CN107053156B - Seven-degree-of-freedom bionic somatosensory mechanical arm - Google Patents
Seven-degree-of-freedom bionic somatosensory mechanical arm Download PDFInfo
- Publication number
- CN107053156B CN107053156B CN201710149234.6A CN201710149234A CN107053156B CN 107053156 B CN107053156 B CN 107053156B CN 201710149234 A CN201710149234 A CN 201710149234A CN 107053156 B CN107053156 B CN 107053156B
- Authority
- CN
- China
- Prior art keywords
- steering engine
- arm
- connecting piece
- fixed
- shaped connecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000003238 somatosensory effect Effects 0.000 title claims abstract description 17
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims abstract description 10
- 238000004088 simulation Methods 0.000 claims abstract description 5
- 210000000323 shoulder joint Anatomy 0.000 claims description 26
- 210000003857 wrist joint Anatomy 0.000 claims description 11
- 210000000245 forearm Anatomy 0.000 claims description 8
- 210000002310 elbow joint Anatomy 0.000 claims description 6
- 210000000707 wrist Anatomy 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 4
- 210000000988 bone and bone Anatomy 0.000 abstract description 2
- 230000008859 change Effects 0.000 abstract description 2
- PUAQLLVFLMYYJJ-UHFFFAOYSA-N 2-aminopropiophenone Chemical compound CC(N)C(=O)C1=CC=CC=C1 PUAQLLVFLMYYJJ-UHFFFAOYSA-N 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gyroscopes (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a seven-degree-of-freedom bionic motion sensing mechanical arm, which comprises the following components: the first steering engine, the second steering engine and the third steering engine are sequentially connected through a connecting piece, and the rotation axes of two adjacent steering engines are mutually perpendicular; the mechanical claw is connected with the seventh steering engine and drives the mechanical claw to open or clamp through rotation of the seventh steering engine; the inertial system somatosensory system is arranged on the human arm to detect the motion of the human arm; and the controller is connected with the inertial system somatosensory system, acquires the motion of the human arm, outputs seven paths of control signals, and controls the seven steering engines to coordinate to realize the simulation of the motion of the human arm. The invention simulates skeletal motion through the combination of a plurality of steering engines, has high response speed, and can set the relative position of the steering engines according to actual conditions by users, thereby having strong flexibility. The change of bones of the human arm can be tracked in real time, the spatial position of the human arm can be accurately positioned, and the remote control of the mechanical arm of the human arm can be realized through Bluetooth communication.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a seven-degree-of-freedom bionic somatosensory mechanical arm.
Background
A variety of motion sensing robotic arms have been fabricated, with video recognition being the most common. In the aspect of video identification, the mechanical arm is complex in programming, high in development difficulty and difficult to accurately identify the spatial position information of the arm motion of a person; the mechanical arm is trembled in a closed-loop control mode; the direct current motor or the stepping motor is used as an actuator, so that the response speed is low; the matching use of other mechanical parts such as a speed reducer increases design complexity, and the motion precision is lower due to the problems of mechanical matching and the like. And the whole system has more equipment, is not convenient to carry, is very inconvenient to apply, and is limited to professional use. In addition, most of the prior mechanical arms are mainly industrial mechanical arms, the field of small mechanical arms with high manufacturing cost and low price is lost, and the prior mechanical arms are difficult to apply to somatosensory mechanical arms in daily life.
With the development of high-end entertainment, more and more places need to be used with small mechanical arms; in the military fields of telemedicine, high-risk bullet removal and the like, a mechanical arm capable of being remotely controlled is also needed to replace a person to directly execute the mechanical arm. The seven-degree-of-freedom bionic mechanical arm is similar to a human arm in structural function, and the precision, the multiple degrees of freedom and the high simulation degree of people are increasingly required.
Disclosure of Invention
The invention aims to overcome the defects that the existing mechanical arm is complex in structure, few in joints and difficult to effectively simulate a human arm, and provides a seven-degree-of-freedom bionic motion sensing mechanical arm.
The technical scheme provided by the invention is as follows:
a seven degree of freedom bionic motion sensing mechanical arm comprising:
the first steering engine, the second steering engine and the third steering engine are sequentially connected through a connecting piece, and the rotation axes of two adjacent steering engines are mutually perpendicular;
the mechanical claw is connected with the seventh steering engine and drives the mechanical claw to open or clamp through rotation of the seventh steering engine;
the inertial system somatosensory system is arranged on the human arm to detect the motion of the human arm;
the controller is connected with the inertial system somatosensory system, acquires the motion of the human arm, outputs seven paths of control signals, and controls the seven steering engines to coordinate to realize the simulation of the motion of the human arm;
the first steering engine is connected with the shoulder joint T-shaped connecting piece through the shoulder joint small U-shaped connecting piece, the second steering engine is fixed on the shoulder joint small U-shaped connecting piece, the shoulder joint large U-shaped connecting piece is fixed on an output shaft of the second steering engine, the rotation of the first steering engine is used for realizing the rotation of the shoulder joint of the mechanical arm around a transverse rotating shaft, and the rotation of the second steering engine is used for realizing the rotation of the shoulder joint of the mechanical arm around a longitudinal rotating shaft;
the third steering engine is fixed on a large U-shaped connecting piece of the shoulder joint, and a large U-shaped connecting piece of the large arm is fixed on an output shaft of the third steering engine;
the fourth steering engine is fixed on the second joint large U-shaped connecting piece, the elbow joint large U-shaped connecting piece is fixed on an output shaft of the fourth steering engine, and the large arm and the small arm of the mechanical arm are driven to relatively translate through rotation of the fourth steering engine;
the fifth steering engine is fixed on the large U-shaped small arm connecting piece, the W-shaped small arm connecting piece is fixed on an output shaft of the fifth steering engine, and the large arm and the small arm of the mechanical arm are driven to rotate relatively through rotation of the fifth steering engine;
the sixth steering engine is fixed on the small U-shaped connecting piece of the wrist joint, the small U-shaped connecting piece of the wrist joint is fixed on the W-shaped connecting piece of the forearm through a screw, meanwhile, the large U-shaped connecting piece of the wrist joint is fixed on an output shaft of the sixth steering engine, and the mechanical arm is driven to form relative rotational freedom degree of the wrist through rotation of the sixth steering engine.
Preferably, the inertial system somatosensory system comprises a plurality of six-axis accelerometer gyroscopes.
Preferably, the six-axis accelerometer gyroscope is provided with three, and is respectively fixed on the upper arm, the forearm and the back of the hand of the human body.
Preferably, the inertial system somatosensory system and the controller perform data transmission in a wireless mode.
Preferably, the inertial system somatosensory system and the controller perform data transmission through Bluetooth.
The beneficial effects of the invention are as follows:
1. the skeleton motion is simulated through the combination of a plurality of steering gears, response speed is fast, and the user can set for the relative position of steering gear according to actual conditions, and the flexibility is strong.
2. The change of bones of the human arm can be tracked in real time, the spatial position of the human arm can be accurately positioned, and the remote control of the mechanical arm of the human arm can be realized through Bluetooth communication.
3. The mechanical arm has the advantages of high operation precision, strong flexibility, good universality, high sensitivity and multiple degrees of freedom, and can embody the limb movement of a person on the mechanical arm to the greatest extent and reduce the misoperation of the mechanical arm.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a seven-degree-of-freedom bionic motion sensing mechanical arm.
Fig. 2 is a schematic view of a shoulder joint assembly according to the present invention.
Fig. 3 is a front view of a shoulder joint T-connector according to the present invention.
Fig. 4 is a side view of a shoulder joint T-connector according to the present invention.
Fig. 5 is a schematic view of a boom assembly according to the present invention.
Fig. 6 is a front view of a large arm W-shaped connector according to the present invention.
Fig. 7 is a side view of a large arm W-shaped connector according to the present invention.
Fig. 8 is a schematic view of an elbow joint assembly according to the present invention.
Fig. 9 is a schematic view of a small U-shaped elbow joint connector according to the present invention.
Fig. 10 is a schematic view of a large U-shaped elbow joint connector according to the present invention.
Fig. 11 is a schematic view of a wrist according to the present invention.
Fig. 12 is a schematic view of a large U-shaped wrist joint connector according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
The invention provides a seven-degree-of-freedom bionic somatosensory mechanical arm which comprises an inertial system somatosensory system and an executing mechanism.
The inertial system somatosensory system comprises three MPU6050 six-axis accelerometer gyroscopes, a 3-axis gyroscope and a 3-axis acceleration sensor are integrated in the MPU6050, and quaternion can be directly output to a singlechip by combining a Digital Motion Processor (DMP) of the MPU6050, and meanwhile, the inertial system somatosensory formed by the three MPU6050 can accurately position the spatial position of a human arm, so that the overall accuracy is greatly improved.
