CN107053132A - Modular reconfigurable Compliant Assembly variable rigidity control device and method - Google Patents
Modular reconfigurable Compliant Assembly variable rigidity control device and method Download PDFInfo
- Publication number
- CN107053132A CN107053132A CN201710019495.6A CN201710019495A CN107053132A CN 107053132 A CN107053132 A CN 107053132A CN 201710019495 A CN201710019495 A CN 201710019495A CN 107053132 A CN107053132 A CN 107053132A
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- flexible cable
- tension
- hydraulic cylinder
- control device
- pressing plate
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing 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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a kind of modular reconfigurable Compliant Assembly variable rigidity control device and method, including variable stiffness apparatus and control device, variable stiffness apparatus is by the left side that is oppositely arranged, right pressing plate, it is fixed on hydraulic cylinder on left pressing plate, rod end is fixed on single rod piston of the right pressing plate piston in hydraulic cylinder, it is enclosed on the spring on hydraulic cylinder, it is enclosed in single rod piston rod segment and fixes the spring retainer block of spring, connect the flexible rubber hose of hydraulic cylinder oil inlet and outlet, it is left, the scalable set connected between right pressing plate is logical and left, right connection flexible cable group composition, control device includes the magnetic valve being arranged on hydraulic cylinder oil inlet and outlet flexible rubber hose, it is connected to the tension sensor in Compliant Assembly flexible cable, stay wire displacement sensor at Compliant Assembly fixed pulley, one-chip computer module and wireless telecommunications system composition in right pressing plate.The present invention substantially increases the stability of Compliant Assembly motion, safety and reliability.
Description
Technical field
The present invention relates to Compliant Assembly field, specifically a kind of modular reconfigurable Compliant Assembly becomes firm
Spend control device and method.
Background technology
Compliant Assembly reduces the limitation of hydraulic cylinder straight line and hinge rotating angle movement, using simple in construction and matter
The light flexible cable of amount is as driving element, with simple in construction, load capacity is strong, working space is big, movement velocity is fast, precision is high etc.
Plurality of advantages.Because Compliant Assembly has an above-mentioned advantage, thus the various frees degree Compliant Assembly at home
It is outer to have extensive research and apply.
Flexible cable parallel mechanism is a kind of lightweight robot mechanism, and mechanism can have that the rigidity of structure is low to ask in motion process
Topic so that the bumpy motion of end effector, influences the normal operation of whole mechanism, and continuous with flexible cable parallel mechanism
Development, to the stability of system, movement velocity, required precision more and more higher, mechanism Rigidity is also more and more important.At present,
Chinese patent publication No. CN103286771A discloses a kind of space three-rotation freedom parallel mechanism, Chinese patent publication No.
CN103831819A discloses a kind of modular reconfigurable flexible cable parallel mechanism experiment porch.Above-described flexible cable parallel machine
Structure, does not consider the Rigidity of flexible cable parallel mechanism, does not propose a kind of to improve the dress of flexible cable parallel mechanism rigidity
Put and method.As flexible cable parallel mechanism is more and more extensive in the application of every field, therefore, flexible cable parallel mechanism is carried out firm
Degree control, the stability and reliability for strengthening flexible cable parallel mechanism is particularly important.
In fact, flexible cable parallel mechanism is in the process of running, the internal tension of flexible cable is adjustable, and the change of internal tension does not change
Become external active force, thus the problem of in order to overcome flexible cable parallel mechanism insufficient rigidity, it is possible to use this characteristic, pass through control
The tension force of flexible cable adjusts the rigidity of end effector, so as to realize the variation rigidity of mechanism.
The content of the invention is filled it is an object of the invention to provide a kind of modular reconfigurable Compliant Assembly variable rigidity control
Put and method, to solve existing Compliant Assembly flexible cable insufficient rigidity and the problem of can not adjust.
