CN106426149A - 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator - Google Patents

2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator Download PDF

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Publication number
CN106426149A
CN106426149A CN201610966909.1A CN201610966909A CN106426149A CN 106426149 A CN106426149 A CN 106426149A CN 201610966909 A CN201610966909 A CN 201610966909A CN 106426149 A CN106426149 A CN 106426149A
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China
Prior art keywords
variation rigidity
plate
axles
submissive
driver
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CN201610966909.1A
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CN106426149B (en
Inventor
崔泽
宋伟任
钱东海
韩汪洋
鄢璇
李彦彪
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Publication of CN106426149A publication Critical patent/CN106426149A/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
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/06Arms flexible
    • 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
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

The invention relates to a 2-DOF flexible mechanical arm based on an antagonism type variable stiffness actuator. The 2-DOF flexible mechanical arm comprises a mounting base board, elbow joint driving devices, shoulder joint driving devices and a bionic arm, and the elbow joint driving devices, the shoulder joint driving devices and the bionic arm are arranged on the rear portion of the mounting base board correspondingly. The elbow joint driving devices and the shoulder joint driving devices are based on the antagonism type variable stiffness actuator, so that stiffness is variable when two shafts of two flexible mechanical arms are driven. In application occasions relating to man-machine interaction, the stiffness can be changed with working scenes, the safety of operators is sufficiently improved, and the 2-DOF flexible mechanical arm is of profound significance in research and development of service-oriented robots.

Description

2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver
Technical field
The present invention relates to a kind of 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver, belong to industrial robot Field.
Background technology
Traditional industrial robot, in order to realize precise control, needs whole system to have higher rigidity, response speed The faster the better.Driver is the power resources of robot system, and the quality of its performance and the size of rigidity directly affect machine The overall performance of people and the accuracy of control, existing robotically-driven mode mostly adopts pure rigid motor although height The drive system of rigidity achieves being accurately positioned and accurate track following of actuator, but with people's rhythm of life Accelerate, people more pursue healthy lifestyles and comfortable working environment, be unwilling to do very difficult, danger close, do not defend very much Raw work, is also unwilling to do tasteless, repetitive work, and the focus of robot research has gradually been transferred to " artificial The service robot of " center ", thus bringing new challenge to robot research field, i.e. man-computer combination.Service-delivery machine During person to person's contact, maximum danger comes from the collision between them although having had a large amount of collision detection and having avoided The research of collision, but, it is to avoid absolutely not collision is impossible.The submissive driver of so firm variation rigidity just seems of crucial importance.
Content of the invention
The design of the submissive driver of variation rigidity of the present invention is originally derived from bionics thought, to have viscoelasticity property , as the mankind of drive system, an additional extremely accurate nerve Machinery Control System is so that the mankind can be very for muscle skeleton Good adaptation external complex environment, protects inherently safe.
Idea of the invention is that for solving above-mentioned technical problem:
Realize the linear transfor of spring being non-linear by two quadratic surfaces and spring, realize the variation rigidity of driver.Shoulder Joint and elbow joint form two motions that Antagonistic muscle is driven with two joints with the submissive driver of two variation rigidity respectively.
Conceived according to foregoing invention, the present invention adopts following technical proposals:
A kind of 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver, including mounting base, elbow joint driving means, Shoulder joint driving means, bionic arm, described elbow joint driving means, shoulder joint driving means and bionic arm are respectively arranged in The rear portion of mounting base.
Described elbow joint driving means include two DC servo motors and are arranged on installation by two the first electric machine supports On base plate, motor output shaft passes through the side panel fixed mount of the first wireline pulley and the first steel wire rope and the submissive driver of variation rigidity Connect, the curved slab of the submissive driver of variation rigidity passes through the second steel wire rope and the second wireline pulley is connected with 2 axis joint axles, becomes just Spend submissive driver to be connected with the first guide rail slide block by variation rigidity submissive driver fixed mount, first straight line guide rails assembling is in peace On dress base plate, 2 axis joint axles are fixed on mounting base by encoder support and 2 axis joint bracing struts, 2 axis joint axles and 2 Connected by bearing between axis joint bracing strut, the first encoder is fixed on the first encoder support.
Described shoulder joint driving means include two DC servo motors and are arranged on installation by two the second electric machine supports On base plate, motor output shaft passes through the side panel fixed mount of the first wireline pulley and the first steel wire rope and the submissive driver of variation rigidity Connect, the curved slab of the submissive driver of variation rigidity passes through the second steel wire rope and the 3rd wireline pulley is connected with 2 axis joint axles, the 3rd It is connected by breast wheel and rolling bearing between wireline pulley and 2 axis joint axles, such two axle movement is not interfered, elbow joint drives Wheel is connected by breast wheel with the 3rd wireline pulley, is connected by rolling bearing, 2 between elbow joint driving wheel and 2 axis joint axles Axis joint axle passes through the first bracing strut and second encoder support, and this two supports are fixed on support base plate, and support base plate is pacified It is loaded on mounting base, the submissive driver of variation rigidity is connected with the first guide rail slide block by variation rigidity submissive driver fixed mount, First straight line guide rail is installed on mounting base by aluminium section bar cushion block, and the first synchronous pulley is coaxially installed on the first encoder Second encoder support both sides, the second synchronous pulley is installed on 2 axis joint axles, with the 3rd wireline pulley moved in coaxial, is distributed In the first synchronous pulley homonymy, the first Timing Belt is installed between the first synchronous pulley and the second synchronous pulley.
The submissive driver of described variation rigidity includes the curved surface of curved slab and two big rollers contacts, the hollow space of curved slab Contact with four trundles, trundle is made up of rolling bearing and a little axle;Two side panels pass through a side panel admittedly Determine frame to connect, meanwhile, the two ends of trundle are installed on two side panels, big roller embeds the groove of side panel by big roller axle In ditch, connected by Hookean spring between two big roller axles of each side panel, the submissive driver of variation rigidity passes through its curved surface Plate is connected with variation rigidity submissive driver fixed mount.