The actuating mechanism comprises an RDS3115 steering engine, the RDS3115 is a high-torque digital steering engine, response is rapid, and the actuating mechanism can maintain a corresponding angular displacement for pwm signals with different duty ratios.
Three MPU6050 six-axis accelerometer gyroscopes are respectively fixed on the upper arm, the forearm and the back of the hand, and original data are directly converted into quaternions quat [0], quat [1], quat [2] and quat [3] to be output by calling a digital motion processor-DMP carried by the MPU6050, wherein the quaternion output by the DMP is in q30 format, namely, the floating point number is amplified by 30 times. Before converting to Euler angle, it must be converted to floating point number, i.e. divided by the power of 2 to 30, i.e
q0＝quat[0]/q30
q1＝quat[1]/q30
q2＝quat[2]/q30
q3＝quat[3]/q30
The singlechip performs Euler angle calculation, and the calculation formula is as follows:
pitch＝arcsin(-2*q1*q3+2*q0*q2)*57.3
roll＝arctan2(2*q2*q3+2*q0*q1，-2*q1*q1-2*q2*q2+1)*57.3
yaw＝arctan2(2*(q1*q2+q0*q3)，q0*q0+q1*q1-q2*q2-q3*q3)*57.3
the pitch angle (pitch), roll angle (roll), and heading angle (yaw) of the portion of the arm at which each MPU6050 is located are obtained.
Where q30 is a constant: 1073741824, i.e. the power of 2 to the 30 th power. 57.3 of the above formula is the conversion of radian to angle, i.e., 180/pi, and the result is in degrees (°).
Euler angles of the three sensors are transmitted to the master control equipment at the end of the mechanical arm through the Bluetooth communication technology, and the mechanical arm is controlled to make corresponding reactions, so that the communication between the mechanical arm and the sensors is realized. The main control equipment can receive Euler angle data of the sensor end through the Bluetooth device, and independently outputs pwm to control each steering engine, so that a plurality of steering engines move in a coordinated manner to achieve the purpose of simulating the operation of hands of people.
As shown in FIG. 1, the seven-degree-of-freedom bionic motion sensing mechanical arm comprises seven steering gears, namely a first steering gear 1, a second steering gear 2, a third steering gear 3, a fourth steering gear 4, a fifth steering gear 5, a sixth steering gear 6 and a seventh steering gear 7. Eight U-shaped connectors, two W-shaped connectors, a shoulder T-shaped connector 9 and a gripper assembly 19 are also included.
The first steering engine 1 and the second steering engine 2 are mutually perpendicular in rotation axis, the second steering engine 2 and the third steering engine 3 are mutually perpendicular in rotation axis, the third steering engine 3 and the fourth steering engine 4 are mutually perpendicular in rotation axis, the fourth steering engine 4 and the fifth steering engine 5 are mutually perpendicular in rotation axis, the fifth steering engine 5 and the sixth steering engine 6 are mutually perpendicular in rotation axis, and the sixth steering engine 6 and the seventh steering engine 7 are mutually perpendicular in rotation axis.
As shown in fig. 1 to 4, the first steering engine 1 is connected with the shoulder joint T-shaped connecting piece 9 through the small shoulder joint U-shaped connecting piece 8, and the movement of the shoulder joint in the x-axis direction is completed through the rotation of the first steering engine 1.
The second steering engine 2 is fixed on the small U-shaped connecting piece 8 of the shoulder joint, meanwhile, the large U-shaped connecting piece 10 of the shoulder joint is fixed on an output shaft of the second steering engine 2, and the mechanical arm is driven to complete the motion of the y-axis direction of the shoulder joint through the rotation of the second steering engine 2.
As shown in fig. 1, 5, 6 and 7, the third steering engine 3 is fixed on a large U-shaped connecting piece 10 of the shoulder joint, meanwhile, a large U-shaped connecting piece 11 of the large arm is fixed on an output shaft of the third steering engine 3, and the mechanical arm is driven to form the degree of freedom of shoulder joint rotation through the rotation of the third steering engine 3; the above constitutes two translational degrees of freedom and one rotational degree of freedom of the shoulder joint.