In order to achieve the above object, the technical solution adopted in the present invention is：
Modular reconfigurable Compliant Assembly variable rigidity control device, it is characterised in that：Including variable stiffness apparatus, control dress
Put, wherein：
Variable stiffness apparatus includes being connected with telescopic sleeve, scalable set between the left and right pressing plate being oppositely arranged, left and right pressing plate
Hydraulic cylinder is provided with cylinder, hydraulic cylinder is conllinear with telescopic sleeve central shaft, and the oil inlet and outlet of hydraulic cylinder is connected by flexible rubber hose, liquid
The cylinder body end of cylinder pressure is connected on left pressing plate, and single rod piston rod rod end is connected in right pressing plate in hydraulic cylinder, and piston rod is passed
Fixed cover is equipped with outside spring retainer block, hydraulic cylinder and is also set with spring in the bar segment of hydraulic cylinder, and spring one end is connected to left pressing plate
On, the other end is connected on spring retainer block, and variable stiffness apparatus also includes left and right connection flexible cable group, left and right connection flexible cable component
It is not made up of three bursts of flexible cables that left and right pressing plate outer ledge is axially connected along telescopic sleeve, it is soft in left and right connection flexible cable group
Rope position is mutually staggered one by one, wherein the left end of every flexible cable converges into one and forms left connection end in left connection flexible cable group, it is right
The right-hand member of every flexible cable converges into one and forms right connection end in connection flexible cable group, and variable stiffness apparatus passes through left and right connection flexible cable
Group is arranged in Compliant Assembly between flexible cable end and end effector；
Control device include be arranged on hydraulic cylinder oil inlet and outlet flexible rubber hose on magnetic valve, be connected to Compliant Assembly flexible cable
On tension sensor, the stay wire displacement sensor at Compliant Assembly fixed pulley, the wireless telecommunications system
The communication interface of one-chip computer module is accessed, the signal that tension sensor, stay wire displacement sensor are respectively connected to one-chip computer module is defeated
Incoming interface, magnetic valve accesses the signal output interface of one-chip computer module.
Described modular reconfigurable Compliant Assembly variable rigidity control device, it is characterised in that：Left and right connection is soft
Each flexible cable is uniformly distributed outside telescopic sleeve in ring respectively in rope group, and flexible cable position one in left and right connection flexible cable group
One mutually staggers to form interdigital distribution.
A kind of modular reconfigurable Compliant Assembly variable rigidity control method, it is characterised in that：Comprise the following steps：
（1）, by variable rigidity control device it is left connection flexible cable group connection end and Compliant Assembly flexible cable end connect,
The connection end of right connection flexible cable group and the end effector of Compliant Assembly are connected in variable rigidity control device；
（2）, motion analysis is carried out to a certain movement locus of end effector, movement locus is divided into some sections, and pass through fortune
The expectation rigidity value that algorithm determines flexible cable in each section of track motion process is calculated, by it is expected that rigidity value carries out tension gauge to flexible cable
Draw, obtain tension force constant, carry out internal tension planning using stiffness matrix, obtain one group of flexible rope tension desired value, and by desired value
It is stored in one-chip computer module；
（3）, to flexible cable carry out tension force, at fixed pulley stay wire displacement sensor detection flexible cable displacement, it is determined that last
Which stage the motion of end actuator is in, and one-chip computer module calls expectation tension value by analyzing displacement；Installed in flexible cable
On the tension sensor moment measure the tension value of flexible cable, and by the data transfer of collection to one-chip computer module；One-chip computer module
The data of collection are compared with called flexible rope tension desired value, when actual measurement tension value is less than expectation tension value, magnetic valve
For closed mode, now the variable stiffness apparatus plays increase heavy burden, enlarging mechanism rigidity, and flexible rope tension is as move will be by
Cumulative big, when surveying tension value more than tension value is expected, magnetic valve is open mode, and now the variable stiffness apparatus can be reduced to
One single-degree-of-freedom spring-damp system, flexible rope tension will reduce, so as to form circulation；Tension value and expectation when control flexible cable
When tension value is equal, desired flexible cable rigidity is obtained, and then realize the variable rigidity control of mechanism.
