CN107756386A - A kind of gear type reverses i-axis snake-shaped robot - Google Patents
A kind of gear type reverses i-axis snake-shaped robot Download PDFInfo
- Publication number
- CN107756386A CN107756386A CN201711055034.0A CN201711055034A CN107756386A CN 107756386 A CN107756386 A CN 107756386A CN 201711055034 A CN201711055034 A CN 201711055034A CN 107756386 A CN107756386 A CN 107756386A
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- gear
- joint
- motor
- snake
- gears
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
A kind of gear type reverses i-axis snake-shaped robot, and the snake-shaped robot is made up of snake body, snakehead and ophiruid, and snake body is sequentially repeated to be formed by connecting by the first joint and second joint；First joint is made up of the first motor, the first U-shaped frame, the second motor, first gear, first gear axle, second gear, two the 3rd gears, torsion i-axis, two the 4th gears and two the 5th gears, second joint is made up of the second U-shaped frame, the 3rd motor, the 4th motor, the 6th gear, second gear axle, the 7th gear, two eighth gears, the 9th gear, wheel shaft, the tenth gear and two wheels, first the first joint of snakehead and snake body is connected, and last second joint of ophiruid and snake body is connected.The snake-shaped robot is simple in construction, the joint link block being formed by connecting by reversing i-axis realizes the function of similar ball pivot, it is easy to control, by controlling the motor of diverse location, varying number to work, the different motion of three dimensions is neatly realized, realizes and is balanced of both control and function.
Description
Technical field
The present invention relates to the snake-shaped robot field of ships, particularly a kind of gear type reverses i-axis snake-shaped robot.
Background technology
Snake-shaped robot is a kind of multi-joint, multivariant chain type flexible robot, by multiple same or analogous lists
Element module links together, and does not have a fixed pedestal, and snake-shaped robot forms of motion is changeable and motion stabilization, has extremely strong environment to adapt to
Ability, in battlefield, many fields such as surprise attack, search and rescue exploration are all applicable.Snake-shaped robot will necessarily be met when advancing towards target
Skew is produced to barrier either direct of travel and target, this requires snake-shaped robot according to self structure and current environment
The adjustment of outgoing direction or the change of motion mode are made, and snake-shaped robot will realize free movement, its execution unit must possess
Complete three-dimensional working space, so, the motion of the joint linkage structure of snake-shaped robot to its own has vital
Influence.
The joint connection mode of snake-shaped robot mainly has：Parallel connection, orthogonal connection, universal joint connection.Parallel connection
Connected between snake-shaped robot unit module with revolute pair, each revolute pair axis is parallel and perpendicular to the snake body longitudinal axis, parallel company
Connect and be easy to control, but working space is only a plane.It is orthogonal to be connected as between unit module still connecting for revolute pair, but phase
Adjacent revolute pair axis is mutually perpendicular to, and is each perpendicular to snake body axis, and the connected mode is easy to control, and can realize three-dimensional motion, but
It is three-dimensional working space and incomplete.Universal joint connection can realize complete three-dimensional space motion, but control more numb
It is tired.Therefore, a kind of to be both easy to control, and can realizes that the snake-shaped robot connected mode of complete three-dimensional space motion is particularly heavy
Will, be so advantageous to snake-shaped robot and be more widely used, allow the advantage of snake-shaped robot to obtain the lifting of maximum, be allowed to
Preferably it is mankind's community service.
Not yet find that one kind is simple in construction, is both easy to control at present, and can realizes complete three-dimensional working space, space spirit
The invention of the snake-shaped robot of good, the adaptable gear type torsion I-shaped axis connection of activity.
