CN106346464A - Rigid-flexible series-parallel transverse zooming-type flexible manipulator - Google Patents
Rigid-flexible series-parallel transverse zooming-type flexible manipulator Download PDFInfo
- Publication number
- CN106346464A CN106346464A CN201610987180.6A CN201610987180A CN106346464A CN 106346464 A CN106346464 A CN 106346464A CN 201610987180 A CN201610987180 A CN 201610987180A CN 106346464 A CN106346464 A CN 106346464A
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- China
- Prior art keywords
- connecting rod
- link
- rod rack
- slide
- driver element
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention provides a rigid-flexible series-parallel transverse zooming-type flexible manipulator which comprises a base, an end effector and multiple driving units, wherein the driving units are connected with the base and the end effector, are the same in structure and are sequentially connected in series; the driving units are formed by connecting flexible pneumatic muscle tendons with rigid lightweight connecting rod brackets in parallel and series; the connecting rod brackets are driven by a mini cylinder, so as to realize effects of zooming transformation and connection supporting, and drive three muscle tendons connected with the connecting rod brackets to move together, so that thickness transformation of the driving units is realized; two ends of the pneumatic muscle tendons are connected with the connecting rod brackets, so that bending and telescoping motion can be realized. The rigid-flexible series-parallel transverse zooming-type flexible manipulator is capable of realizing telescoping motion, thickness transformation and each-direction bending motion at the same time, is good in maneuverability, has high safety in a process of interacting with people, not only ensures relatively high bending flexibility and favorable flexibility, but also is improved in adaptive capacity to environment.
Description
Technical field
The invention belongs to robot field, particularly to a kind of mechanical arm.
Background technology
1962, the First industrial robot unimate being produced by the design of unimation company of the U.S. was in General Motors
Company comes into operation, and indicates the birth of first generation robot.In subsequent decades, with computer technology, manufacturing technology,
Sensor, the development of control technology, the performance of robot is increasing substantially, and is deep into the multiple fields of the mankind, in machine from now on
Device people will continue on horizontal and vertical development.Transversely, the scope of application is more and more wider.From the people that spatially minds the machine just from ground
Towards space, deep-sea, underground extension, from every field, robot will be deep into industry, military affairs, aviation, amusement, service；
In longitudinal direction, the species of robot will get more and more.Microrobot will become the rising star of robot, and it is direct that it can enter human body
Cell, virus are operated.In a word, robot will become more intelligent, and the contribution to the mankind is increasing.
Mechanical arm is one kind of robot, and traditional mechanical arm is rigid link composition, generally has series, parallel or string
And three kinds of structures of series-parallel connection.The feature of this kind of mechanical arm is that have discrete joint and being rigidly connected, also a class be based on Octopuses arm, as
The bionical continuum mechanical arm of the biologic-organs such as nose.Because continuum mechanical arm can produce plastic deformation in any part, so
There is very strong avoidance ability, can preferably adapt to non-structure environment, preferably capture irregularly shaped object.This kind of mechanical arm was both
Clamping device crawl object can be loaded onto in end it is also possible to roll object in itself using mechanical arm as traditional mechanical arm.
From the structure of this kind of mechanical arm, it is powerful, has good compliance and adaptability；Application from this kind of robot
Angle is seen, the operation object of these mechanical arms is often some soft, fragile and lived targets, and traditional mechanical arm is then
It is not easily achieved.
