CN107309887B - 一种耦合与自适应的欠驱动仿生灵巧手指 - Google Patents
一种耦合与自适应的欠驱动仿生灵巧手指 Download PDFInfo
- Publication number
- CN107309887B CN107309887B CN201710515880.XA CN201710515880A CN107309887B CN 107309887 B CN107309887 B CN 107309887B CN 201710515880 A CN201710515880 A CN 201710515880A CN 107309887 B CN107309887 B CN 107309887B
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- spring
- knuckle
- finger
- friction
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710515880.XA CN107309887B (zh) | 2017-06-29 | 2017-06-29 | 一种耦合与自适应的欠驱动仿生灵巧手指 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710515880.XA CN107309887B (zh) | 2017-06-29 | 2017-06-29 | 一种耦合与自适应的欠驱动仿生灵巧手指 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107309887A CN107309887A (zh) | 2017-11-03 |
CN107309887B true CN107309887B (zh) | 2020-08-07 |
Family
ID=60181103
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710515880.XA Active CN107309887B (zh) | 2017-06-29 | 2017-06-29 | 一种耦合与自适应的欠驱动仿生灵巧手指 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107309887B (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108274483B (zh) * | 2017-12-28 | 2020-06-26 | 中国科学院沈阳自动化研究所 | 一种单驱动形状自适应机械手指 |
CN108161958B (zh) * | 2017-12-29 | 2021-08-24 | 嘉兴学院 | 一种基于气动肌肉的仿人手指系统 |
GB2586960A (en) * | 2019-08-09 | 2021-03-17 | The Shadow Robot Company Ltd | A tendon tension sensing apparatus and a clutch mechanism for a mechanical effector device |
CN113146667B (zh) * | 2021-04-29 | 2022-07-15 | 江南大学 | 单或双指节接触柔性机械手及其抓持方法 |
CN113577343B (zh) * | 2021-07-15 | 2022-12-13 | 哈尔滨工程大学 | 一种具有欠驱动自清洗功能的消毒机器人 |
CN113752293B (zh) * | 2021-08-30 | 2023-09-22 | 西安交通大学 | 一种多模式机械手爪 |
CN113799162B (zh) * | 2021-10-19 | 2022-12-06 | 安徽工程大学 | 面向异形物体的机器人抓取手爪 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006026807A (ja) * | 2004-07-16 | 2006-02-02 | Harmonic Drive Syst Ind Co Ltd | ロボットハンド等の関節機構 |
CN102166753B (zh) * | 2011-05-20 | 2012-07-25 | 清华大学 | 锥齿轮柔性件复合抓取机器人手指装置 |
CN102284957A (zh) * | 2011-07-26 | 2011-12-21 | 清华大学 | 差动锥齿轮齿条式复合欠驱动机器人手指装置 |
CN102814819A (zh) * | 2012-06-07 | 2012-12-12 | 清华大学 | 锥齿轮系电机倒置复合欠驱动机器人手指装置 |
-
2017
- 2017-06-29 CN CN201710515880.XA patent/CN107309887B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107309887A (zh) | 2017-11-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107309887B (zh) | 一种耦合与自适应的欠驱动仿生灵巧手指 | |
CN101508115B (zh) | 变序欠驱动两关节机器人手指装置 | |
CN105583832B (zh) | 闭环柔性件齿轮传动平夹自适应机器人手指装置 | |
CN104889998B (zh) | 具有包络与夹持功能的欠驱动机器人手指装置 | |
CN105150225A (zh) | 杆轮并联式捏握复合自适应机器人手指装置 | |
CN110171011B (zh) | 一种协同驱动的三指机器人灵巧手 | |
CN100581756C (zh) | 双联锥齿轮欠驱动机器人手指 | |
CN106346508B (zh) | 四连杆传动轮直线平夹间接自适应机器人手指装置 | |
CN105818158B (zh) | 柔性件杆系平夹自适应机器人手指装置 | |
CN105835077A (zh) | 闭环柔性件导杆平夹自适应机器人手指装置 | |
CN101633171B (zh) | 双关节并联欠驱动机器人手指装置 | |
CN102161204A (zh) | 双关节同向传动复合欠驱动机器人手指装置 | |
CN101474795A (zh) | 预弯曲耦合欠驱动三关节机器人手指装置 | |
CN109227583B (zh) | 齿轮空程传动摆杆滑槽直线平夹自适应机器人手指装置 | |
CN106272491B (zh) | 远程传动导套连杆直线平夹自适应机器人手指装置 | |
CN106426239A (zh) | 空程传动齿轮耦合自适应机器人手指装置 | |
CN109176565A (zh) | 末端沿直线运动的耦合自适应机器人手指装置 | |
CN101628416B (zh) | 变抓力的双关节滑块式直接欠驱动机器人手指装置 | |
CN109877868B (zh) | 一种耦合自适应的欠驱动仿人灵巧手指 | |
CN101774176B (zh) | 齿条-柔性件耦合欠驱动两关节机器人手指装置 | |
CN101444917A (zh) | 仿生变位及自适应抓取机械手指装置 | |
CN109571520B (zh) | 霍肯连杆直线平夹自适应机器人手指装置 | |
CN108189055B (zh) | 齿条余弦伸缩直线平夹自适应手指装置 | |
CN101664930B (zh) | 耦合欠驱动一体化双关节机器人手指装置 | |
CN106272495A (zh) | 近程轮系传动导套摆杆直线平夹自适应手指装置 |
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Yu Zhangguo Inventor after: Zhu Min Inventor after: Chen Xuechao Inventor after: Sun Ning Inventor after: Liu Xingzhong Inventor after: Huang Qiang Inventor after: Ming Aiguo Inventor after: Zhang Weimin Inventor after: Zuo Yuyu Inventor after: Ma Xiaoshuai Inventor before: Yu Zhangguo Inventor before: Chen Xuechao Inventor before: Sun Ning Inventor before: Huang Qiang Inventor before: Ming Aiguo Inventor before: Zhang Weimin Inventor before: Ma Xiaoshuai Inventor before: Zhu Min |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant |