CN107756425B - 顺从欠促动抓紧器 - Google Patents

顺从欠促动抓紧器 Download PDF

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Publication number
CN107756425B
CN107756425B CN201710983311.8A CN201710983311A CN107756425B CN 107756425 B CN107756425 B CN 107756425B CN 201710983311 A CN201710983311 A CN 201710983311A CN 107756425 B CN107756425 B CN 107756425B
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CN
China
Prior art keywords
phalanx
grasper
proximal
distal
joint
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
Application number
CN201710983311.8A
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English (en)
Chinese (zh)
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CN107756425A (zh
Inventor
M.克拉菲
N.R.科尔森
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Aerobert
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Aerobert
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from US13/833,631 external-priority patent/US8991885B2/en
Priority claimed from US13/833,580 external-priority patent/US9004559B2/en
Priority claimed from US13/833,687 external-priority patent/US9089977B2/en
Application filed by Aerobert filed Critical Aerobert
Publication of CN107756425A publication Critical patent/CN107756425A/zh
Application granted granted Critical
Publication of CN107756425B publication Critical patent/CN107756425B/zh
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    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-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)
CN201710983311.8A 2012-11-09 2013-11-08 顺从欠促动抓紧器 Active CN107756425B (zh)

Applications Claiming Priority (13)

Application Number Priority Date Filing Date Title
US201261724517P 2012-11-09 2012-11-09
US201261724506P 2012-11-09 2012-11-09
US201261724512P 2012-11-09 2012-11-09
US61/724506 2012-11-09
US61/724517 2012-11-09
US61/724512 2012-11-09
US13/833687 2013-03-15
US13/833,631 US8991885B2 (en) 2012-11-09 2013-03-15 Compliant underactuated grasper
US13/833631 2013-03-15
US13/833580 2013-03-15
US13/833,580 US9004559B2 (en) 2012-11-09 2013-03-15 Compliant underactuated grasper
US13/833,687 US9089977B2 (en) 2012-11-09 2013-03-15 Compliant underactuated grasper
CN201380058552.1A CN104936749B (zh) 2012-11-09 2013-11-08 顺从欠促动抓紧器

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201380058552.1A Division CN104936749B (zh) 2012-11-09 2013-11-08 顺从欠促动抓紧器

Publications (2)

Publication Number Publication Date
CN107756425A CN107756425A (zh) 2018-03-06
CN107756425B true CN107756425B (zh) 2021-08-31

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Family Applications (2)

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CN201710983311.8A Active CN107756425B (zh) 2012-11-09 2013-11-08 顺从欠促动抓紧器
CN201380058552.1A Active CN104936749B (zh) 2012-11-09 2013-11-08 顺从欠促动抓紧器

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201380058552.1A Active CN104936749B (zh) 2012-11-09 2013-11-08 顺从欠促动抓紧器

Country Status (4)

Country Link
EP (1) EP2917002B1 (https=)
JP (2) JP6484557B2 (https=)
CN (2) CN107756425B (https=)
WO (1) WO2014074840A1 (https=)