The content of the invention
It is an object of the invention to provide one kind to be both easy to control, and and can realizes complete three-dimensional working space, and space is flexible
Property good, adaptable gear type reverse the snake-shaped robot of I-shaped axis connection.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of gear type reverses i-axis snake-shaped robot, by
Snake body, snakehead and ophiruid composition, concrete structure and annexation are：
The snake body is sequentially repeated to be formed by connecting by the first joint and second joint；First joint is by the first motor, the first U
Type frame, the second motor, first gear, first gear axle, second gear, two the 3rd gears, torsion i-axis, two the 4th teeth
Wheel and two the 5th gears form, and the first motor is arranged on the septal area center of the first U-shaped frame bottom, and the second motor is arranged on
Dividing plate opposite side, it is on main shaft that first gear, which is arranged on the second motor, and the second motor is that first gear axle, the first tooth are installed in side
One second gear and two the 3rd gears, second gear and first gear engagement, the openend of the first U-shaped frame are installed on wheel shaft
I-axis are reversed in installation, reverse i-axis and are made up of a montant and two cross bars, and the both ends of montant connect two cross bars respectively,
The position relationship of two cross bars is spatial vertical, wherein a cross bar is arranged on the first U-shaped frame, on the first U-shaped frame
Cross bar two the 4th gears are installed, two the 4th gears engage with two the 3rd gears, and another cross bar is hanging, hanging horizontal
Bar installs two the 5th gears；Second joint by the second U-shaped frame, the 3rd motor, the 4th motor, the 6th gear, second gear axle,
7th gear, two eighth gears, the 9th gear, wheel shaft, the tenth gear and two wheel compositions, in the second U-shaped frame semiclapboard
Both sides the 3rd motor and the 4th motor be installed, the 3rd motor is arranged on semiclapboard close to the side of the second U-shaped frame openend,
One the 6th gear is installed on the 3rd electric machine main shaft, the 3rd motor is installed with second gear axle close to the side of openend, and second
One the 7th gear and two eighth gears are installed on gear shaft, wherein, the 7th gear and the engagement of the 6th gear, the second U-shaped frame
Most openend open biside plate and be provided with axis hole, the 4th motor is arranged on the opposite side of semiclapboard, and one is installed on the 4th electric machine main shaft
Individual 9th gear, the bottom of the second U-shaped frame install wheel shaft, the tenth gear and two wheels, the tenth gear are installed on wheel shaft
Engaged with the 9th gear, wheel is located at the both sides on the outside of the second U-shaped frame；When first joint connects with second joint, the first joint
The hanging cross bar for reversing i-axis is connected on the axis hole of second joint openend, is connected with revolute pair, second joint and next
During individual first joint connection, the main shaft of first motor in next first joint is directly connected with the second U-shaped frame of second joint,
First joint, second joint are repeated in connecting,
Described snakehead and first the first joint of snake body are connected, last second pass of described ophiruid and snake body
Section is connected.
Operation principle and process：
When the 4th motor work of second joint, the 9th pinion rotation on the 4th electric machine main shaft, pass through the 9th gear
With the engaged transmission of the tenth gear, the wheel shaft of the tenth gear of installation and then rotates, and two wheels on wheel shaft rotate, snake
Anthropomorphic robot keeps straight-ahead motion.
When the 4th motor work of second joint, wheel can be driven to rotate, snake-shaped robot keeps forward travel, with this
Meanwhile second electric machine main shaft in the joint of snake-shaped robot first rotates certain angle, the on the second electric machine main shaft
One gear and then rotates identical angle, by the engagement of first gear and second gear, first gear axle and installed in first
Two the 3rd gears on gear shaft equally rotate certain angle, further through the gear drive of the 3rd gear and the 4th gear,
The cross bar for connecting the torsion i-axis of the first U-shaped frame rotates certain angle, and this allows for the direction of advance hair of snake-shaped robot
Raw deflection, snake-shaped robot curve, such a situation are advantageous to snake-shaped robot cut-through thing.
When the 4th motor work of second joint, snake-shaped robot keeps forward travel, at the same time, snake-shaped robot
When 3rd electric machine main shaft of second joint rotates certain angle, the 6th pinion rotation on the 3rd electric machine main shaft is certain
Angle, pass through the engagement of the 5th gear in the engagement of the 6th gear and the 7th gear, eighth gear and the first joint so that even
The cross bar for the torsion i-axis being connected on second joint rotates certain angle, and so, snake-shaped robot is upward since head
Lift, away from ground, make snakelike machine by controlling the rotational angle of each electric machine main shaft of second joint the 3rd of snake-shaped robot
Along curve on perpendicular, such a situation is advantageous to snake-shaped robot and cleared the jumps device people.
When the 4th motor work of second joint, snake-shaped robot straight ahead, when the second motor work in the first joint
When making, the direction of advance of snake-shaped robot deflects in the horizontal plane, when the 3rd motor work of second joint, snakelike machine
The direction of advance of device people is deflected on perpendicular, and when the first motor work in the first joint, snake-shaped robot can be sent out
Raw rolling, therefore when four motors work together, snake-shaped robot can realize the compound actions such as climbing trees substantially.
The present invention outstanding advantages be：
1. it is simple in construction, it is easy to control, complete three-dimensional space motion can be realized.
2. the joint link block being formed by connecting by reversing i-axis realizes the function of similar ball pivot, joint connection letter
Single, such a structure is realized and balanced of both control and function.