Compared with the prior art, beneficial effects of the present invention are embodied in：
One, variable rigidity control apparatus and method of the present invention, obtain expecting tension force by setting flexible cable to expect rigidity value
Value, and control flexible cable actual tension value to be equal to expectation tension value, so as to realize the variable rigidity control of mechanism, solve end execution
Device enhances mechanism traveling comfort and reliability in the process of running by the influence that system stiffness problem is brought.
Two, variable rigidity control devices of the present invention, during magnetic valve is in "On" state, the device can simplify
For single-degree-of-freedom spring-damp system, this system has good effectiveness in vibration suppression, can cut down the vibration of flexible cable motion process, make
End effector operation is more steady.
It is three, small volumes of the present invention, simple and compact for structure, installed in the end of flexible cable, it is to avoid with flexible cable parallel mechanism its
His module causes interference, and assembly and disassembly is convenient, flexible, simple to operate.
Brief description of the drawings
Fig. 1 is the general assembly drawing of modular reconfigurable Compliant Assembly of the present invention with variable rigidity control device.
Fig. 2 is variable rigidity control schematic device of the present invention.
Fig. 3 is variable rigidity control device internal structure schematic diagram of the present invention.
Fig. 4 is variable rigidity control device left pressing plate schematic diagram of the present invention.
Fig. 5 is control system schematic diagram of the present invention.
Embodiment
The Compliant Assembly applied of the present invention is as shown in figure 1, including end effector 1, flexible cable 3, hydraulic cylinder 4,
Fixed pulley 5, servomotor 6, gearbox 7, servomotor 8, reductor 9, hoist engine 10, pedestal 11, the grade part of ring-shaped guide rail 12
Composition, variable rigidity control device 2 is connected between flexible cable 3 and end effector 1.
The present invention includes variable stiffness apparatus and control device, wherein：
As shown in Fig. 1-Fig. 4, variable stiffness apparatus is made up of element with variable rigidity and connection unit, and element with variable rigidity includes right pressing plate
201, telescopic sleeve 202, left pressing plate 203, spring retainer block 206, spring 207, the hydraulic cylinder 208 with single rod piston,
Flexible rubber hose 210, connection unit includes left and right connection flexible cable group 204,213.The connection end point of left and right connection flexible cable group 204,213
It is not connected by cable connector correspondence with flexible cable 3, end effector 1；Right pressing plate 201 passes through screw and single rod piston 211
Piston rod rod end connection, single rod piston-initial-position is in the centre position of hydraulic cylinder 208, the cylinder body of hydraulic cylinder 208
End is connected by screw with left pressing plate 203, and spring retainer block 206 is enclosed on the piston rod 211 of single rod piston, spring 207 1
End is fixed on spring retainer block 206, and the other end is fixed on left pressing plate 203；Telescopic sleeve 202 is connected to left and right pressing plate
Between and be enclosed on outside hydraulic cylinder 208, rise protection dustproof effect；The oil inlet and outlet of hydraulic cylinder 208 is connected using flexible rubber hose 210, soft
The fluid being equipped with sebific duct 210 in magnetic valve 209, hydraulic cylinder 208 is viscous damping liquid, can be by flexible rubber hose 210 in hydraulic cylinder
208 liang of intracavitary flowings.
As shown in Figure 1, shown in Figure 5, control device includes：One-chip computer module 205, magnetic valve 209, wireless telecommunications system 212,
Force snesor 214 and stay wire displacement sensor 215.One-chip computer module 205 and wireless telecommunications system 212 are arranged on right pressing plate 201
On, tension sensor 214 is arranged in flexible cable, measures flexible rope tension, and stay wire displacement sensor 215 is arranged on the lid of fixed pulley 5
On plate, flexible cable displacement is measured.Wireless telecommunications system 212 accesses the communication interface of one-chip computer module, tension sensor 214 and bracing wire
Displacement transducer 215 connects the signal input interface of one-chip computer module 205, and magnetic valve 209 connects the signal of one-chip computer module 205
Output interface.
