CN106903712B - Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission - Google Patents
Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission Download PDFInfo
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- CN106903712B CN106903712B CN201510966134.3A CN201510966134A CN106903712B CN 106903712 B CN106903712 B CN 106903712B CN 201510966134 A CN201510966134 A CN 201510966134A CN 106903712 B CN106903712 B CN 106903712B
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- 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
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Abstract
The invention provides a two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, which comprises a driving device and two small guide wheels which are arranged in a first mechanical arm cylinder section, and two large guide wheels which are respectively and movably arranged at two ends of a pitching shaft, wherein two ends of the pitching shaft are movably connected with the first mechanical arm cylinder section, the yawing shaft is in orthogonal sleeve connection with the pitching shaft through a sleeve rod, a yawing upper disc and a yawing lower disc which are respectively and movably arranged at two ends of the yawing shaft are respectively and movably connected with a second mechanical arm cylinder section, the yawing upper disc is fixedly connected with the second mechanical arm cylinder section, a first driving rope or a second driving rope extends out from two ends of the driving device, each end of the first driving rope is guided and wound through the same small guide wheel and the same large guide wheel at one end of the pitching shaft and is fixed on the yawing upper disc and the yawing lower disc, the invention can realize the rotation of the mechanical arm with two degrees of freedom of pitching and yawing.
Description
Technical Field
The invention relates to a two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission.
Background
The series multi-joint mechanical arm has the characteristics of multiple joints, multiple degrees of freedom, multiple redundant degrees of freedom and the like, can form multiple motion modes, and is very suitable for complex environments such as space environments, radiation environments and the like. The mechanical arm joints can be divided into collinear joints and offset joints according to the layout of the mechanical arm joints. The joint of the collinear mechanical arm has compact structure and high flexibility, and can replace people to complete various works in special environments.
The joint is a combined part between cylinder sections of the mechanical arm, is a kinematic pair for realizing various motions of the mechanical arm, and is one of the most important structural components influencing the performance of the mechanical arm. Due to different working environments, the configuration and the transmission form of the mechanical arm joint are different.
Disclosure of Invention
The invention aims to provide a two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, which can realize modularization of a joint mechanism, miniaturization of the joint mechanism, high-precision transmission and mechanical and electrical integration within limited space size limit.
In order to solve the above problems, the present invention provides a two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, comprising: the driving device and the two small guide wheels are arranged in the first mechanical arm cylinder section, wherein the two small guide wheels are movably arranged at one end, close to the second mechanical arm cylinder section, of the driving device, and the first mechanical arm cylinder section and the second mechanical arm cylinder section are oppositely arranged;
the two large guide wheels are respectively and movably arranged at the two ends of the pitching shaft, the two ends of the pitching shaft are movably connected with the first mechanical arm cylinder section, and the two small guide wheels are respectively close to the two ends of the pitching shaft;
the yaw shaft is in orthogonal sleeve connection with the pitching shaft through the sleeve rod and is movably arranged on a yaw upper disc and a yaw lower disc at two ends of the yaw shaft respectively, the diameter of the yaw upper disc is larger than that of the yaw lower disc, two ends of the yaw shaft are movably connected with the second mechanical arm cylinder section, and the yaw upper disc is fixedly connected with the second mechanical arm cylinder section;
the first driving rope extends out of two ends of the driving device, and each end of the first driving rope is guided, wound and fixed on the upper yawing disc and the lower yawing disc through the same small guide wheel and the same large guide wheel at one end of the pitching shaft;
and the second driving rope extends out of two ends of the driving device, each end of the second driving rope is guided, wound and fixed on the upper yawing disc and the lower yawing disc through the same small guide wheel and the same large guide wheel at the other end of the pitching shaft respectively, and the driving device is used for driving the first driving rope and the second driving rope to do equidirectional, opposite or differential stretching and contracting motions.
Furthermore, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, when the driving device drives the first driving rope and the second driving rope to extend and contract in the same direction, the yaw axis drives the second mechanical arm cylinder section to perform pitching motion around the pitch axis.
Furthermore, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, when the driving device drives the first driving rope and the second driving rope to do reverse stretching and contracting motions, the first driving rope and the second driving rope pull the yaw upper disc to rotate, and the yaw upper disc drives the second mechanical arm cylinder section to do yaw motion around the yaw shaft.
Furthermore, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, when the driving device drives the first driving rope and the second driving rope to do differential motion, the yaw upper disc drives the second mechanical arm cylinder section to do both pitching motion and yawing motion.
Furthermore, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, the first driving rope and the second driving rope are made of steel wire ropes.
Furthermore, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, the driving device drives one of two ends of the first driving rope or the second driving rope to extend and the other end to contract respectively, and the extension amount and the contraction amount are equal.
Further, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, the driving device includes two sets of motor reducers, three linear guide rails arranged in parallel, two lead screws and four nuts, wherein each set of motor reducer drives one lead screw to rotate, each lead screw is divided into two sections, each section is respectively processed with left-handed and right-handed threads, each section of the left-handed and right-handed threads is respectively sleeved with one nut, one end of each nut is sleeved on one of the linear guide rails, two lead screws are respectively provided with one nut sleeved on the same linear guide rail in the middle of the three linear guide rails, two ends of the first driving rope are respectively connected with two nuts on one lead screw, and two ends of the second driving rope are respectively connected with two nuts on the other lead screw.
Further, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, the screw is selected from a common screw, a ball screw, a planetary roller screw or a recirculating roller screw.
Further, in the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, each small guide wheel is close to one of the large guide wheels.
Compared with the prior art, the invention has the following advantages:
(1) the joint modularization degree is high, and the expansion of the robot arm is easy to realize;
(2) the driving device can be arranged at the front end of the mechanical arm, so that the force arm is reduced, and the load is lightened;
(3) the joint has simple structure, low manufacturing cost and easy replacement and maintenance;
(4) the joint has compact structure, small volume and light weight, and can provide higher load capacity compared with a gear transmission joint with the same volume;
(5) because the transmission system does not contain a gear part, only the first driving rope and the second driving rope are adopted for transmission, and the transmission stability and the precision are higher;
(6) the mechanical arm needs the largest power under the action of gravity when doing pitching motion, and when doing pitching motion, the two groups of motors simultaneously operate as the power input of the pitching motion, thereby fully utilizing the power of each motor, increasing the equivalent force arm during the pitching motion and reducing the load of a single motor;
(7) the distance between the large guide wheel and the small guide wheel is small, and the resultant force generated by the crossed and wound steel wire rope in the connecting line direction of the circle centers of the two guide wheels is small, so that the radial force of a transmission system to a shafting is very small, the improvement of transmission stability is facilitated, the eccentricity is reduced, and the service life of the shaft is prolonged.
