CN106239497A - Fluid skeleton flexible mechanical arm assembly - Google Patents

Fluid skeleton flexible mechanical arm assembly Download PDF

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Publication number
CN106239497A
CN106239497A CN201610798115.9A CN201610798115A CN106239497A CN 106239497 A CN106239497 A CN 106239497A CN 201610798115 A CN201610798115 A CN 201610798115A CN 106239497 A CN106239497 A CN 106239497A
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China
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plate
fluid
hole
bone
tendon rope
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CN201610798115.9A
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Chinese (zh)
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CN106239497B (en
Inventor
王思澄
张文增
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Tsinghua University
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Tsinghua University
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Priority to CN201610798115.9A priority Critical patent/CN106239497B/en
Publication of CN106239497A publication Critical patent/CN106239497A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons

Abstract

Fluid skeleton flexible mechanical arm assembly, belongs to robotics, including pedestal, driver, drive mechanism, fluid bone elements and end piece etc..This device has multiple degree of freedom, can bend to multiple directions and flexible, the spatial form of various bending can be made, make the instrument being connected to imitative trunk robot arm device end can arrive at certain locus, mobility is good, having preferable flexibility, during mutual with people, safety is high, simultaneously, compact conformation little from heavy and light, volume and low cost.Fluid skeleton flexible mechanical arm assembly can be widely applied in the various automated system needing mechanical arm.