Wireless telecommunications system receives the data of external world's PC equipment transmission and passes data to single-chip microcomputer, wireless telecommunications system
One-chip computer module input interface is connected by data wire with sensor, one-chip computer module output interface is connected with magnetic valve, monolithic
The displacement data that machine is gathered according to stay wire displacement sensor is chosen the expectation tension value of wireless telecommunications system transmission and passed with tension force
The actual flexible rope tension value of sensor collection is compared, the open/close state of feedback control magnetic valve.
The variation rigidity mechanism of modular reconfigurable of the present invention flexible cable robot variable rigidity control device in parallel is:When servo electricity
When machine drives hoist engine dragging flexible cable motion, minor variations will occur for end effector setting in motion, the length of flexible cable, accordingly
The tension force of flexible cable changes.The tension force of flexible cable is made up of two parts, for driving the outer tension force of end effector and for soft
The internal tension mutually balanced between rope, and actually outer tension force is the generalized force by end effector（Including inertia force, centrifugation
Power, coriolis force, gravity and suffered external force）Determine, for position, speed and the acceleration of given end effector, it
It can not change；And internal tension can be then adjusted as required by.Therefore rigidity can be carried out to redundant parallel flexible cable robot
Planning, obtains individually controllable flexible rope tension desired value, and realizes by tension force the rigidity of redundant parallel flexible cable robot
Control, the present invention is exactly to realize variation rigidity by controlling flexible rope tension.
Control method step of the present invention is as follows：
（1）, the connection end of left connection flexible cable group 204 in variable rigidity control device 2 and the flexible cable 3 of Compliant Assembly connected
Connect, the connection end of right connection flexible cable group 213 and the end effector 1 of Compliant Assembly are connected in variable rigidity control device 2；
（2）, determine flexible cable expect tension value.A certain movement locus is designed for end effector 1 first, if movement locus is divided into
Section is done, and the expectation rigidity value of flexible cable 3 in each section of track motion process is determined by mathematical algorithm, by expecting rigidity value pair
Flexible cable 3 carries out tension force planning, obtains tension force constant, carries out internal tension planning using stiffness matrix, obtains one group of flexible rope tension phase
Prestige value, and desired value is stored in single-chip microcomputer 205；
（3）, to flexible cable carry out tension force.The detection flexible cable displacement of stay wire displacement sensor 215 on fixed pulley 5, really
Which stage the motion for determining end effector 1 is in, and single-chip microcomputer 205 calls expectation rigidity value by analyzing displacement；It is arranged on
The tension sensor moment in flexible cable 3 measures the tension value of flexible cable, and by the data transfer of collection to single-chip microcomputer 205.Single-chip microcomputer
205 are compared the data of collection with called flexible rope tension desired value, and actual measurement tension value, which is less than, expects tension value, magnetic valve
209 be "Off" state, and now variable stiffness apparatus 2 plays increase heavy burden, and enlarging mechanism rigidity, flexible rope tension will with motion
Gradually increase, when surveying tension value more than tension value is expected, magnetic valve 209 is "On" state, and now variable stiffness apparatus 3 can letter
A single-degree-of-freedom spring-damp system is turned to, flexible rope tension will reduce, so as to form circulation.Control tension value and the phase of flexible cable
Hope that tension value is equal, so as to obtain desired flexible cable rigidity, and then realize the variable rigidity control of mechanism.
Claims (3)
1. modular reconfigurable Compliant Assembly variable rigidity control device, it is characterised in that：Including variable stiffness apparatus, control
Device, wherein：
Variable stiffness apparatus includes being connected with telescopic sleeve, scalable set between the left and right pressing plate being oppositely arranged, left and right pressing plate
Hydraulic cylinder is provided with cylinder, hydraulic cylinder is conllinear with telescopic sleeve central shaft, and the oil inlet and outlet of hydraulic cylinder is connected by flexible rubber hose respectively
Connect, the cylinder body end of hydraulic cylinder is connected on left pressing plate, the rod end of single rod piston is connected in right pressing plate in hydraulic cylinder, piston rod
Pass in the bar segment of hydraulic cylinder fixed cover and be equipped with outside spring retainer block, hydraulic cylinder and be also set with spring, spring one end is connected to a left side
On pressing plate, the other end is connected on spring retainer block, and variable stiffness apparatus also includes left and right connection flexible cable group, left and right connection flexible cable
Group is made up of three bursts of flexible cables that left and right pressing plate outer ledge is axially connected along telescopic sleeve respectively, in left and right connection flexible cable group
Flexible cable position mutually stagger one by one, wherein the left end of every flexible cable converges into one and forms left connection in left connection flexible cable group
The right-hand member of every flexible cable converges into one and forms right connection end in end, right connection flexible cable group, and variable stiffness apparatus passes through left and right connection
Flexible cable group is arranged in Compliant Assembly between flexible cable end and end effector；
Control device includes being integrated in one-chip computer module and wireless telecommunications system in variable stiffness apparatus, installed in hydraulic cylinder turnover
Magnetic valve on hydraulic fluid port flexible rubber hose, the tension sensor in Compliant Assembly flexible cable, installed in flexible cable parallel machine
Stay wire displacement sensor at device people's fixed pulley, the wireless telecommunications system accesses the communication interface of one-chip computer module, and tension force is passed
Sensor, stay wire displacement sensor are respectively connected to the signal input interface of one-chip computer module, and magnetic valve accesses the letter of one-chip computer module
Number output interface.
2. modular reconfigurable Compliant Assembly variable rigidity control device according to claim 1, it is characterised in that：
Each flexible cable is uniformly distributed outside telescopic sleeve in ring respectively in left and right connection flexible cable group, and in left and right connection flexible cable group
Mutually stagger to form interdigital distribution one by one in flexible cable position.
3. a kind of modular reconfigurable Compliant Assembly variation rigidity control based on variable rigidity control device described in claim 1
Method processed, it is characterised in that：Comprise the following steps：
（1）, the connection end of left connection flexible cable group in variable rigidity control device and the flexible cable of Compliant Assembly connected, become firm
The connection end of right connection flexible cable group and the end effector of Compliant Assembly in control device is spent to connect；
（2）, motion analysis is carried out to a certain movement locus of end effector, movement locus is divided into some sections, and pass through fortune
The expectation rigidity value that algorithm determines flexible cable in each section of track motion process is calculated, by it is expected that rigidity value carries out tension gauge to flexible cable
Draw, obtain tension force constant, carry out internal tension planning using stiffness matrix, obtain one group of flexible rope tension desired value, and by desired value
It is stored in one-chip computer module；
（3）, to flexible cable carry out tension force, at fixed pulley stay wire displacement sensor detection flexible cable displacement, it is determined that last
Which stage the motion of end actuator is in, and one-chip computer module calls expectation tension value by analyzing displacement；Installed in flexible cable
On the tension sensor moment measure the tension value of flexible cable, and by the data transfer of collection to one-chip computer module；One-chip computer module