Nineteen ninety-five, the ksi tentacle type mechanical hand that immega etc. designs and produces, this mechanical hand mainly have air bag, servomotor,
6 rope compositions, using soft rope and gas combination drive；Calendar year 2001, hannan and walker et al. have developed hyper-redundant as
Nose humanoid robot, this robot is made up of 16 2DOF u-shaped joints, overall length 82.32cm, can be divided into 4 that length does not wait
Part, wherein each part include 4 joints.Each joint is mixed realization mixing by rope and controls with spring；2003,
Peirs et al. have developed a kind of flexible bending joint section for endoscope robot surgical operation.This sequential machine people is by micro-
Dynamo-electric super-elasticity niti compo pipe is constituted, and is driven using 4 tendons, has 2 degree of freedom, can bend 90 in any opposite direction
Degree；2007, harada et al. have developed a kind of flexible laser operations handss, this manipulator maximum gauge 2.4mm, can to appoint
The bending of meaning direction, maximum bend angle is 90 degree；2011, German Fei Situo company developed the feature design according to big trunk
Novel bionic machine processing system " bionical operation assistant " out, it can smoothly carry heavy duty, and principle is its
Each section vertebra can be extended by the compression of air bag and inflation and shrink；2014, Chinese patent cn203804991u,
Disclose a kind of spring line traffic control flexibility trunk mechanical arm, the joint of the multi-stage series that this utility model includes being arranged on support,
Wherein in the joint of series connection, the one end in the first joint is fixed on support, and the other end in the first joint and one end of second joint are solid
Surely link together, thereafter the like, support is fixed with elastic support and driver element, driver element has driving bullet
Spring, described series connection arthrodesis is on elastic support, and driving spring passes through series connection joint.
These class flexible mechanical arms above mentioned divide according to type of drive, can be divided three classes: interior driving, outer
Driving and mixed type.Interior driving general using filling fluid-operated mode in corrugated tube, outer driving employing lightweight is continuous
Body adds the mode of remote boot server, and it is the comprehensive hybrid plan adopting inside and outside two kinds of drivings that mixed type drives.Outer driving or mixing
The possibility elastic rod of the lightweight continuum in driving scheme realizes no vertebra as vertebra or with cylindrical spring.At present, this
A little class flexible mechanical arms can be realized bending, and has some can realize stretching, but can realize bending, flexible and thickness change simultaneously
Flexible mechanical arm seldom, can improve the adaptive capacity to environment of mechanical arm, such as pass through in some application scenario thickness conversion
During narrow space, we need thinner mechanical arm, when rolling some objects in itself using mechanical arm, suitable thicker machine
Tool arm can increase the contact area of mechanical arm and object, so that the stronger volume of mechanical arm lives object.
Content of the invention
It is an object of the invention to provide one kind can realize simultaneously stretching motion, thickness conversion and each to curvature movement,
The horizontal pantographic flexible mechanical arm of the good hard and soft series-parallel connection of mobility.
The present invention includes support, end effector and the multiple driver elements being sequentially connected in series connecting them, wherein institute
The one end stating driver element is fixed on support by the terminal pad on connecting rod rack, its other end and another driver element
One end is connected by connecting rod rack；Equally, one end of the other end of another driver element and the 3rd driver element is passed through even
Bar support connects, and is connected with other driver elements successively, and up to the length needing, the other end of last driver element passes through
Terminal pad on connecting rod rack is connected with end effector, for capturing target object.
Described driver element includes flexible portion and connecting rod rack, described connecting rod rack mainly include three upper connecting rods, three
Individual lower link, mini cylinder, upper pin, lower bearing pin, nut, upper link, lower link, three middle part bearing pins, two slide bars,
Two slide cartridges；Described upper link is identical with lower link structure, and they are centre with manhole and along link
Circumference is all provided with the version of three pairs of ear mount, and upper link is fixed on the piston rod of mini cylinder, and lower link is fixed on fan
On your cylinder block；One end of three upper connecting rods is connected with three pairs of ear mount on upper link by upper pin respectively, constitutes three
Individual rotation is secondary, and its other end passes through middle part bearing pin and one end of three lower links and the end of two slide cartridges and a cunning respectively
The end of bar connects, and constitutes three and rotates pair；The other end of three lower links passes through three on lower bearing pin and lower link respectively
Ear mount is connected, constitutes three and rotate pair；Described two slide cartridges are socketed with two slide bars respectively, form cylindrical pair, above-mentioned two
The end of slide cartridge is equipped with the female sleeve of the band vertical with cylindrical slideway axis, and the end of said one slide bar sets
There is the female sleeve of the band vertical with the axis of cylindrical rod.