Description

Fluid skeleton flexible mechanical arm assembly
Technical field
The invention belongs to robotics, the structure particularly to a kind of fluid skeleton flexible mechanical arm assembly sets Meter.
Background technology
The target of Robot Design is that instead of people and completes task, it usually needs have a pair of arm.The arm of people has seven Degree of freedom, belongs to series connection cantilever design, has the muscle of prosperity, it is possible to produce the biggest strength and transport at the higher speeds Dynamic, these all make the development of mechanical arm have the biggest difficulty.The CMU/ that either Carnegie Mellon University of the U.S. develops The ASIMO machine that Sarcos robot, the HUBO robot of high-tech research institute of Korea S development, Japanese honda company develop People ... have a common feature: these traditional robot arms are multiple rigid link and are connected by joint or also Connection is constituted, and has that structure is complicated, volume is big, weight is big, big energy-consuming, high in cost of production deficiency.
For overcoming the inherent shortcoming of conventional discrete type rigid machine people, nearly more than two decades comes about continuous flexible body machine The research of people launches the most in a large number.
J.Yang et al. once a kind of springs at different levels being drawn tandem by many group tendon ropes respectively continuous described in the paper Humanoid robot.This device is proved to have good mobility, reliability and economy.
Walker et al. describes the flexible continuum mechanical arm OCTARM developed the most in the literature.Additionally, given birth to The inspiration of thing circle trunk and flexible tentacle etc. and the robot Air-Octor that designs, have preferable crooking ability, and show Its redundant degree of freedom performance is better than the Rigid Robot Manipulator of identical degree of freedom in many situations.
Fei Situo (FESTO) company of Germany imitates big trunk and fin concept and have developed and a kind of utilize the imitative of gas-powered Trunk flexible mechanical arm.This device is made up of multiple manipulation assemblies arranged in a stacked fashion along curve, each manipulation group Part comprises multiple gusset piece and multiple fluid cavity the most respectively.
The Chinese invention patent CN103895012B once imitative trunk mechanical arm unit of open one, including pedestal, multiple manually Muscle assembly, multiple middleware, multiple spring, end piece and flexible cover;Wherein artificial-muscle assembly includes driver, driver Structure and flexible screw assembly.This device has multiple degree of freedom, it is possible to bend to multiple directions.
But, all there is following deficiency in existing major part flexible mechanical arm scheme:
1) drive mechanism is relative complex.The imitative trunk flexible mechanical arm proposed such as Air-Octor and FESTO company needs control The Special Equipment of gas processed so that whole system quality is relatively big, power consumption and relatively costly;And various by tendon rope or rods In the mechanical arm of displacement drive, due to all corresponding driver of each tendon rope or rods, required when realizing multi-direction bending Number of drives more, significantly increase cost and the complexity of system.
2) bearing capacity and stability are limited.Owing to the compliant members such as widely used spring are as supporting construction, some are soft Easily there is the deformation caused by load in property mechanical arm, thus causes unstability or precise decreasing.
Summary of the invention
The invention aims to overcome the weak point of prior art, propose a kind of fluid skeleton flexible mechanical arm dress Put so that it is there is multiple degree of freedom, it is possible to bend to different directions flexibly, thus make different spatial forms, make connection Instrument at mechanical arm tail end can arrive at certain locus, simultaneously the spy such as, compact conformation little from heavy and light, volume and low cost Point.
Technical scheme is as follows:
A kind of fluid skeleton flexible mechanical arm assembly of present invention design, it is characterised in that: include pedestal, the first driving Device, the second driver, the 3rd driver, the first drive mechanism, the second drive mechanism, the 3rd drive mechanism, the first tendon rope, second Tendon rope, the 3rd tendon rope, N number of fluid bone elements and end piece;Described first driver is fixedly mounted on pedestal, and described first The output shaft of driver and the input of the first drive mechanism are connected, the outfan of described first drive mechanism and the first tendon rope One end is connected, and the other end of described first tendon rope is connected with end piece, and described first tendon rope passes all of fluid bone elements; Described second driver is fixedly mounted on pedestal, the output shaft of described second driver and the input phase of the second drive mechanism Even, the outfan of described second drive mechanism and one end of the second tendon rope are connected, the other end of described second tendon rope and end piece Being connected, described second tendon rope passes all of fluid bone elements;Described 3rd driver is fixedly mounted on pedestal, and described The output shaft of three drivers and the input of the 3rd drive mechanism are connected, the outfan of described 3rd drive mechanism and the 3rd tendon rope One end be connected, the other end of described 3rd tendon rope is connected with end piece, and described 3rd tendon rope is through all of fluid skeleton list Unit;Described fluid bone elements includes lower plate, upper plate, 3 flexible pipes, connecting tube, fluid and at least one electrically operated valve;Described The two ends of flexible pipe connect lower plate and upper plate respectively, and the two ends of described spring part connect lower plate and upper plate, described fluid-tight respectively In connecting tube and 3 flexible pipes;The two ends of each flexible pipe are sealed by sealing member on flexible pipe and flexible pipe lower seal respectively Close, but flexible pipe lower seal connects with described connecting tube;Therefore each flexible pipe described in communicating pipe UNICOM.Described electrically operated valve is arranged In connecting tube, the fluid controlled in 3 flexible pipes is interconnected or mutually ends;Described 3 flexible pipes be distributed on upper plate and Between lower plate;The first lower plate through hole of circumference uniform distribution, the second lower plate