The data of collection are compared with called flexible rope tension desired value, when actual measurement tension value is less than expectation tension value, magnetic valve
For closed mode, now the variable stiffness apparatus plays increase heavy burden, enlarging mechanism rigidity, and flexible rope tension is as move will be by
Cumulative big, when surveying tension value more than tension value is expected, magnetic valve is open mode, and now the variable stiffness apparatus can be reduced to
One single-degree-of-freedom spring-damp system, flexible rope tension will reduce, so as to form circulation；Tension value and expectation when control flexible cable
When tension value is equal, desired flexible cable rigidity will be obtained, and then realize the variable rigidity control of mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710019495.6A CN107053132B (en) | 2017-01-11 | 2017-01-11 | Modular reconfigurable Compliant Assembly variable rigidity control device and method |
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| CN201710019495.6A CN107053132B (en) | 2017-01-11 | 2017-01-11 | Modular reconfigurable Compliant Assembly variable rigidity control device and method |
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| CN107053132A true CN107053132A (en) | 2017-08-18 |
| CN107053132B CN107053132B (en) | 2019-07-26 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422413A (en) * | 2018-06-19 | 2018-08-21 | 哈尔滨工业大学 | A kind of continuous parallel robot of flexibility of variation rigidity |
| CN108655558A (en) * | 2018-05-25 | 2018-10-16 | 河北工程大学 | A kind of hard and soft cooperation friction stir weld device |
| CN108890625A (en) * | 2018-07-31 | 2018-11-27 | 清华大学 | A kind of adjustable rigidity rope driving shunting means |
| CN109176479A (en) * | 2018-11-01 | 2019-01-11 | 合肥工业大学 | A kind of Complete Bind Compliant Assembly variable stiffness apparatus |
| CN111251278A (en) * | 2020-03-12 | 2020-06-09 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN111618825A (en) * | 2020-06-11 | 2020-09-04 | 山东大学 | Redundant mechanical arm based on tensioning integral structure |
| CN112077834A (en) * | 2020-08-24 | 2020-12-15 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN113117942A (en) * | 2021-04-16 | 2021-07-16 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| TWI790420B (en) * | 2020-02-18 | 2023-01-21 | 吳佳鴻 | Mechanical system and method for controlling the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440870A (en) * | 2014-10-23 | 2015-03-25 | 合肥工业大学 | Variable structure parameter flexible rope parallel connection robot system and control method |
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2017
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104440870A (en) * | 2014-10-23 | 2015-03-25 | 合肥工业大学 | Variable structure parameter flexible rope parallel connection robot system and control method |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655558A (en) * | 2018-05-25 | 2018-10-16 | 河北工程大学 | A kind of hard and soft cooperation friction stir weld device |
| CN108422413B (en) * | 2018-06-19 | 2020-01-07 | 哈尔滨工业大学 | Rigidity-variable flexible continuous parallel robot |
| CN108422413A (en) * | 2018-06-19 | 2018-08-21 | 哈尔滨工业大学 | A kind of continuous parallel robot of flexibility of variation rigidity |
| CN108890625B (en) * | 2018-07-31 | 2021-05-28 | 清华大学 | Rigidity-adjustable cable driving parallel device |
| CN108890625A (en) * | 2018-07-31 | 2018-11-27 | 清华大学 | A kind of adjustable rigidity rope driving shunting means |
| CN109176479A (en) * | 2018-11-01 | 2019-01-11 | 合肥工业大学 | A kind of Complete Bind Compliant Assembly variable stiffness apparatus |
| CN109176479B (en) * | 2018-11-01 | 2021-12-24 | 合肥工业大学 | Rigidity changing device of fully-constrained flexible cable parallel robot |
| TWI790420B (en) * | 2020-02-18 | 2023-01-21 | 吳佳鴻 | Mechanical system and method for controlling the same |
| CN111251278B (en) * | 2020-03-12 | 2021-06-08 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN111251278A (en) * | 2020-03-12 | 2020-06-09 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN111618825A (en) * | 2020-06-11 | 2020-09-04 | 山东大学 | Redundant mechanical arm based on tensioning integral structure |
| CN112077834A (en) * | 2020-08-24 | 2020-12-15 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN112077834B (en) * | 2020-08-24 | 2021-11-05 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN113117942A (en) * | 2021-04-16 | 2021-07-16 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
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|---|---|
| CN107053132B (en) | 2019-07-26 |
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