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FR3016543A1 (fr) 2014-01-22 2015-07-24 Aldebaran Robotics Main destinee a equiper un robot a caractere humanoide a doigts ameliores
WO2016201418A1 (en) * 2015-06-11 2016-12-15 Soft Robotics, Inc. Modular robotic systems
JP7116052B2 (ja) 2017-05-15 2022-08-09 Thk株式会社 把持システム
JP7155479B2 (ja) 2017-05-15 2022-10-19 Thk株式会社 ハンド機構、把持システム、および把持プログラム
DE112018004098T5 (de) 2017-08-10 2020-05-20 Thk Co., Ltd. Handmechanismus und greifsystem
JP7069512B2 (ja) * 2017-11-15 2022-05-18 Thk株式会社 把持システムおよびその制御方法
JPWO2019102913A1 (ja) * 2017-11-22 2020-11-19 Thk株式会社 把持システム
JP6680757B2 (ja) 2017-12-28 2020-04-15 ファナック株式会社 把持用ハンド
KR102259379B1 (ko) * 2018-01-24 2021-06-01 주식회사 엘지에너지솔루션 배터리 셀의 전극 이송 장치
CN108673542B (zh) * 2018-05-04 2021-04-27 江南大学 一种电-气复合驱动串联柔性铰链骨架柔性机械手
CN110731840A (zh) * 2018-07-18 2020-01-31 北京理工大学 一种被动假肢手大拇指安装结构
WO2020033468A1 (en) 2018-08-07 2020-02-13 The Research Foundation For The State University Of New York Feedback input apparatus and method for use thereof
JP6829738B2 (ja) 2019-03-15 2021-02-10 Thk株式会社 把持システムおよび把持方法
DE202020001067U1 (de) * 2020-03-18 2020-07-15 ACCREA Engineering Greifelement und Roboterarm oder Unterstützungshilfe oder Assistenzsystem
JP2021167038A (ja) * 2020-04-10 2021-10-21 株式会社イトーキ ロボットハンド及びロボット
DE102020207035A1 (de) * 2020-06-04 2021-12-09 Kuka Deutschland Gmbh Greiferfinger und Greifer mit solchen Greiferfingern
TWI736467B (zh) 2020-11-11 2021-08-11 財團法人工業技術研究院 機械手掌及其手指裝置
FR3128655A1 (fr) * 2021-11-04 2023-05-05 Coval Doigt et dispositif de préhension pour bras de robot, bras de robot équipé d’un tel dispositif
KR102787933B1 (ko) * 2022-11-30 2025-03-28 재단법인 한국섬유기계융합연구원 로봇용 멀티 그리퍼
CN118952277B (zh) * 2024-10-17 2025-02-18 清华大学 多形态灵巧手

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JPS5834787A (ja) * 1981-08-25 1983-03-01 富士通フアナツク株式会社 工業用ロボツトのハンド
JP2001277174A (ja) * 2000-03-30 2001-10-09 Miyazaki Prefecture 指関節機構及びそれを用いた把持ユニット
JP2004174625A (ja) * 2002-11-25 2004-06-24 Sony Corp ロボット装置の手構造及びロボット装置並びに駆動装置及び駆動方法
JP4313125B2 (ja) * 2003-09-12 2009-08-12 本田技研工業株式会社 ロボットハンド
GB0409548D0 (en) * 2004-04-29 2004-06-02 King S College London Robotic hand
CN1330465C (zh) * 2004-10-23 2007-08-08 江南大学 板弹簧骨架液气动式柔性弯曲关节
JP2006159320A (ja) * 2004-12-03 2006-06-22 Sharp Corp ロボットハンド
JP4355781B2 (ja) * 2006-07-12 2009-11-04 国立大学法人東京工業大学 把持装置
US8231158B2 (en) * 2006-11-03 2012-07-31 President And Fellows Of Harvard College Robust compliant adaptive grasper and method of manufacturing same
JP4983245B2 (ja) * 2006-12-21 2012-07-25 株式会社安川電機 ロボットおよび制御方法
JP4965413B2 (ja) * 2007-11-26 2012-07-04 トヨタ自動車株式会社 ロボットハンド
CN101244563A (zh) * 2008-02-23 2008-08-20 中国科学院合肥物质科学研究院 一种仿人手家庭服务用机器手
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JP5024227B2 (ja) * 2008-08-07 2012-09-12 トヨタ自動車株式会社 ロボットハンド
CN101412220B (zh) * 2008-11-28 2011-01-19 北京邮电大学 可伸缩机械手
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KR20110005146A (ko) * 2009-07-09 2011-01-17 한양대학교 산학협력단 로봇손
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CN102821918A (zh) * 2010-03-24 2012-12-12 株式会社安川电机 机器人手和机器人装置
EP2688720B1 (en) * 2011-03-21 2021-10-13 SRI International Mobile robotic manipulator system
CN102357884A (zh) * 2011-10-14 2012-02-22 清华大学 快速抓取欠驱动机器人手装置

Also Published As

Publication number Publication date
EP2917002A1 (en) 2015-09-16
JP2019107769A (ja) 2019-07-04
EP2917002B1 (en) 2017-09-27
CN104936749B (zh) 2017-11-17
JP6484557B2 (ja) 2019-03-13
EP2917002A4 (en) 2016-09-21
CN107756425A (zh) 2018-03-06
JP2015533669A (ja) 2015-11-26
CN104936749A (zh) 2015-09-23
JP6811267B2 (ja) 2021-01-13
WO2014074840A1 (en) 2014-05-15

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