Described bionic arm includes two postbrachium plates that 2 axis joint axles pass through, and the 3rd synchronous pulley is installed on two postbrachiums On 2 axis joint axles between plate, pass through bonded between the 3rd synchronous pulley and 2 axis joint axles, postbrachium plate passes through end cap respectively Plate is connected with 2 axis joint axles and passes through screw and is connected with elbow joint driving wheel, and postbrachium plate top is connected with Cover plate, two postbrachiums Fixed by two postbrachium board mounts in the middle part of plate, postbrachium plate bottom is connected with 2 axle second joint axles by two end casings, 2 axles Second joint axle is connected with the 4th synchronous pulley by forearm plate fast pulley, and tensioning wheel is arranged in postbrachium plate by tension wheel shaft Bottom, is connected by bearing between tensioning wheel and tension wheel shaft, and the second Timing Belt is arranged on the 3rd synchronous pulley and the 4th synchronization Between belt wheel;Two forearm plates are fixed on 2 axle second joint axles by forearm plate fast pulley, pass through forearm plate in the middle part of forearm plate Fixed mount is fixed, and forearm plate end is fixed by end roller.
The present invention compared with prior art, has and projects inner characteristic point and remarkable advantage as follows:
, compared with traditional pneumatic muscle actuator, the compliance of pneumatic muscles is stronger for the submissive driver of variation rigidity of the present invention, It is difficult to realize precise control, and the present invention can realize more accurate position control on the basis of variable rigidity.
Brief description
Fig. 1 is a kind of general assembly drawing of the 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity.
Fig. 2 is mounting base schematic diagram.
Fig. 3 is elbow joint driving means schematic diagram.
Fig. 4 is variation rigidity submissive driver schematic diagram a.
Fig. 5 is variation rigidity submissive driver schematic diagram b.
Fig. 6 is variation rigidity submissive driver schematic diagram c.
Fig. 7 is shoulder joint driving means schematic diagram a.
Fig. 8 is shoulder joint driving means schematic diagram b.
Fig. 9 is bionic arm schematic diagram a.
Figure 10 is bionic arm schematic diagram b.
Specific embodiment
Below in conjunction with the accompanying drawings, the concrete motor process of the present invention is described further.
As depicted in figs. 1 and 2, a kind of 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity, including peace Dress base plate 1, elbow joint(2 axles)Driving means 2, shoulder joint(1 axle)Driving means 3, bionic arm(Flexible mechanical arm)4, described Axis joint(2 axles)Driving means 2, shoulder joint(1 axle)Driving means 3, bionic arm(Flexible mechanical arm)4 successively according to Fig. 1's Order is installed on mounting base(1)Rear portion, elbow joint(2 axles)Driving means 2 are installed on installing hole 5 and the peace of mounting base 1 Dress hole 9 and its centre, shoulder joint(1 axle)Driving means 3 are installed on installing hole 6 and installing hole 8 and its centre of mounting base 1.
As shown in figure 3, described elbow joint driving means 2 include two DC servo motors 10 being propped up by two the first motors Frame 11 is arranged on mounting base 1, and motor output shaft passes through the first wireline pulley 16 and the first steel wire rope 17 is submissive with variation rigidity The side panel fixed mount 30 of driver 12 connects, and the curved slab 29 of the submissive driver of variation rigidity 12 passes through the second steel wire rope 24 and the Two wireline pulleys 13 are connected with 2 axis joint axles 23, and the submissive driver of variation rigidity 12 passes through variation rigidity submissive driver fixed mount 20 It is connected with the first guide rail slide block 19, first straight line guide rail 18 is installed on mounting base 1,2 axis joint axles 23 are propped up by encoder Frame 15 and 2 axis joint bracing struts 21 are fixed on mounting base 1, pass through axle between 2 axis joint axles 23 and 2 axis joint bracing struts 21 Hold 22 connections, the first encoder 14 is fixed on the first encoder support 15.
As shown in Figure 4, Figure 5 and Figure 6, the submissive driver 12 of described variation rigidity include the curved surface of curved slab 29 and two big roll Wheel 28 contact, the hollow space of curved slab 29 is contacted with four trundles 31, and trundle 31 is by rolling bearing and a little axle structure Become;Two side panels 27 are connected by a side panel fixed mount 30, and meanwhile, the two ends of trundle 31 are installed on two sides On plate 27, big roller 28 embeds in the groove of side panel 27 by big roller axle 26, two big roller axles of each side panel 27 Connected by Hookean spring 25 between 26, it is solid with the submissive driver of variation rigidity that the submissive driver of variation rigidity 12 passes through its curved slab 29 Determine frame 20 to connect.