through hole and the 3rd lower plate through hole it is provided with in described lower plate;Institute State and on upper plate, be provided with the first upper plate through hole of circumference uniform distribution, the second upper plate through hole and the 3rd upper plate through hole;First fluid bone The lower plate of bone unit is affixed with pedestal, and all described fluid bone elements are connected the most one by one, each fluid bone being positioned at lower section The upper plate of bone unit is affixed with the lower plate of fluid bone elements above;The upper plate of last fluid bone elements and end Extremity piece is affixed;Described first tendon rope sequentially passes through the first lower plate through hole of all fluid bone elements, the first upper plate through hole;Described Second tendon rope sequentially passes through the second lower plate through hole of all fluid bone elements, the second upper plate through hole;Described 3rd tendon rope is successively The 3rd lower plate through hole, the 3rd upper plate through hole through all fluid bone elements;N is natural number.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described flexible pipe uses set spring silk ripple Stricture of vagina pipe or embedding spring silk corrugated tube.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described fluid bone elements also includes Spring part, described spring part is arranged between lower plate and upper plate.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described fluid uses water.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described driver uses motor, hydraulic pressure Cylinder or cylinder.
The present invention compared with prior art, has the following advantages and salience effect:
Fluid skeleton flexible mechanical arm assembly of the present invention has multiple degree of freedom, it is possible to multiple directions bending and Flexible, the spatial form of various bending can be made, make the instrument being connected to imitative trunk robot arm device end can arrive at certain Individual locus, mobility is good, has preferable flexibility, and during mutual with people, safety is high, simultaneously from heavy and light, volume Little, compact conformation and low cost.
Accompanying drawing explanation
Fig. 1 is the stereo appearance figure of a kind of embodiment of the fluid skeleton flexible mechanical arm assembly that the present invention designs.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the sectional view of embodiment illustrated in fig. 1.
Fig. 4 is the axonometric chart of fluid bone elements in embodiment illustrated in fig. 1.
Fig. 5 is the front view of fluid bone elements in embodiment illustrated in fig. 1.
Fig. 6 is the front view of upper plate in embodiment illustrated in fig. 1 (or lower plate).
Fig. 7 is the explosive view of fluid bone elements in embodiment illustrated in fig. 1.
In Fig. 1 to Fig. 7:
1-pedestal,
21-the first driver (the first motor), 22-the second driver (the second motor), 23-the 3rd driver (the 3rd motor),
31-the first drive mechanism, 32-the second drive mechanism, 33-the 3rd drive mechanism,
312-the first slide rail, 322-the second slide rail, 332-the 3rd slide rail,
313-the first nutplate, 323-the second nutplate, 333-the 3rd nutplate,
314-the first leading screw, 324-the second leading screw, 334-the 3rd leading screw,
41-the first tendon rope, 42-the second tendon rope, 43-the 3rd tendon rope,
5-fluid bone elements, 51-lower plate, 52-upper plate,
53-flexible pipe, 54-connecting tube, 55-fluid,
56-electrically operated valve, 571-the first lower plate through hole, 572-the second lower plate through hole,
573-the 3rd lower plate through hole, 581-the first upper plate through hole, 582-the second upper plate through hole,
583-the 3rd upper plate through hole, sealing member on 591-flexible pipe, 592-flexible pipe lower seal,
6-end piece.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment is described in further detail the contents such as the concrete structure of the present invention, operation principle.
A kind of embodiment of fluid skeleton flexible mechanical arm assembly of present invention design, as it is shown in figure 1, include pedestal 1, the One driver the 21, second driver the 22, the 3rd driver the 23, first drive mechanism the 31, second drive mechanism the 32, the 3rd driver Structure the 33, first tendon rope the 41, second tendon rope the 42, the 3rd tendon rope 43, N number of fluid bone elements 5 and end piece 6;Described first drives Device 21 is fixedly mounted on pedestal 1, and the output shaft of described first driver 21 and the input of the first drive mechanism 31 are connected, institute One end of the outfan and the first tendon rope 41 of stating the first drive mechanism 31 is connected, the other end of described first tendon rope 41 and end piece 6 are connected, and described first tendon rope 41 is through all of fluid bone elements 5;Described second driver 22 is fixedly mounted on pedestal 1 On, the output shaft of described second driver 22 and the input of the second drive mechanism 32 are connected, described second drive mechanism 32 One end of outfan and the second tendon rope 42 is connected, and the other end of described second tendon rope 42 is connected with end piece 6, described second tendon rope 42 pass all of fluid bone elements 5;Described 3rd driver 23 is fixedly mounted on pedestal 1, described 3rd driver The input of output shaft and the 3rd drive mechanism 33 is connected, the outfan and the one of the 3rd tendon rope 43 of described 3rd drive mechanism 33 End is connected, and the other end of described 3rd tendon rope 43 is connected with end piece 6, and described 3rd tendon rope 43 is through all of fluid 55 skeleton Unit 5;Described fluid bone elements 5 includes lower plate 51, upper plate 52,3 flexible pipes 53, connecting tube 54, fluids 55 and at least Individual electrically operated valve 56;The two ends of described flexible pipe 53 connect lower plate 51 and upper plate 52 respectively, and the two ends of described spring part connect respectively Lower plate 51 and upper plate 52, described fluid 55 is sealed in connecting tube 54 and 3 flexible pipes 53;Described connecting tube 54 connect 3 soft Property pipe 53;Described electrically operated valve 56 is arranged in connecting tube 54, controls the fluid 55 in 3 flexible pipes 53 and is interconnected or mutually Cut-off;Described 3 flexible pipes 53 are distributed between upper plate 52 and lower plate 51;It is provided with the first of circumference uniform distribution in described lower plate 51 Lower plate through hole the 571, second lower plate through hole 572 and the 