Drawings
FIG. 1 is a block diagram of a two degree-of-freedom collinear robotic arm joint based on differential rope drive in accordance with an embodiment of the present invention;
FIG. 2 is an internal structural view of a two-degree-of-freedom collinear robot arm joint based on differential rope drive in accordance with an embodiment of the present invention;
FIG. 3 is a diagram of the yaw axis and pitch axis of a two degree-of-freedom collinear robot arm joint based on differential rope drive in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of the internal structure of a driving device of a two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission according to an embodiment of the present invention;
5a, 5b and 5c are schematic diagrams of the pitching motion of a two-degree-of-freedom collinear manipulator joint based on differential rope transmission according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a base differential bevel gear in accordance with an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 3, wherein fig. 2 is a joint internal structure after a first mechanical arm barrel section and a second mechanical arm barrel section are hidden, referring to fig. 1 to 3, the present invention provides a two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, including:
the driving device 1 and the two small guide wheels 2 are arranged in the first mechanical arm cylinder section 10, wherein the two small guide wheels 2 are movably arranged at one end, close to the second mechanical arm cylinder section 11, of the driving device 1, and the first mechanical arm cylinder section 10 and the second mechanical arm cylinder section 11 are oppositely arranged;
the pitching shaft 4 is movably arranged on two large guide wheels 5 at two ends of the pitching shaft 4 respectively, two ends of the pitching shaft 4 are movably connected with the first mechanical arm cylinder section 10, and the two small guide wheels 2 are close to two ends of the pitching shaft 4 respectively;
the yawing shaft 8 is in orthogonal sleeve connection with the pitching shaft 4 through the sleeve rod 12, the yawing shaft 8 is movably arranged on a yawing upper disc 7 and a yawing lower disc 6 at two ends of the yawing shaft 8 respectively, the diameter of the yawing upper disc 7 is larger than that of the yawing lower disc 6, two ends of the yawing shaft 8 are movably connected with a second mechanical arm cylinder section 11, and the yawing upper disc 7 is fixedly connected with the second mechanical arm cylinder section 11; here, as shown in fig. 3, the yaw axis 8 and the pitch axis 4 are respectively connected to the two side mechanical arm cylinder segments, as shown in fig. 3, the yaw axis 8 can drive the second mechanical arm cylinder segment 11 to make a pitch motion around the pitch axis 4, and the motion range is about +/-40 °; the second mechanical arm cylinder section 11 can perform yawing motion around a yawing shaft 8, the motion range is about +/-90 degrees, the yawing shaft 8 is in orthogonal sleeved connection with the pitching shaft 4 through the sleeved rod 12, a certain distance is ensured between the two shafts, and the upper yawing disc 7, the lower yawing disc 6 and the large guide wheel 5 are ensured not to interfere;
a first driving rope 3, wherein the first driving rope 3 extends out from two ends of the driving device 1, and each end of the first driving rope 3 is guided, wound and fixed on the upper yawing disc 7 and the lower yawing disc 6 through the same small guide wheel 2 and the same large guide wheel 5 at one end of the pitching shaft 4;
and the second driving rope 9 extends out from two ends of the driving device 1, each end of the second driving rope 9 is guided, wound and fixed on the upper yawing disc 7 and the lower yawing disc 6 through the same small guide wheel 2 and the same large guide wheel 5 at the other end of the pitching shaft 4 respectively, and the driving device 1 is used for driving the first driving rope 3 and the driving rope 9 to do stretching and contracting motions in the same direction and in the opposite direction or at different speeds. Here, the small guide wheel 2 and the large guide wheel 5 are used for adjusting the direction of the driving rope, when the yaw axis 8 performs a pitching motion around the pitch axis 4, the relative position relationship between the yaw axis 8 and the driving device 1 changes, and the first driving rope 3 and the second driving rope 9 adjust the direction of the rope through the small guide wheel 2 and the large guide wheel 5, so as to adapt to the postures of the second mechanical arm barrel sections 11 at different pitching angles. When the driving device 1 drives the first driving rope 3 and the second driving rope 9 to extend and contract in the same direction, the yaw axis 8 drives the second mechanical arm cylinder section 11 to perform pitching motion around the pitch axis 4, as shown in fig. 5a, 5b and 5c, the joint postures of which the pitch angles are +40 degrees, 0 degrees and-40 degrees are sequentially formed; when the driving device 1 drives the first driving rope 3 and the second driving rope 9 to do reverse stretching and contracting motions, the first driving rope 3 and the second driving rope 9 pull the upper yawing disc 7 to rotate, and the upper yawing disc 7 drives the second mechanical arm cylinder section 11 to do yawing motions around the yawing shaft 8; when the driving device 1 drives the first driving rope 3 and the second driving rope 9 to do differential motion, the upper yaw disc 7 drives the second mechanical arm cylinder section 11 to do not only