As shown in Figure 7 and Figure 8, described shoulder joint driving means 3 include two DC servo motors 10 by two second Electric machine support 33 is arranged on mounting base 1, and motor output shaft passes through the first wireline pulley 16 and the first steel wire rope 17 and becomes just The side panel fixed mount 30 spending submissive driver 12 connects, and the curved slab 29 of the submissive driver of variation rigidity 12 passes through the second steel wire rope 24 and the 3rd wireline pulley 38 be connected with 2 axis joint axles 23, between the 3rd wireline pulley 38 and 2 axis joint axles 23 pass through breast wheel 42 and rolling bearing connect, such two axle movement do not interfere, and elbow joint driving wheel 37 and the 3rd wireline pulley 38 are by breast wheel Connect, be connected by rolling bearing between elbow joint driving wheel 37 and 2 axis joint axles 23,2 axis joint axles 23 prop up through first axle Frame 36 and second encoder support 32, this two supports are fixed on support base plate 35, and support base plate 35 is installed on mounting base 1 On, the submissive driver of variation rigidity 12 is connected with the first guide rail slide block 19 by variation rigidity submissive driver fixed mount 20, and first is straight Line guide rail 18 is installed on mounting base 1 by aluminium section bar cushion block 34, and the first synchronous pulley 40 is coaxially pacified with the first encoder 14 It is loaded on second encoder support 32 both sides, the second synchronous pulley 41 is installed on 2 axis joint axles 23, same with the 3rd wireline pulley 38 Axle moves, and is distributed in the first synchronous pulley 40 homonymy, the first Timing Belt 39 is installed on the first synchronous pulley 40 and the second Timing Belt Between wheel 41.
As shown in Figure 9 and Figure 10, described bionic arm 4 includes two postbrachium plates 44 that 2 axis joint axles 23 pass through, and the 3rd is same Step belt wheel 55 is installed on 2 axis joint axles 23 between two postbrachium plates 44, between the 3rd synchronous pulley 55 and 2 axis joint axles 23 By bonded, postbrachium plate 44 is connected with 2 axis joint axles 23 by end casing 45 respectively and passes through screw and elbow joint driving wheel 37 connections, postbrachium plate 44 top is connected with Cover plate 43, and two postbrachium plate 44 middle parts are fixing by two postbrachium board mounts 52, after Arm plate 44 bottom is connected with 2 axle second joint axles 49 by two end casings 45, and 2 axle second joint axles 49 are fixed by forearm plate Wheel 56 is connected with the 4th synchronous pulley 50, and tensioning wheel 53 is arranged on postbrachium plate 44 middle and lower part, tensioning wheel 53 by tension wheel shaft 54 It is connected by bearing between tension wheel shaft 54, the second Timing Belt 51 is arranged on the 3rd synchronous pulley 55 and the 4th synchronous pulley 50 Between;Two forearm plates 46 are fixed on 2 axle second joint axles 49 by forearm plate fast pulley 56, and forearm plate 46 middle part is by front Arm plate fixed mount 48 is fixing, and it is fixing that end roller 47 is passed through in forearm plate 46 end.
The motor process of apparatus of the present invention is as follows:
Elbow joint driving means 2 drive the elbow joint of bionic arm 4 to be moved, and shoulder joint driving means 3 drive bionic arm 4 Shoulder joint moved, elbow joint driving means 2 and shoulder joint driving means 3 are realized just by the submissive driver of variation rigidity 12 Degree change, specific as follows:
Variation rigidity is submissive to drive 12 variation rigidity principles:As shown in Figure 4, Figure 5 and Figure 6, the deformation quantity of Hookean spring 25 and pulling force it Between be linear, big roller 28 is nonlinear along moving of curved slab 29, in the direction perpendicular to spring deformation amount On, the pulling force between the first steel wire rope 17 and the second steel wire rope 24 is changed into non-linear, thus realizing the submissive rigidity of driver Change.
Bionical arm shoulder joint kinesitherapy process:As shown in Figure 7 and Figure 8, the direct current generator 10 of shoulder joint driving means 3 one end leads to Overdrive the first wireline pulley 16, drive the first steel wire rope 17, drive the second steel wire rope 24 through the submissive driver of variation rigidity 12, Drive the 3rd wireline pulley 38 again, then pass through breast wheel 42 and drive elbow joint driving wheel 37 to move, elbow joint driving wheel 37 drives The postbrachium plate 44 of dynamic bionic arm 4 moves, as shown in Figure 9;The other end principle of shoulder joint driving means 3 ibid, assist by two ends With motion thus realizing the motion of shoulder joint.As shown in figure 8, the first encoder 14 passes through first synchronous pulley the 40, first synchronization Detect the angle that shoulder joint rotates with 39 and the second synchronous pulley 41.Because the second synchronous pulley 41 and the 3rd wireline pulley 38 are same Axle moves.
Bionical elbow joint motions process:As shown in figure 3, the direct current generator 10 of elbow joint driving means 2 one end passes through to drive Dynamic first wireline pulley 16, drives the first steel wire rope 17, drives the second steel wire rope 24 through the submissive driver of variation rigidity 12, then drives Dynamic second wireline pulley 13, the second wireline pulley 13 drives 2 axis joint axles 23 to move, and the first encoder 14 is used for detecting angle of rotation Degree.As shown in Figure 10,2 axis joint axle 23 drives the 3rd synchronous pulley 55, and the 3rd synchronous pulley 55 is carried by the second Timing Belt 51 Dynamic 4th synchronous pulley 50 moves, and the 4th synchronous pulley 50 drives forearm fast pulley 56 to move, thus forearm plate 46 is realized around 2 The motion of axle second joint axle 49, ibid, two ends synergy movement is thus realize elbow for the other end principle of elbow joint driving means 2 The motion in joint.

Claims (5)

1. a kind of 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver is it is characterised in that include mounting base(1)、 Elbow joint driving means(2), shoulder joint driving means(3), bionic arm(4), described elbow joint driving means(2), shoulder joint Driving means(3)And bionic arm(4)It is respectively arranged in mounting base(1)Rear portion.
2. the 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity according to claim 1, its feature exists In described elbow joint driving means(2)Including two DC servo motors(10)By two the first electric machine supports(11)Install In mounting base(1)On, motor output shaft passes through the first wireline pulley(16)With the first steel wire rope(17)The submissive drive with variation rigidity Dynamic device(12)Side panel fixed mount(30)Connect, the submissive driver of variation rigidity(12)Curved slab(29)By the second steel wire rope (24)With the second wireline pulley(13)With 2 axis joint axles(23)Connect, the submissive driver of variation rigidity(12)Submissive by variation rigidity Driver fixed mount(20)With the first guide rail slide block(19)It is connected, first straight line guide rail(18)It is installed on mounting base(1)On, 2 Axis joint axle(23)By encoder support(15)With 2 axis joint bracing struts(21)It is fixed on mounting base(1)On, 2 axis joints Axle(23)With 2 axis joint bracing struts(21)Between pass through bearing(22)Connect, the first encoder(14)It is fixed on the first encoder Support(15)On.
3. the 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity according to claim 1, its feature exists In described shoulder joint driving means(3)Including two DC servo motors(10)By two the second electric machine supports(33)Install In mounting base(1)On, motor output shaft passes through the first wireline pulley(16)With the first steel wire rope(17)The submissive drive with variation rigidity Dynamic device(12)Side panel fixed mount(30)Connect, the submissive driver of variation rigidity(12)Curved slab(29)By the second steel wire rope (24)With the 3rd wireline pulley(38)With 2 axis joint axles(23)Connect, the 3rd wireline pulley(38)With 2 axis joint axles(23)Between By breast wheel(42)Connect with rolling bearing, such two axle movement is not interfered, elbow joint driving wheel(37)Slide with the 3rd steel wire Wheel(38)Connected by breast wheel, elbow joint driving wheel(37)With 2 axis joint axles(23)Between connected by rolling bearing, 2 axles Joint shaft(23)Through the first bracing strut(36)With second encoder support(32), this two supports are fixed on support base plate(35) On, support base plate(35)It is installed on mounting base(1)On, the submissive driver of variation rigidity(12)Solid by the submissive driver of variation rigidity Determine frame(20)With the first guide rail slide block(19)It is connected, first straight line guide rail(18)By aluminium section bar cushion block(34)It is installed on installation bottom Plate(1)On, the first synchronous pulley(40)With the first encoder(14)It is coaxially installed on second encoder support(32)Both sides, second Synchronous pulley(41)It is installed on 2 axis joint axles(23)On, with the 3rd wireline pulley(38)Moved in coaxial, is distributed in the first Timing Belt Wheel(40)Homonymy, the first Timing Belt(39)It is installed on the first synchronous pulley(40)With the second synchronous pulley(41)Between.
4. the 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity according to Claims 2 or 3, it is special Levy and be, the submissive driver of described variation rigidity(12)Including curved slab(29)Curved surface and two big rollers(28)Contact, curved surface Plate(29)Hollow space and four trundles(31)Contact, trundle(31)It is made up of rolling bearing and a little axle;Two Individual side panel(27)By a side panel fixed mount(30)Connect, meanwhile, trundle(31)Two ends be installed on two sides Plate(27)On, big roller(28)By big roller axle(26)Embedded side panel(27)Groove in, each side panel(27)Two Individual big roller axle(26)Between pass through Hookean spring(25)Connect, the submissive driver of variation rigidity(12)By its curved slab(29)With Variation rigidity submissive driver fixed mount(20)Connect.
5. the 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity according to claim 1, its feature exists In described bionic arm(4)Including 2 axis joint axles(23)The two postbrachium plates passing through(44), the 3rd synchronous pulley(55)Install In two postbrachium plates(44)Between 2 axis joint axles(23)On, the 3rd synchronous pulley(55)With 2 axis joint axles(23)Between pass through Bonded, postbrachium plate(44)Pass through end casing respectively(45)With 2 axis joint axles(23)Connect and pass through screw to drive with elbow joint Wheel(37)Connect, postbrachium plate(44)Top is connected with Cover plate(43), two postbrachium plates(44)Middle part is propped up by two postbrachium plates Frame(52)Fixing, postbrachium plate(44)Two end casings are passed through in bottom(45)With 2 axle second joint axles(49)Connect, 2 axles second close Nodal axisn(49)By forearm plate fast pulley(56)With the 4th synchronous pulley(50)Connect, tensioning wheel(53)By tension wheel shaft(54) It is arranged on postbrachium plate(44)Middle and lower part, tensioning wheel(53)With tension wheel shaft(54)Between connected by bearing, the second Timing Belt (51)It is arranged on the 3rd synchronous pulley(55)With the 4th synchronous pulley(50)Between;Two forearm plates(46)Fixed by forearm plate Wheel(56)It is fixed on 2 axle second joint axles(49)On, forearm plate(46)Forearm plate fixed mount is passed through at middle part(48)Fixing, forearm plate (46)End roller is passed through in end(47)Fixing.
CN201610966909.1A 2016-11-05 2016-11-05 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver Active CN106426149B (en)

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CN107030729A (en) * 2017-06-14 2017-08-11 东北大学 A kind of apery elbow joint
CN107175657A (en) * 2017-05-11 2017-09-19 东北大学 A kind of permanent magnetism variation rigidity drive module for flexible robot
CN108032331A (en) * 2017-11-27 2018-05-15 清华大学 A kind of variation rigidity flexible mechanical arm
CN108247666A (en) * 2017-12-28 2018-07-06 中国科学院沈阳自动化研究所 A kind of parallel lightweight robotic joint variation rigidity actuator
CN108789395A (en) * 2018-06-07 2018-11-13 上海交通大学 A kind of series connection viscoplasticity driver based on bionical tendon
CN110718129A (en) * 2019-05-13 2020-01-21 上海大学 Six-degree-of-freedom knee joint motion simulation system

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CN106038168A (en) * 2016-05-13 2016-10-26 燕山大学 Finger rehabilitation training device
CN106109166A (en) * 2016-06-19 2016-11-16 河北工业大学 One drives upper limb rehabilitation robot indirectly

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CN105691572A (en) * 2016-01-25 2016-06-22 哈尔滨工业大学 Pneumatic muscle antagonistic driving frog-imitating swimming robot
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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN107175657A (en) * 2017-05-11 2017-09-19 东北大学 A kind of permanent magnetism variation rigidity drive module for flexible robot
CN107030729A (en) * 2017-06-14 2017-08-11 东北大学 A kind of apery elbow joint
CN107030729B (en) * 2017-06-14 2019-11-29 东北大学 A kind of apery elbow joint
CN108032331A (en) * 2017-11-27 2018-05-15 清华大学 A kind of variation rigidity flexible mechanical arm
CN108032331B (en) * 2017-11-27 2019-09-27 清华大学 A kind of variation rigidity flexible mechanical arm
CN108247666A (en) * 2017-12-28 2018-07-06 中国科学院沈阳自动化研究所 A kind of parallel lightweight robotic joint variation rigidity actuator
CN108247666B (en) * 2017-12-28 2020-12-01 中国科学院沈阳自动化研究所 Parallel connection type light robot joint rigidity-variable actuator
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CN108789395B (en) * 2018-06-07 2021-03-30 上海交通大学 Series viscoelastic driver based on bionic tendon
CN110718129A (en) * 2019-05-13 2020-01-21 上海大学 Six-degree-of-freedom knee joint motion simulation system

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