal;The tip diameter of two rows of external tooths is unequal.
CN201610604571.5A 2016-07-29 2016-07-29 The processing and assembling of tow-armed robot walking mechanism Active CN106218746B (en)

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US7971664B2 (en) * 2008-03-18 2011-07-05 Bossa Nova Robotics Ip, Inc. Efficient actuation and selective engaging and locking clutch mechanisms for reconfiguration and multiple-behavior locomotion of an at least two-appendage robot
CN202345807U (en) * 2011-12-06 2012-07-25 华中科技大学 Amphibious robot foot mechanism with variable topological structure
CN102616296A (en) * 2012-03-31 2012-08-01 浙江工业大学 Six-wheel-leg type serial-parallel hybrid robot
CN105730546A (en) * 2016-02-02 2016-07-06 上海交通大学 3D printing technology-based minitype bionic six-legged robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7971664B2 (en) * 2008-03-18 2011-07-05 Bossa Nova Robotics Ip, Inc. Efficient actuation and selective engaging and locking clutch mechanisms for reconfiguration and multiple-behavior locomotion of an at least two-appendage robot
CN101264603A (en) * 2008-03-31 2008-09-17 哈尔滨工程大学 Robot joint based on harmonic wave speed reducer
CN202345807U (en) * 2011-12-06 2012-07-25 华中科技大学 Amphibious robot foot mechanism with variable topological structure
CN102616296A (en) * 2012-03-31 2012-08-01 浙江工业大学 Six-wheel-leg type serial-parallel hybrid robot
CN105730546A (en) * 2016-02-02 2016-07-06 上海交通大学 3D printing technology-based minitype bionic six-legged robot

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