pitch motion (revolution) but also yaw motion (rotation), namely, differential rope transmission. The common transmission forms of the rotary joint comprise gear transmission, belt transmission, chain transmission, rope transmission and link mechanism, and the invention adopts steel wire rope transmission. With the development of machines towards high efficiency, high speed, precision and multifunction, the requirements on the functions and performances of the transmission mechanism are higher and higher, and the working performance, service life, energy consumption, vibration noise and the like of the machines are greatly dependent on the performance of the transmission system. Early rope transmissions were mainly used for power transmission in projects, such as towing, hoisting, pulling, etc. With the requirements of the servo system on the precision, the rigidity and the efficiency of the transmission system, the rope transmission becomes an ideal transmission form of the high-precision servo system with the advantages of simplicity, light weight, high efficiency and the like, and completely surpasses the transmission performance of the gear in certain application occasions, so that the rope transmission system develops into a novel transmission system. The embodiment can realize the rotation of the mechanical arm in two degrees of freedom of pitching and yawing in a small space, wherein the range of the pitching angle is about +/-40 degrees, the range of the yawing angle is about +/-90 degrees, and the mechanical arm has large carrying capacity and good motion precision.
Preferably, the first driving rope and the second driving rope are made of steel wire ropes.
In detail, the present invention is based on the transmission principle of differential bevel gears, as shown in fig. 6. When the first gear 61 and the second gear 62 rotate in the same direction and at the same speed, the third gear 63 and the fourth gear 64 revolve around the first gear 61 and the second gear 62, and the pitching motion of the mechanical arm joint is corresponded; when the first gear 61 and the second gear 62 rotate reversely at the same speed, the third gear 63 and the fourth gear 64 rotate around the self-axis and rotate in opposite directions, and the rotation of the third gear corresponds to the yaw action of the joint. When the first gear 61 and the second gear 62 rotate at different speeds, the third gear 63 and the fourth gear 64 revolve and rotate simultaneously, namely, the joints perform pitching and yawing motions simultaneously.
The differential bevel gear mechanism has simple principle and compact structure. However, the transmission precision of the mechanism is difficult to guarantee due to the limit of the manufacturing precision of the gear and the influence of the backlash during meshing; and because the size of the joint is limited, the gear cannot be made too large, and the bearing capacity of the gear cannot meet the design requirement easily. The invention adopts a wire rope transmission analog differential bevel gear mechanism, as shown in figure 1, a large guide wheel 5 corresponds to a gear I61 and a gear II 62 in figure 6, a yaw upper disc 7 corresponds to a gear III 63, and a lower disc corresponds to a gear IV 64. When the large guide wheel 5 rotates in a differential mode, the yaw upper disc 7 drives the second mechanical arm cylinder section 11 to do not only pitch motion (revolution) but also yaw motion (rotation).
In a preferred embodiment of the two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission, the driving device 1 respectively drives the first driving rope 3 and the second driving rope 9 to move, so that one end of two ends of the first driving rope 3 or the second driving rope 9 is extended, the other end of the two ends of. The second drive rope 9 functions as the first drive rope 3.
In a preferred embodiment of the two-degree-of-freedom collinear robotic arm joint based on differential rope drive of the present invention, the internal structure of the driving device 1 is shown in fig. 4, and comprises two sets of motor reducers 101, three linear guide rails 102 arranged in parallel, two lead screws 103 and four nuts 104, each group of motor reducers 101 drives one lead screw 103 to rotate, each lead screw 103 is divided into two sections, each section is respectively provided with a left-handed thread and a right-handed thread, each section of the right-handed thread is respectively sleeved with one nut 104, in order to balance the bending moment of the nuts 104 on the lead screws 103, one end of each nut 104 is sleeved on one linear guide rail 102, two lead screws 103 are respectively sleeved with one nut 104 on the same linear guide rail 102 in the middle of the three linear guide rails 102, two ends of a first driving rope 3 are respectively connected with two nuts 104 on one lead screw 103, and two ends of a second driving rope 9 are respectively connected with two nuts 104 on the other lead screw 103. When the screw rod rotates, two nuts 104 on the screw rod 103 make reverse motion in two of the linear guide rails 102, namely, the first driving rope 3 or the second driving rope 9 is pulled to stretch and contract. Two motor reducers in the driving device 1 respectively drive the first driving rope 3 or the second driving rope 9 to extend and contract. By adjusting the rotating speed and the rotating direction of the two groups of motor reducers, the yaw shaft 8 rotates (pitching motion) around the pitching shaft 4, and the yaw upper disc 7 rotates (yawing motion) around the yaw shaft 8, namely differential rope transmission is realized.