As shown in fig. 1, 8, 9 and 10, the fourth steering engine 4 is fixed on a large U-shaped connecting piece 11 of the large arm, meanwhile, a large U-shaped connecting piece 14 of the elbow joint is fixed on an output shaft of the fourth steering engine 4, and the mechanical arm is driven to form the relative translational degree of freedom of the large arm and the small arm through the rotation of the fourth steering engine 4; the fifth steering engine 5 is fixed on the big U-shaped connecting piece 15 of forearm, and simultaneously forearm W type connecting piece 16 is fixed on the output shaft of fifth steering engine 5, drives the arm through the rotation of fifth steering engine 5 and constitutes big arm and the relative degree of freedom of rotation of forearm.
As shown in fig. 1, 11 and 12, the sixth steering engine 6 is fixed on a small wrist joint U-shaped connector 17, the small wrist joint U-shaped connector 17 is fixed on a small arm W-shaped connector 16 through a screw, and meanwhile, a large wrist joint U-shaped connector 18 is fixed on an output shaft of the sixth steering engine 6, and the rotation of the sixth steering engine 6 drives the mechanical arm to form relative rotation freedom degrees of the wrist.
The mechanical claw assembly 19 is fixed with the large U-shaped connecting piece 18 of the wrist joint through a screw, the seventh steering engine 7 is fixedly connected with the mechanical claw through the screw, and the mechanical claw 19 is controlled to clamp and loosen through a lever mechanism, so that the plane freedom degree of the mechanical claw 19 is formed.
The mechanical arm is connected with a fixed support, and the fixed support is used for vertically fixing the mechanical arm.
When the robot arm steering engine is used, the power supply is switched on, the arm is vertical to the body side, and meanwhile, the robot arm steering engine is reset and returns to the initial set position, so that the whole system is initialized. After that, the arm normally moves, the STM32 at the arm end calculates Euler angles of three MPU6050 accelerometer gyro sensors simultaneously, the Euler angles are transmitted to the KL26 singlechip at the mechanical arm end through the Bluetooth communication module HC-06, and seven paths of pwm are controlled to be output to control seven steering engines to finish the action of simulating the arm.
The mechanical arm part provided by the invention adopts an anthropomorphic design principle, and comprises seven degrees of freedom including a shoulder part, an elbow part and a wrist part, so that the seven digital steering engines have extremely high flexibility; the steering engine is similar to the proportion of hands after being connected with connecting pieces designed for different parts, and has high simulation degree. In addition, the whole manufacturing cost is low.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown, it is well suited to various fields of use, and further modifications may be readily apparent to those skilled in the art, without departing from the general concepts defined by the claims and the equivalents thereof, and therefore the invention is not limited to the specific details and illustrations shown and described herein.
Claims (5)
1. Seven-degree-of-freedom bionic motion sensing mechanical arm is characterized by comprising:
the first steering engine, the second steering engine and the third steering engine are sequentially connected through a connecting piece, and the rotation axes of two adjacent steering engines are mutually perpendicular;
the mechanical claw is connected with the seventh steering engine and drives the mechanical claw to open or clamp through rotation of the seventh steering engine;
the inertial system somatosensory system comprises three MPU6050 six-axis accelerometer gyroscopes, which are arranged on the arms of the human body to detect the movement of the arms of the human body;
the controller is connected with the inertial system somatosensory system, acquires the motion of the human arm, outputs seven paths of control signals, and controls the seven steering engines to coordinate to realize the simulation of the motion of the human arm;
the first steering engine is connected with the shoulder joint T-shaped connecting piece through the shoulder joint small U-shaped connecting piece, the second steering engine is fixed on the shoulder joint small U-shaped connecting piece, the shoulder joint large U-shaped connecting piece is fixed on an output shaft of the second steering engine, the rotation of the first steering engine is used for realizing the rotation of the shoulder joint of the mechanical arm around a transverse rotating shaft, and the rotation of the second steering engine is used for realizing the rotation of the shoulder joint of the mechanical arm around a longitudinal rotating shaft;
the third steering engine is fixed on a large U-shaped connecting piece of the shoulder joint, and a large U-shaped connecting piece of the large arm is fixed on an output shaft of the third steering engine;
the fourth steering engine is fixed on the second joint large U-shaped connecting piece, the elbow joint large U-shaped connecting piece is fixed on an output shaft of the fourth steering engine, and the large arm and the small arm of the mechanical arm are driven to relatively translate through rotation of the fourth steering engine;
the fifth steering engine is fixed on the large U-shaped small arm connecting piece, the W-shaped small arm connecting piece is fixed on an output shaft of the fifth steering engine, and the large arm and the small arm of the mechanical arm are driven to rotate relatively through rotation of the fifth steering engine;
the sixth steering engine is fixed on the small U-shaped connecting piece of the wrist joint, the small U-shaped connecting piece of the wrist joint is fixed on the W-shaped connecting piece of the forearm through a screw, meanwhile, the large U-shaped connecting piece of the wrist joint is fixed on an output shaft of the sixth steering engine, and the mechanical arm is driven to form relative rotational freedom degree of the wrist through rotation of the sixth steering engine.