3. by controlling the motor of diverse location, varying number to work, different motions is neatly realized, even if middle
A certain joint is out of joint, and mass motion that still will not be to snake-shaped robot produces too much influence.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram that gear type of the present invention reverses i-axis snake-shaped robot.
Fig. 2 is the first joint-pass of second joint-the first that gear type of the present invention reverses i-axis snake-shaped robot
Save the structural representation of connection.
Fig. 3 is the structural representation in the first joint that gear type of the present invention reverses i-axis snake-shaped robot.
Fig. 4 is the second joint structural representation that gear type of the present invention reverses i-axis snake-shaped robot.
Fig. 5 is the structural representation for the torsion i-axis that gear type of the present invention reverses i-axis snake-shaped robot.
Fig. 6 is the schematic diagram that gear type of the present invention reverses i-axis snake-shaped robot straight ahead.
Fig. 7 is the schematic diagram that gear type of the present invention reverses i-axis snake-shaped robot cut-through thing.
Fig. 8 is that gear type of the present invention reverses the schematic diagram that i-axis snake-shaped robot clears the jumps.
Fig. 9 is that gear type of the present invention reverses the schematic diagram that i-axis snake-shaped robot climbs object.
Shown in figure：1. snakehead；2. the first joint；3. second joint；4. ophiruid；201. first U-shaped framves；202. first electricity
Machine；203. second motors；204. first gear；205. second gear；206. the 3rd gears；207. the 5th gears；208. reverse
I-axis；209. the 4th gears；210. first gear axles；301. second U-shaped framves；302. the 7th gears；303. eighth gear；
304. second gear axles；305. the 6th gears；306. wheel；307. wheel shaft；308. the 4th motors；309. the tenth gears；310.
9th gear；311. the 3rd motors；312. axis hole.
Embodiment
It is that technical scheme is further described with reference to accompanying drawing and case study on implementation below.
As shown in Figures 1 to 5, gear type of the present invention reverses i-axis snake-shaped robot, by snake body, the and of snakehead 1
Ophiruid 4 forms, and concrete structure and annexation are：
The snake body is made up of six the first joints 2 and six second joints 3；First joint 2 is by the first motor 203,
One U-shaped frame 201, the second motor 203, first gear 204, first gear axle 210,205, two the 3rd gears 206 of second gear,
Reverse 208, two the 4th gears 209 of i-axis and two the 5th gears 207 form, the first motor 202 is arranged on the first U-shaped frame
The septal area center of 201 bottoms, the second motor 203 are arranged on dividing plate opposite side, and first gear 204 is arranged on the second motor
203 be on main shaft, and the second motor 203 is side installation first gear axle 210, and second tooth is installed on first gear axle 210
Wheel 205 and two the 3rd gears 206, second gear 205 and first gear 204 engage, the openend installation of the first U-shaped frame 201
I-axis 208 are reversed, i-axis 208 is reversed and is made up of a montant and two cross bars, the both ends of montant connect two horizontal strokes respectively
Bar, the position relationship of two cross bars is spatial vertical, wherein a cross bar is arranged on the first U-shaped frame 201, installed in the first U
Cross bar in type frame 201 is installed with two the 4th gears 209, and two the 4th gears 209 engage with two the 3rd gears 206, separately
A piece cross bar is hanging, and two the 5th gears 207 are installed on hanging cross bar；Second joint 3 is by the second U-shaped frame 301, the 3rd motor
311st, the 4th motor 308, the 6th gear 305, second gear axle 304, the 7th gear 302, two eighth gears 303, the 9th teeth
Wheel 310, wheel shaft 307, the tenth gear 309 and two wheels 306 are formed, and the is installed with the both sides of the second U-shaped semiclapboard of frame 301
Three motors 311 and the 4th motor 308, the 3rd motor 311 are arranged on semiclapboard close to the side of the second U-shaped openend of frame 301, the
One the 6th gear 305 is installed, the 3rd motor 311 is installed with second gear close to the side of openend on the main shaft of three motor 311
Axle 304, the 7th gear 302 and two eighth gears 303 are installed on second gear axle 304, wherein, the He of the 7th gear 302
6th gear 305 engages, and the most openend of the second U-shaped frame 301 opens biside plate and is provided with axis hole 312, and the 4th motor 308 is arranged on half
The opposite side of dividing plate, the 9th gear 310, the bottom installation wheel shaft of the second U-shaped frame 301 are installed on the main shaft of the 4th motor 308
307, the tenth gear 309 is installed on wheel shaft 307 and two wheels 306, the tenth gear 309 and the 9th gear 310 engage, is taken turns
Son 306 is positioned at the both sides in the second U-shaped outside of frame 301；When first joint 2 and second joint 3 connect, the torsion work in the first joint 2
The hanging cross bar of word axle 208 is connected on the axis hole 312 of the openend of second joint 3, is connected with revolute pair, and second joint 3 is with
The connection of one the first joint 2 is, the 2nd U of the main shaft of first motor 202 in next first joint 2 directly with second joint 3
Type frame 301 connects, and the first joint 2, second joint 3 are repeated in connecting.
Described snakehead 1 and first the first joint 2 of snake body are connected, described ophiruid 4 and snake body last the
Two joints 3 are connected.
Operation principle and process：
As shown in fig. 6, when the 4th motor 308 work of second joint 3, the 9th gear on the main shaft of the 4th motor 308
310 rotate, and by the engaged transmission of the 9th gear 310 and the tenth gear 309, the wheel shaft 307 of the tenth gear 309 of installation and then turns
Dynamic, two wheels 306 on wheel shaft 307 rotate, and snake-shaped robot keeps straight-ahead motion.
As shown in fig. 7, when the 4th motor 308 work of second joint 3, wheel 306 can be driven to rotate, snake-shaped robot
Forward travel is kept, at the same time, the certain angle of the main axis of the second motor 203 in the first joint of snake-shaped robot 2, installation
First gear 204 on the main shaft of the second motor 203 and then rotates identical angle, passes through first gear 204 and second gear
205 engagement, first gear axle 210 and two the 3rd gears 206 on first gear axle 210 equally rotate certain
Angle, further through the gear drive of the 3rd gear 206 and the 4th gear 209, the torsion i-axis 208 of the first U-shaped frame 201 of connection
Cross bar rotate certain angle, this direction of advance for allowing for snake-shaped robot deflects, snake-shaped robot curve,
Such a situation is advantageous to snake-shaped robot cut-through thing.
As shown in figure 8, when the 4th motor 308 work of second joint 3, snake-shaped robot keeps forward travel, with this
Meanwhile during the certain angle of the main axis of the 3rd motor 311 of snake-shaped robot second joint 3, led installed in the 3rd motor 311
The 6th gear 305 on axle rotates certain angle, passes through engagement, the eighth gear of the 6th gear 305 and the 7th gear 302
303 and first joint 2 the 5th gear 207 engagement so that be connected on second joint 3 torsion i-axis 208 cross bar
Certain angle is rotated, so, snake-shaped robot is lifted up since head, away from ground, by controlling snake-shaped robot
The rotational angle of each main shaft of the 3rd motor of second joint 3 311 makes the snake-shaped robot on perpendicular along curve, this
Kind situation is advantageous to snake-shaped robot and cleared the jumps.
As shown in figure 9, when the 4th motor 308 work of second joint 3, snake-shaped robot straight ahead, when the first pass
During the second motor 203 work of section 2, the direction of advance of snake-shaped robot deflects in the horizontal plane, when the of second joint 3
When three motors 311 work, the direction of advance of snake-shaped robot deflects on perpendicular, when first electricity in the first joint 2
When machine 202 works, snake-shaped robot can roll, therefore when four motors associated working of snake-shaped robot, snakelike machine
People can realize the compound actions such as climbing trees substantially.
Claims (3)
1. a kind of gear type reverses i-axis snake-shaped robot, it is characterised in that the snake-shaped robot is by snake body, snakehead and ophiruid
Composition, concrete structure and annexation are：
The snake body is sequentially repeated to be formed by connecting by the first joint and second joint；First joint is by the first motor, first U-shaped
Frame, the second motor, first gear, first gear axle, second gear, two the 3rd gears, torsion i-axis, two the 4th gears
Formed with two the 5th gears, the first motor is arranged on the septal area center of the first U-shaped frame bottom, the second motor be arranged on every
Plate opposite side, it is on main shaft that first gear, which is arranged on the second motor, and the second motor is that first gear axle, first gear are installed in side
One second gear and two the 3rd gears, second gear and first gear engagement, the openend peace of the first U-shaped frame are installed on axle
Dress reverses i-axis, reverses i-axis and is made up of a montant and two cross bars, and the both ends of montant connect two cross bars respectively, and two
The position relationship of root cross bar is spatial vertical, wherein a cross bar is arranged on the first U-shaped frame, on the first U-shaped frame
Cross bar is installed with two the 4th gears, and two the 4th gears engage with two the 3rd gears, and another cross bar is hanging, hanging cross bar
Two the 5th gears of upper installation；Second joint by the second U-shaped frame, the 3rd motor, the 4th motor, the 6th gear, second gear axle,
7th gear, two eighth gears, the 9th gear, wheel shaft, the tenth gear and two wheel compositions, in the second U-shaped frame semiclapboard
Both sides the 3rd motor and the 4th motor be installed, the 3rd motor is arranged on semiclapboard close to the side of the second U-shaped frame openend,
One the 6th gear is installed on the 3rd electric machine main shaft, the 3rd motor is installed with second gear axle close to the side of openend, and second
One the 7th gear and two eighth gears are installed on gear shaft, wherein, the 7th gear and the engagement of the 6th gear, the second U-shaped frame
Most openend open biside plate and be provided with axis hole, the 4th motor is arranged on the opposite side of semiclapboard, and one is installed on the 4th electric machine main shaft
Individual 9th gear, the bottom of the second U-shaped frame install wheel shaft, the tenth gear and two wheels, the tenth gear are installed on wheel shaft
Engaged with the 9th gear, wheel is located at the both sides on the outside of the second U-shaped frame；When first joint connects with second joint, the first joint
The hanging cross bar for reversing i-axis is connected on the axis hole of second joint openend, is connected with revolute pair, second joint and next
During individual first joint connection, the main shaft of first motor in next first joint is directly connected with the second U-shaped frame of second joint,
First joint, second joint are repeated in connecting.
2. gear type according to claim 1 reverses i-axis snake-shaped robot, it is characterised in that described snakehead and snake
First the first joint of body is connected.
3. gear type according to claim 1 reverses i-axis snake-shaped robot, it is characterised in that described ophiruid and snake
Last second joint of body is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711055034.0A CN107756386A (en) | 2017-10-31 | 2017-10-31 | A kind of gear type reverses i-axis snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711055034.0A CN107756386A (en) | 2017-10-31 | 2017-10-31 | A kind of gear type reverses i-axis snake-shaped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756386A true CN107756386A (en) | 2018-03-06 |
Family
ID=61271244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711055034.0A Withdrawn CN107756386A (en) | 2017-10-31 | 2017-10-31 | A kind of gear type reverses i-axis snake-shaped robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107756386A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065054A (en) * | 2019-04-09 | 2019-07-30 | 中国科学院自动化研究所 | Multistage drives master-slave mode snake-shaped robot |
| CN110074927A (en) * | 2019-05-27 | 2019-08-02 | 蔡桂平 | Medical care robot, system and method |
| CN110200768A (en) * | 2019-05-27 | 2019-09-06 | 蔡桂平 | A kind of medical flexible robot |
| CN110293543A (en) * | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| US11135716B2 (en) * | 2016-03-30 | 2021-10-05 | B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University | Minimally actuated serial robot |
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| FR2557490A1 (en) * | 1984-01-04 | 1985-07-05 | Barland Ets | ARTICULATED HEAD FOR INDUSTRIAL ROBOT AND ROBOT EQUIPPED WITH SUCH A HEAD |
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN103419854A (en) * | 2013-07-25 | 2013-12-04 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN203779494U (en) * | 2014-03-04 | 2014-08-20 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging functions |
| CN105773594A (en) * | 2016-03-11 | 2016-07-20 | 清华大学 | Multi-mode rigidity and flexibility combined snake-like robot device |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN207344586U (en) * | 2017-10-31 | 2018-05-11 | 广西大学 | A kind of gear type reverses i-axis snake-shaped robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2557490A1 (en) * | 1984-01-04 | 1985-07-05 | Barland Ets | ARTICULATED HEAD FOR INDUSTRIAL ROBOT AND ROBOT EQUIPPED WITH SUCH A HEAD |
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN103419854A (en) * | 2013-07-25 | 2013-12-04 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN203779494U (en) * | 2014-03-04 | 2014-08-20 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging functions |
| CN105773594A (en) * | 2016-03-11 | 2016-07-20 | 清华大学 | Multi-mode rigidity and flexibility combined snake-like robot device |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN207344586U (en) * | 2017-10-31 | 2018-05-11 | 广西大学 | A kind of gear type reverses i-axis snake-shaped robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11135716B2 (en) * | 2016-03-30 | 2021-10-05 | B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University | Minimally actuated serial robot |
| CN110065054A (en) * | 2019-04-09 | 2019-07-30 | 中国科学院自动化研究所 | Multistage drives master-slave mode snake-shaped robot |
| CN110074927A (en) * | 2019-05-27 | 2019-08-02 | 蔡桂平 | Medical care robot, system and method |
| CN110200768A (en) * | 2019-05-27 | 2019-09-06 | 蔡桂平 | A kind of medical flexible robot |
| CN110293543A (en) * | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
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