Preferably, the screw can be selected from a common screw, a ball screw, a planetary roller screw, a recirculating roller screw and the like.
Preferably, each small guide wheel is close to one of the large guide wheels to ensure that the distance between the large guide wheel and the small guide wheel is small, and the resultant force generated by the crossed and wound steel wire rope in the connecting line direction of the circle centers of the two guide wheels is small, so that the radial force of a transmission system to a shafting is very small, the improvement of transmission stability is facilitated, the eccentricity is reduced, and the service life of the shaft is prolonged.
The invention has the advantages that:
(1) the joint modularization degree is high, and the expansion of the robot arm is easy to realize;
(2) the driving device can be arranged at the front end of the mechanical arm, so that the force arm is reduced, and the load is lightened;
(3) the joint has simple structure, low manufacturing cost and easy replacement and maintenance;
(4) the joint has compact structure, small volume and light weight, and can provide higher load capacity compared with a gear transmission joint with the same volume;
(5) because the transmission system does not contain a gear part, only the first driving rope and the second driving rope are adopted for transmission, and the transmission stability and the precision are higher;
(6) the mechanical arm needs the largest power under the action of gravity when doing pitching motion, and when doing pitching motion, the two groups of motors simultaneously operate as the power input of the pitching motion, thereby fully utilizing the power of each motor, increasing the equivalent force arm during the pitching motion and reducing the load of a single motor;
(7) the distance between the large guide wheel and the small guide wheel is small, and the resultant force generated by the crossed and wound steel wire rope in the connecting line direction of the circle centers of the two guide wheels is small, so that the radial force of a transmission system to a shafting is very small, the improvement of transmission stability is facilitated, the eccentricity is reduced, and the service life of the shaft is prolonged.
In conclusion, the invention can realize the rotation of two degrees of freedom of mechanical arm pitching and yawing, the range of the pitching angle is about +/-40 degrees, the range of the yawing angle is about +/-90 degrees, the joint of the invention has simple structure, high integration level, large load capacity, high transmission precision and good stability, is mainly oriented to the fields of aerospace, nuclear industry, special environmental operation and the like, can provide larger joint flexibility and bearing capacity within the limited space, and has high design modularization degree and easy expansion.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission is characterized by comprising:
the driving device and the two small guide wheels are arranged in the first mechanical arm cylinder section, wherein the two small guide wheels are movably arranged at one end, close to the second mechanical arm cylinder section, of the driving device, and the first mechanical arm cylinder section and the second mechanical arm cylinder section are oppositely arranged;
the two large guide wheels are respectively and movably arranged at the two ends of the pitching shaft, the two ends of the pitching shaft are movably connected with the first mechanical arm cylinder section, and the two small guide wheels are respectively close to the two ends of the pitching shaft;
the yaw shaft is in orthogonal sleeve connection with the pitching shaft through the sleeve rod and is movably arranged on a yaw upper disc and a yaw lower disc at two ends of the yaw shaft respectively, the diameter of the yaw upper disc is larger than that of the yaw lower disc, two ends of the yaw shaft are movably connected with the second mechanical arm cylinder section, and the yaw upper disc is fixedly connected with the second mechanical arm cylinder section;
the first driving rope extends out of two ends of the driving device, and each end of the first driving rope is guided, wound and fixed on the upper yawing disc and the lower yawing disc through the same small guide wheel and the same large guide wheel at one end of the pitching shaft;
and the second driving rope extends out of two ends of the driving device, each end of the second driving rope is guided, wound and fixed on the upper yawing disc and the lower yawing disc through the same small guide wheel and the same large guide wheel at the other end of the pitching shaft respectively, and the driving device is used for driving the first driving rope and the second driving rope to do equidirectional, opposite or differential stretching and contracting motions.