2. The seven degree-of-freedom biomimetic motion sensing robotic arm of claim 1, wherein the inertial system motion sensing system comprises a plurality of six-axis accelerometer gyroscopes.
3. The seven-degree-of-freedom bionic motion sensing mechanical arm according to claim 2, wherein three six-axis accelerometer gyroscopes are respectively fixed on an upper arm, a forearm and a back of a hand of a human body.
4. The seven-degree-of-freedom bionic motion sensing mechanical arm according to claim 3, wherein the inertial motion sensing system and the controller perform data transmission in a wireless mode.
5. The seven-degree-of-freedom bionic motion sensing mechanical arm according to claim 4, wherein the inertial motion sensing system and the controller perform data transmission through Bluetooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710149234.6A CN107053156B (en) | 2017-03-14 | 2017-03-14 | Seven-degree-of-freedom bionic somatosensory mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710149234.6A CN107053156B (en) | 2017-03-14 | 2017-03-14 | Seven-degree-of-freedom bionic somatosensory mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053156A CN107053156A (en) | 2017-08-18 |
| CN107053156B true CN107053156B (en) | 2023-11-03 |
Family
ID=59622194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710149234.6A Active CN107053156B (en) | 2017-03-14 | 2017-03-14 | Seven-degree-of-freedom bionic somatosensory mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053156B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953328A (en) * | 2017-12-25 | 2018-04-24 | 北京工业大学 | A kind of seven degrees of freedom copy man mechanical arm |
| CN108453513B (en) * | 2018-02-08 | 2020-06-09 | 江西新能源科技职业学院 | Multifunctional multi-section type composite mechanical arm |
| CN108189065A (en) * | 2018-03-15 | 2018-06-22 | 深圳勇艺达机器人有限公司 | A kind of robotic manipulator with muscle formula bionic finger device |
| CN110370311A (en) * | 2018-04-13 | 2019-10-25 | 江门市印星机器人有限公司 | Mechanical arm arm bindiny mechanism |
| CN108818543B (en) * | 2018-05-22 | 2021-10-19 | 季洪鑫 | Intelligent transfer service robot |
| CN109719711A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of twin shaft single arm robot |
| CN109719710A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of twin shaft single arm robot having shopping box |
| CN110681131A (en) * | 2019-10-10 | 2020-01-14 | 浙江深酷机器人有限公司 | Robot for picking and throwing tennis balls |
| CN110744587B (en) * | 2019-11-11 | 2023-01-31 | 路邦科技授权有限公司 | Seven-axis bionic mechanical arm and control system thereof |
| CN110744588A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Eleven-axis mechanical arm of bionic robot |
| CN111791262B (en) * | 2020-06-24 | 2022-05-10 | 深圳市优必选科技股份有限公司 | Hollow mechanical arm |
| CN114043452A (en) * | 2021-10-25 | 2022-02-15 | 南京理工大学 | Outer limb robot with shoulder swinging along with large arm of human body |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4555217A (en) * | 1983-01-06 | 1985-11-26 | Intelledex Incorporated | Robot arm with split wrist motion |
| JPH0938877A (en) * | 1995-07-28 | 1997-02-10 | Mitsubishi Heavy Ind Ltd | Direct teaching control device |
| CN102837322A (en) * | 2012-09-26 | 2012-12-26 | 黄刚 | Human-simulated mechanical arm in seven degrees of freedom |
| TWM527375U (en) * | 2016-04-22 | 2016-08-21 | Mao-Lin Chen | Robot structure with two movable feet |
| CN105881550A (en) * | 2016-05-17 | 2016-08-24 | 洪炳镕 | Advanced humanoid dancing robot |
| CN106346456A (en) * | 2016-11-24 | 2017-01-25 | 成都炬石科技有限公司 | Humanoid mechanical arm and robot |
| CN205950736U (en) * | 2016-07-01 | 2017-02-15 | 三明学院 | Imitative people's arm |
| CN206578829U (en) * | 2017-03-14 | 2017-10-24 | 吉林大学 | A kind of bionical body-sensing mechanical arm of seven freedom |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001239479A (en) * | 1999-12-24 | 2001-09-04 | Sony Corp | Leg type mobile robot and exterior module for robot |