Described flexible portion includes three root architecture identical pneumatic muscle, the horizontal triangularity arrangement of three pneumatic muscle,
The two ends of two of which pneumatic muscle are separately fixed at by end thread in the sleeve of slide cartridge of adjacent two connecting rod rack,
The two ends of another one pneumatic muscle three are separately fixed at the sleeve of the slide bar of adjacent two connecting rod rack by end thread
Interior.
Drive connecting rod rack to draw in by the elongation of the cylinder rod of mini cylinder, make the sleeve of two slide cartridges and a slide bar
The distance between axis reduce, thus driving three pneumatic muscle inwardly to draw in, realize single driver element by slightly to
Thin conversion；Equally, the cylinder rod of mini cylinder is the conversion from fine to coarse of single driver element when shortening.
The one end of the connecting rod rack being connected with support, the cylinder body of mini cylinder is fixed on lower connection disk center, three pairs of ear mount
Along the circumferential direction be distributed on ring flange, the other end of lower link one, lower link two and lower link three pass through respectively lower bearing pin with
Three pairs of ear mount connect and compose three and rotate pair.
The one end of the connecting rod rack being connected with end effector, upper terminal pad is fixed on the piston of mini cylinder by nut
On bar, three pairs of ear mount are along the circumferential direction distributed on ring flange, and one end of upper connecting rod one, upper connecting rod two and upper connecting rod three leads to respectively
Cross upper pin and three pairs of ear mount connect and compose three and rotate pair.
Described upper connecting rod, nut, upper link, lower link, lower link, lower terminal pad, upper terminal pad, are aluminium alloy
Material, all bearing pin parts are steel material.
The present invention compared with prior art has the advantage that
Stretching motion can be realized, thickness converts and respectively to curvature movement, mobility is good, in the process interacting with people simultaneously
In safe, both ensure that higher bending softness and good compliance, improve the environment of flexible mechanical arm again
Adaptability.
Brief description
Fig. 1 is the whole structure figure of the present invention.
Fig. 2 is the thickest and the thinnest state vs' figure of the present invention.
Fig. 3 is the driver element schematic diagram (the thickest state) of the present invention.
Fig. 4 is the driver element schematic diagram (the thinnest state) of the present invention.
Fig. 5 is the connecting rod rack schematic diagram (the thickest state) of driver element of the present invention.
Fig. 6 is the connecting rod rack schematic diagram (the thinnest state) of driver element of the present invention.
Fig. 7 connects the schematic diagram of the connecting rod rack of support for the present invention.
Fig. 8 connects the connecting rod rack schematic diagram of end effector for the present invention.
In figure: 1- first order driver element, 2- second level driver element, 3- third level driver element, 4- end effector,
Sell on 5- support, 6- pneumatic muscle one, 7- pneumatic muscle two, 8- pneumatic muscle three, 9- upper connecting rod one, the mini cylinder of 10-, 11-
In the middle part of axle, 12- nut, the upper link of 13-, 14- upper connecting rod two, 15-, bearing pin two, 16- lower link two, 17- slide bar two, 18- are slided
Link under cylinder two, 19- upper connecting rod three, bearing pin three in the middle part of 20-, 21- lower link three, 22- slide bar one, 23- lower bearing pin, 24-,
Terminal pad, the upper terminal pad of 29- under bearing pin one in the middle part of 25- slide cartridge one, 26- lower link one, 27-, 28-.
Specific embodiment
In the horizontal pantographic flexible mechanical arm schematic diagram of the hard and soft series-parallel connection shown in Fig. 1 and Fig. 2, first order driver element
1 one end is fixed on support 5 by connecting rod rack, and its other end passes through connecting rod rack with one end of second level driver element 2
Connect, the other end of second level driver element is connected by connecting rod rack with one end of third level driver element 3, the third level drives
The other end of unit is connected with end effector 4, for capturing target object by connecting rod rack.
As shown in Figure 3 and Figure 5, described driver element includes flexible portion and connecting rod rack, upper in described connecting rod rack
Link 13 is identical with lower link 24 structure, they be middle with manhole and to be all provided with three along link circumference right
The version of ear mount, upper link is fixed on the piston rod of mini cylinder 10 by nut 12, and lower link is fixed on fan
On the cylinder body of your cylinder；Upper connecting rod 1, upper connecting rod 2 14, one end of upper connecting rod 3 19 pass through upper pin 11 and upper connection respectively
Three pairs of ear mount on frame are connected, and constitute three and rotate pair, the end of the other end of upper connecting rod one and slide cartridge 1 and lower link one
26 one end is connected by middle part bearing pin 1, constitutes one and rotates secondary, the end of the other end of upper connecting rod three and slide cartridge 2 18
Pass through middle part bearing pin 3 20 with one end of lower link 3 21 to connect, constitute one and rotate pair, the other end of upper connecting rod two and slide bar
One end of 2 17 end and lower link 2 16 is passed through middle part bearing pin 2 15 and is connected, and constitutes one and rotates pair；Lower link one, lower company
The other end of bar two and lower link three is connected with three pairs of ear mount on lower link by lower bearing pin 23 respectively, constitutes three rotations
Secondary；Slide cartridge one and slide cartridge two are socketed with slide bar 1 and slide bar two respectively, form cylindrical pair, above-mentioned slide cartridge one and slide cartridge two end
End is equipped with the female sleeve of the band vertical with cylindrical slideway axis, and the end of above-mentioned slide bar two is provided with and cylinder
The vertical female sleeve of band in the axis of the body of rod.
Three pneumatic muscle horizontal triangularity arrangement of described flexible portion, wherein pneumatic muscle 1 and pneumatic muscle
27 two ends are separately fixed in the slide cartridge one of adjacent two connecting rod rack and the sleeve of slide cartridge two, and the two of pneumatic muscle 38
End is separately fixed in the sleeve of slide bar two of adjacent two connecting rod rack.
Pneumatic muscle one, pneumatic muscle two and pneumatic muscle three are the pneumatic muscle of one end band radial direction gas interface, pneumatic flesh
The gas of the inflation/deflation process of tendon all passes through this radial direction gas interface.Three pneumatic muscle can be used as three branches, pneumatic muscle
Itself has flexibility, need not add other kinematic pairs and just enable itself bending, and three of three pneumatic muscle compositions
Branch can realize stretching motion by the inflation/deflation of itself, and three branches intercouple and are capable of overall the stretching of driver element
Contracting is with each to curvature movement.
As shown in Figure 4 and Figure 6, drive connecting rod rack to draw in by the elongation of the cylinder rod of mini cylinder, make slide cartridge one, slide
The distance between axis of cylinder two and slide bar two reduces, thus driving three pneumatic muscle inwardly to draw in, realizes single driving
The conversion from coarse to fine of unit；Equally, the cylinder rod of mini cylinder is the conversion from fine to coarse of single driver element when shortening.
By the thickness conversion of each driver element, thus realizing the thickness conversion of whole mechanical arm.
As shown in fig. 7, the one end of the connecting rod rack being connected with support, the cylinder body of mini cylinder is fixed in lower terminal pad 28
The heart, three pairs of ear mount are along the circumferential direction distributed on ring flange, and the other end of lower link one, lower link two and lower link three leads to respectively
Cross lower bearing pin and connect and compose three rotation pairs with ear mount, other parts are identical with the connecting rod rack shown in Fig. 5 with connected mode.
As shown in figure 8, the one end of the connecting rod rack being connected with end effector, upper terminal pad 29 is fixed on fan by nut
On the piston rod of your cylinder, three pairs of ear mount are along the circumferential direction distributed on ring flange, upper connecting rod one, upper connecting rod two and upper connecting rod three
One end connect and compose three by upper pin and ear mount respectively and rotate secondary, other parts and connected mode and the company shown in Fig. 5
Bar support is identical.
Described three upper connecting rods, nut, upper link, lower link, three lower links, lower terminal pad, upper terminal pad, two
Individual slide cartridge and two slide bars are aluminum alloy material, and all bearing pins are steel material.
Claims (2)
1. the horizontal pantographic flexible mechanical arm of a kind of hard and soft series-parallel connection, it includes support, end effector and connects theirs
Multiple driver elements being sequentially connected in series, one end of wherein said driver element is fixed on support by the terminal pad on connecting rod rack
On, its other end is connected by connecting rod rack with one end of another driver element；Equally, the other end of another driver element
It is connected by connecting rod rack with one end of the 3rd driver element；It is connected with other driver elements successively, until the length needing,
The terminal pad that the other end of last driver element passes through on connecting rod rack is connected with end effector, for capturing object
Body it is characterised in that: described driver element includes flexible portion and connecting rod rack, and described connecting rod rack mainly includes connecting on three
Bar, three lower links, mini cylinder, upper pin, lower bearing pin, nut, upper link, lower link, three middle part bearing pins, two
Slide bar, two slide cartridges, two slide bars；Described upper link is identical with lower link structure, and they are middle logical with circle
Hole and be all provided with the version of three pairs of ear mount along link circumference, upper link is fixed on the piston rod of mini cylinder, under
Link is fixed on mini cylinder block；One end of three upper connecting rods passes through three pairs of ears on upper pin and upper link respectively
Seat is connected, and constitutes three and rotates secondary, its other end passes through one end of middle part bearing pin and three lower links and two slide cartridges respectively
End and the end of a slide bar connect, constitute three rotate secondary；The other end of three lower links respectively pass through lower bearing pin with
Three pairs of ear mount on lower link connect, and constitute three and rotate pair；Described two slide cartridges are socketed with two slide bars respectively, composition circle
Post pair, the end of above-mentioned two slide cartridge is equipped with the female sleeve of the band vertical with cylindrical slideway axis, and above-mentioned one
The end of individual slide bar is provided with the female sleeve of the band vertical with the axis of cylindrical rod；
Described flexible portion includes three root architecture identical pneumatic muscle, the horizontal triangularity arrangement of three pneumatic muscle, wherein
The two ends of two pneumatic muscle are separately fixed at by end thread in the sleeve of slide cartridge of adjacent two connecting rod rack, in addition
The two ends of one pneumatic muscle three are separately fixed in the sleeve of slide bar of adjacent two connecting rod rack by end thread；
The one end of the connecting rod rack being connected with support, the cylinder body of mini cylinder is fixed on lower connection disk center, and three pairs of ear mount are along circle
Circumferential direction is distributed on ring flange, and the other end of three lower links connects and composes three rotations by lower bearing pin and ear mount respectively
Secondary；
The one end of the connecting rod rack being connected with end effector, upper terminal pad is fixed on the piston rod of mini cylinder by nut
On, three pairs of ear mount are along the circumferential direction distributed on ring flange, and one end of three upper connecting rods is connected with ear mount by upper pin respectively
Constitute three and rotate pair.
2. hard and soft series-parallel connection according to claim 1 horizontal pantographic flexible mechanical arm it is characterised in that: described upper company
Bar, nut, upper link, lower link, lower link, lower terminal pad, upper terminal pad, slide cartridge, slide bar, are aluminum alloy material,
All bearing pins are steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987180.6A CN106346464B (en) | 2016-11-10 | 2016-11-10 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987180.6A CN106346464B (en) | 2016-11-10 | 2016-11-10 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
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| CN106346464A true CN106346464A (en) | 2017-01-25 |
| CN106346464B CN106346464B (en) | 2018-09-04 |
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| CN201610987180.6A Active CN106346464B (en) | 2016-11-10 | 2016-11-10 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139170A (en) * | 2017-06-15 | 2017-09-08 | 燕山大学 | A kind of drive device for the driving flexible mechanical arm of rope |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN107745389A (en) * | 2017-09-08 | 2018-03-02 | 燕山大学 | Hard and soft software arm wrestling robot operates finger mechanism |
| CN107932486A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of link-type altogether |
| CN107932485A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of gear-type multiple-step couples parallel institution |
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| CN109223482A (en) * | 2018-10-19 | 2019-01-18 | 燕山大学 | A kind of massage robot based on flexible drive |
| CN109623866A (en) * | 2018-11-21 | 2019-04-16 | 北京航空航天大学 | Air bag U gas flesh antisymmetry parallel robot power joint |
| CN109807857A (en) * | 2017-11-20 | 2019-05-28 | 上海交通大学 | Three translation elastic link parallel institutions of large deformation driving |
| CN110861075A (en) * | 2019-12-02 | 2020-03-06 | 电子科技大学 | Small-size pneumatic many joints series-parallel snakelike arm |
| CN111169553A (en) * | 2020-01-14 | 2020-05-19 | 哈尔滨学院 | Bionic snake-shaped peristaltic robot |
| CN111887026A (en) * | 2020-07-03 | 2020-11-06 | 江苏大学 | Rigidity-flexibility combination-based variable-rigidity picking manipulator |
| CN112091940A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Underactuated super-redundant continuum robot driven by flexible plate |
| CN113843822A (en) * | 2021-10-12 | 2021-12-28 | 中山大学 | Diameter and changeable continuum arm of length |
| CN114098982A (en) * | 2021-11-25 | 2022-03-01 | 燕山大学 | Rigid and flexible parallel operation manual control mechanism |
| CN114750203A (en) * | 2022-04-21 | 2022-07-15 | 中山大学 | Rigid-driving mechanical arm with continuously adjustable diameter |
| CN116297816A (en) * | 2023-05-17 | 2023-06-23 | 北京蒂川国际能源服务有限公司 | Mini magnetic leakage inner detector |
| CN117565108A (en) * | 2023-12-29 | 2024-02-20 | 昆山广钰德智能装备有限公司 | Six-axis mechanical arm assembly protective sleeve equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139170B (en) * | 2017-06-15 | 2023-06-06 | 燕山大学 | Driving device for rope-driven flexible mechanical arm |
| CN107139170A (en) * | 2017-06-15 | 2017-09-08 | 燕山大学 | A kind of drive device for the driving flexible mechanical arm of rope |
| CN107745389A (en) * | 2017-09-08 | 2018-03-02 | 燕山大学 | Hard and soft software arm wrestling robot operates finger mechanism |
| CN107745389B (en) * | 2017-09-08 | 2020-09-11 | 燕山大学 | Finger operating mechanism for rigid-flexible-soft force measuring robot |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN107598910B (en) * | 2017-10-17 | 2023-10-13 | 燕山大学 | Tendon-driven variable-scale continuous robot |
| CN109807857A (en) * | 2017-11-20 | 2019-05-28 | 上海交通大学 | Three translation elastic link parallel institutions of large deformation driving |
| CN109807857B (en) * | 2017-11-20 | 2021-10-19 | 上海交通大学 | Large-deformation-driven three-translation elastic connecting rod parallel mechanism |
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| CN107932485A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of gear-type multiple-step couples parallel institution |
| CN107932486A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of link-type altogether |
| CN109223482A (en) * | 2018-10-19 | 2019-01-18 | 燕山大学 | A kind of massage robot based on flexible drive |
| CN109223482B (en) * | 2018-10-19 | 2020-01-31 | 燕山大学 | massage robot based on flexible drive |
| CN109623866A (en) * | 2018-11-21 | 2019-04-16 | 北京航空航天大学 | Air bag U gas flesh antisymmetry parallel robot power joint |
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