2. The differential-rope-transmission-based two-degree-of-freedom collinear mechanical arm joint as claimed in claim 1, wherein when the driving device drives the first driving rope and the second driving rope to extend and retract in the same direction, the yaw axis drives the second mechanical arm cylinder section to perform pitching motion around the pitch axis.
3. The differential-rope-transmission-based two-degree-of-freedom collinear mechanical arm joint as claimed in claim 1, wherein when the driving device drives the first driving rope and the second driving rope to make reverse stretching and contracting motions, the first driving rope and the second driving rope pull the upper yaw disc to rotate, and the upper yaw disc drives the second mechanical arm cylinder section to make yaw motion around the yaw axis.
4. The differential-rope-transmission-based two-degree-of-freedom collinear mechanical arm joint as claimed in claim 1, wherein when the driving device drives the first driving rope and the second driving rope to do differential motion, the yaw upper disc drives the second mechanical arm cylinder section to do both pitching motion and yawing motion.
5. The differential-rope-transmission-based two-degree-of-freedom collinear robot arm joint of claim 1, wherein the first drive rope and the second drive rope are made of steel wire ropes.
6. The differential-rope-transmission-based two-degree-of-freedom collinear mechanical arm joint as claimed in claim 1, wherein the driving device respectively drives one of two ends of the first driving rope or the second driving rope to extend, and the other end of the first driving rope or the second driving rope to contract, and the extension amount and the contraction amount are ensured to be equal.
7. The two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission as claimed in claim 1, wherein the driving device comprises two sets of motor reducers, three linear guide rails arranged in parallel, two lead screws and four nuts, wherein each set of motor reducer drives one lead screw to rotate, each lead screw is divided into two sections, each section is respectively provided with a left-handed thread and a right-handed thread, each section of the right-handed thread is respectively sleeved with one nut, one end of each nut is sleeved on one of the linear guide rails, each nut on the two lead screws is sleeved on the same linear guide rail in the middle of the three linear guide rails, two ends of a first driving rope are respectively connected with two nuts on one lead screw, and two ends of a second driving rope are respectively connected with two nuts on the other lead screw.
8. The differential-cord-drive-based two-degree-of-freedom collinear robotic arm joint of claim 7, wherein the screw is selected from a common screw, a ball screw, a planetary roller screw, or a recirculating roller screw.
9. The differential-cord-drive-based two-degree-of-freedom collinear robotic arm joint of claim 1, wherein each small guide wheel is adjacent to one of the large guide wheels.
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| CN201510966134.3A CN106903712B (en) | 2015-12-22 | 2015-12-22 | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission |
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| CN101104267A (en) * | 2007-07-31 | 2008-01-16 | 哈尔滨工业大学 | Robot clever hand modular finger |
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| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN103536378A (en) * | 2013-08-02 | 2014-01-29 | 华中科技大学 | Differential motion joint mechanism of artificial limb |
| CN105108774A (en) * | 2015-08-24 | 2015-12-02 | 中国科学院等离子体物理研究所 | Mechanical arm yaw driving device used under high vacuum and nuclear fusion environment |
| CN105150241A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Two-degree-of-freedom mechanical arm joint driven by ropes |
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| CN106903712A (en) | 2017-06-30 |
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