3rd lower plate through hole 573;It is provided with the first of circumference uniform distribution on described upper plate 52 Upper plate through hole the 581, second upper plate through hole 582 and the 3rd upper plate through hole 583;The lower plate 51 of first fluid bone elements 5 and base Seat 1 is affixed, and all described fluid bone elements 5 are connected the most one by one, the upper plate 52 of each fluid bone elements 5 being positioned at lower section Affixed with the lower plate 51 of fluid bone elements 5 above;Upper plate 52 and the end piece 6 of last fluid bone elements 5 Affixed;Described first tendon rope 41 sequentially passes through first lower plate through hole the 571, first upper plate through hole of all fluid bone elements 5 581;Described second tendon rope 42 sequentially passes through second lower plate through hole the 572, second upper plate through hole 582 of all fluid bone elements 5; Described 3rd tendon rope 43 sequentially passes through the 3rd lower plate through hole the 573, the 3rd upper plate 52 through hole of all fluid bone elements 5;N is certainly So number.
In the present embodiment, N is 6.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described flexible pipe 53 uses set spring silk Corrugated tube or embedding spring silk corrugated tube.In the present embodiment, described flexible pipe 53 uses embedding spring silk corrugated tube.
In another kind of embodiment, described fluid bone elements 5 also includes that spring part, described spring part are arranged on lower plate 51 and upper plate Between 52.Owing to the present embodiment flexible pipe 53 uses embedding spring silk corrugated tube, spring part has been had to be embedded in corrugated tube, Therefore can not separately set spring part.
In the present embodiment, described fluid 55 uses water.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described first driver 21 uses electricity Machine, hydraulic cylinder or cylinder.In the present embodiment, described first driver 21 uses motor.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described second driver 22 uses electricity Machine, hydraulic cylinder or cylinder.In the present embodiment, described second driver 22 uses motor.
Fluid skeleton flexible mechanical arm assembly of the present invention, it is characterised in that: described 3rd driver 23 uses electricity Machine, hydraulic cylinder or cylinder.In the present embodiment, described 3rd driver 23 uses motor.
In the present embodiment, first drive mechanism the 31, second drive mechanism 32 is identical with the 3rd drive mechanism 33 structure, with Explanation as a example by one drive mechanism 31.Described first drive mechanism 31 includes leading screw 312 and nutplate 313, described first motor 21 Output shaft and the first leading screw 314 be connected, described first leading screw 314 is threadeded with the first nutplate 313, described first nut Plate 313 slides and is embedded in pedestal 1, and described first nutplate 313 is connected with one end of the first tendon rope 41.
In the present embodiment, first upper plate through hole the 581, second upper plate through hole the 582, the 3rd upper plate through hole 583 place circumference is same First flexible pipe, the second flexible pipe, place, the center of circle circumferential concentric of the 3rd flexible pipe, and first upper plate through hole the 581, second upper plate The center of circle of through hole the 582, the 3rd upper plate through hole 583 laid respectively at first flexible pipe the 53, second flexible pipe the 53, the 3rd flexible pipe 53 Place, the center of circle radius on;In the present embodiment, first lower plate through hole the 571, second lower plate through hole the 572, the 3rd lower plate through hole 573 Place circumference is with place, the center of circle circumferential concentric of first flexible pipe the 53, second flexible pipe the 53, the 3rd flexible pipe 53, and the first lower plate The center of circle of through hole the 571, second lower plate through hole the 572, the 3rd lower plate through hole 573 be positioned at first flexible pipe the 53, second flexible pipe 53, On the radius at the place, the center of circle of the 3rd flexible pipe 53.
Described pedestal 1 also includes the first slide rail the 312, second slide rail 322 and the 3rd slide rail 332 being fixed together.Described First nutplate 313 is slided and is embedded on the first slide rail 312, and described second nutplate 323 is slided and is embedded in the second slide rail 322 On, described 3rd nutplate 333 is slided and is embedded on the 3rd slide rail 332.
The operation principle of the present embodiment, is described below in conjunction with accompanying drawing:
When the present embodiment is in original state, as shown in Figure 1.
Opening certain electrically operated valve 56, close remaining electrically operated valve 56, then the first driver 21 rotates, and passes by first Motivation structure 31 drives the first nutplate 313 to move downward linearly, and pulls downward on the first tendon rope 41, corresponding with the first tendon rope 41 (in fluid 55 bone elements 5 opening electrically operated valve 56) first flexible pipe is squeezed, and fluid 55 therein flows to Second flexible pipe of same layer and the 3rd flexible pipe, meanwhile, second tendon corresponding with the second flexible pipe, the 3rd flexible pipe Rope the 42, the 3rd tendon rope 43 also moves up respectively under the rotary action of the second driver the 22, the 3rd driver 23, thus is the The fluid 55 that one flexible pipe is discharged reserves volume space.Finally close this electrically operated valve 56, forbid that fluid 55 continues flowing.
Open another electrically operated valve 56 the most again, proceed as described above.
By distributing the first tendon rope the 41, second tendon rope 42 and displacement of the 3rd tendon rope 43, the end of this device can be controlled Part 6 arrives at the optional position in work space.
When mechanical arm is carried out reverse operating, principle is identical with said process, and the moving direction of the most each tendon rope is contrary, no Repeat again.
Fluid skeleton flexible mechanical arm assembly of the present invention has multiple degree of freedom, it is possible to multiple directions bending and Flexible, the spatial form of various bending can be made, make the instrument being connected to imitative trunk robot arm device end can arrive at certain Individual locus, mobility is good, has preferable flexibility, and during mutual with people, safety is high, simultaneously from heavy and light, volume Little, compact conformation and low cost.

Claims (5)

1. a fluid skeleton flexible mechanical arm assembly, it is characterised in that: include pedestal, the first driver, the second driver, Three drivers, the first drive mechanism, the second drive mechanism, the 3rd drive mechanism, the first tendon rope, the second tendon rope, the 3rd tendon rope, N Individual fluid bone elements and end piece;Described first driver is fixedly mounted on pedestal, the output shaft of described first driver Being connected with the input of the first drive mechanism, the outfan of described first drive mechanism and one end of the first tendon rope are connected, described The other end of the first tendon rope is connected with end piece, and described first tendon rope passes all of fluid bone elements;Described second drives Device is fixedly mounted on pedestal, and the output shaft of described second driver and the input of the second drive mechanism are connected, and described second The outfan of drive mechanism and one end of the second tendon rope are connected, and the other end of described second tendon rope is connected with end piece, and described the Two tendon ropes pass all of fluid bone elements;Described 3rd driver is fixedly mounted on pedestal, described 3rd driver The input of output shaft and the 3rd drive mechanism is connected, the outfan of described 3rd drive mechanism and one end phase of the 3rd tendon rope Even, the other end of described 3rd tendon rope is connected with end piece, and described 3rd tendon rope passes all of fluid bone elements;Described stream Body bone elements includes lower plate, upper plate, 3 flexible pipes, connecting tube, fluid and at least one electrically operated valve;Described flexible pipe Two ends connect lower plate and upper plate respectively, and the two ends of described spring part connect lower plate and upper plate respectively, and described fluid-tight is in connecting tube With in 3 flexible pipes;Described connecting tube 3 flexible pipes of connection;Described electrically operated valve is arranged in connecting tube, controls 3 flexibilities Fluid in pipe is interconnected or mutually ends;Described 3 flexible pipes are uniform between the upper and lower plates;Arrange in described lower plate There are the first lower plate through hole of circumference uniform distribution, the second lower plate through hole and the 3rd lower plate through hole;It is provided with circumference uniform distribution on described upper plate The first upper plate through hole, the second upper plate through hole and the 3rd upper plate through hole;The lower plate of first fluid bone elements is affixed with pedestal, All described fluid bone elements are connected the most one by one, and the upper plate of each fluid bone elements being positioned at lower section is with above The lower plate of fluid bone elements is affixed;The upper plate of last fluid bone elements is affixed with end piece;Described first tendon rope depends on Secondary the first lower plate through hole through all fluid bone elements, the first upper plate through hole;Described second tendon rope sequentially passes through all stream Second lower plate through hole of body bone elements, the second upper plate through hole;Described 3rd tendon rope sequentially passes through all fluid bone elements 3rd lower plate through hole, the 3rd upper plate through hole;N is natural number.
2. fluid skeleton flexible mechanical arm assembly as claimed in claim 1, it is characterised in that: described flexible pipe uses set spring silk Corrugated tube or embedding spring silk corrugated tube.
3. fluid skeleton flexible mechanical arm assembly as claimed in claim 1, it is characterised in that: described fluid bone elements also wraps Including spring part, described spring part is arranged between lower plate and upper plate.
4. fluid skeleton flexible mechanical arm assembly as claimed in claim 1, it is characterised in that: described fluid uses water.
5. fluid skeleton flexible mechanical arm assembly as claimed in claim 1, it is characterised in that: described driver employing motor, Hydraulic cylinder or cylinder.
CN201610798115.9A 2016-08-31 2016-08-31 Fluid bone flexible mechanical arm assembly Active CN106239497B (en)

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN108621148A (en) * 2018-05-07 2018-10-09 中国人民解放军国防科技大学 A kind of modular gas control type software telescopic mechanical arm
CN108673471A (en) * 2018-05-28 2018-10-19 哈尔滨工业大学 Wearable flexibility auxiliary operation arm
CN108909470A (en) * 2018-05-10 2018-11-30 常熟理工学院 It is automatically positioned charging system
CN109108953A (en) * 2018-09-20 2019-01-01 上海大学 Unmanned refuel of one kind uses mechanical arm system
CN109794946A (en) * 2019-01-28 2019-05-24 成都普崔克机电有限公司 A kind of block form multiple-unit software driver
CN109877819A (en) * 2019-04-17 2019-06-14 中南大学 The snakelike arm of variation rigidity software
CN109955234A (en) * 2019-04-25 2019-07-02 哈尔滨工业大学 A kind of shape detection system and method for flexibility tentacle
CN110270987A (en) * 2019-06-26 2019-09-24 清华大学深圳研究生院 Gas drive moves software climbing robot and its manufacture and control method

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CN104476533A (en) * 2014-11-27 2015-04-01 清华大学 Master-slave control flexible continuum robot device and control method thereof
CN205111880U (en) * 2015-02-15 2016-03-30 清华大学 Crooked robot arm device of flexible pole spiral drive qxcomm technology
CN205363953U (en) * 2016-03-08 2016-07-06 山东科技大学 Flexible mechanical arm of pneumatic rope accuse load type
CN206393632U (en) * 2016-08-31 2017-08-11 清华大学 Fluid bone flexible mechanical arm assembly

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EP0017016A1 (en) * 1979-03-16 1980-10-15 Robotgruppen HB Flexible arm, particularly a robot arm
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108621148A (en) * 2018-05-07 2018-10-09 中国人民解放军国防科技大学 A kind of modular gas control type software telescopic mechanical arm
CN108909470A (en) * 2018-05-10 2018-11-30 常熟理工学院 It is automatically positioned charging system
CN108673471A (en) * 2018-05-28 2018-10-19 哈尔滨工业大学 Wearable flexibility auxiliary operation arm
CN108673471B (en) * 2018-05-28 2021-07-06 哈尔滨工业大学 Wearable flexible auxiliary operation arm
CN109108953A (en) * 2018-09-20 2019-01-01 上海大学 Unmanned refuel of one kind uses mechanical arm system
CN109794946A (en) * 2019-01-28 2019-05-24 成都普崔克机电有限公司 A kind of block form multiple-unit software driver
CN109877819A (en) * 2019-04-17 2019-06-14 中南大学 The snakelike arm of variation rigidity software
CN109955234A (en) * 2019-04-25 2019-07-02 哈尔滨工业大学 A kind of shape detection system and method for flexibility tentacle
CN110270987A (en) * 2019-06-26 2019-09-24 清华大学深圳研究生院 Gas drive moves software climbing robot and its manufacture and control method

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