-
2017
- 2017-03-14 CN CN201710149234.6A patent/CN107053156B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4555217A (en) * | 1983-01-06 | 1985-11-26 | Intelledex Incorporated | Robot arm with split wrist motion |
| JPH0938877A (en) * | 1995-07-28 | 1997-02-10 | Mitsubishi Heavy Ind Ltd | Direct teaching control device |
| CN102837322A (en) * | 2012-09-26 | 2012-12-26 | 黄刚 | Human-simulated mechanical arm in seven degrees of freedom |
| TWM527375U (en) * | 2016-04-22 | 2016-08-21 | Mao-Lin Chen | Robot structure with two movable feet |
| CN105881550A (en) * | 2016-05-17 | 2016-08-24 | 洪炳镕 | Advanced humanoid dancing robot |
| CN205950736U (en) * | 2016-07-01 | 2017-02-15 | 三明学院 | Imitative people's arm |
| CN106346456A (en) * | 2016-11-24 | 2017-01-25 | 成都炬石科技有限公司 | Humanoid mechanical arm and robot |
| CN206578829U (en) * | 2017-03-14 | 2017-10-24 | 吉林大学 | A kind of bionical body-sensing mechanical arm of seven freedom |
Non-Patent Citations (1)
| Title |
|---|
| "基于多源信息的智能仿生手臂模式识别方法研究";徐卓君;《中国博士学位论文全文数据库 信息科技辑》;I138-17 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107053156A (en) | 2017-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053156B (en) | Seven-degree-of-freedom bionic somatosensory mechanical arm | |
| CN107943283B (en) | Mechanical arm pose control system based on gesture recognition | |
| CN108762495B (en) | Virtual reality driving method based on arm motion capture and virtual reality system | |
| Almetwally et al. | Real-time tele-operation and tele-walking of humanoid Robot Nao using Kinect Depth Camera | |
| US9052710B1 (en) | Manipulation control based upon mimic of human gestures | |
| Tachi et al. | Development of an anthropomorphic tele-existence slave robot | |
| WO2019119724A1 (en) | Force sense information and posture information based limb motion intention understanding and upper limb rehabilitation training robot control method | |
| Fang et al. | A robotic hand-arm teleoperation system using human arm/hand with a novel data glove | |
| CN107856014B (en) | Mechanical arm pose control method based on gesture recognition | |
| CN204997657U (en) | Biomimetic mechanical hand with imitate function | |
| CN103895022A (en) | Wearable type somatosensory control mechanical arm | |
| CN107804474A (en) | Carry more rotor flying robot Complete machine system design methods of redundancy mechanical arm | |
| CN108279773B (en) | Data glove based on MARG sensor and magnetic field positioning technology | |
| Cafolla et al. | An experimental validation of a novel humanoid torso | |
| CN113305830B (en) | Humanoid robot action system based on human body posture control and control method | |
| CN206578829U (en) | A kind of bionical body-sensing mechanical arm of seven freedom | |
| CN110779554B (en) | Mechanical arm, initial pose calibration system and method based on IMU | |
| Pyo et al. | Design of 6-dof manipulator intuitive teaching system using smart phone orientation: User friendly and intuitive teaching operation for 6-dof manipulator | |
| CN114756130A (en) | Hand virtual-real interaction system | |
| CN211053693U (en) | Mechanical arm | |
| DK180627B1 (en) | Method of suppressing vibrations of a robot arm with external objects | |
| Qian et al. | DH Parameter Method-based Wearable Motion Tracking | |
| CN111390941A (en) | Command input device for underwater mechanical arm control and control method | |
| Zhou et al. | Development of a synchronized human-robot-virtuality interaction system using cooperative robot and motion capture device | |
| CN111150608A (en) | Control method of rehabilitation robot for recognizing movement intention based on pressure sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |