CN108161958A - 一种基于气动肌肉的仿人手指系统 - Google Patents
一种基于气动肌肉的仿人手指系统 Download PDFInfo
- Publication number
- CN108161958A CN108161958A CN201711476157.1A CN201711476157A CN108161958A CN 108161958 A CN108161958 A CN 108161958A CN 201711476157 A CN201711476157 A CN 201711476157A CN 108161958 A CN108161958 A CN 108161958A
- Authority
- CN
- China
- Prior art keywords
- pneumatic muscles
- fixed plate
- belt wheel
- bone
- segment
- 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.)
- Granted
Links
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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
-
- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711476157.1A CN108161958B (zh) | 2017-12-29 | 2017-12-29 | 一种基于气动肌肉的仿人手指系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711476157.1A CN108161958B (zh) | 2017-12-29 | 2017-12-29 | 一种基于气动肌肉的仿人手指系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108161958A true CN108161958A (zh) | 2018-06-15 |
CN108161958B CN108161958B (zh) | 2021-08-24 |
Family
ID=62519950
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711476157.1A Active CN108161958B (zh) | 2017-12-29 | 2017-12-29 | 一种基于气动肌肉的仿人手指系统 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108161958B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110842962A (zh) * | 2019-12-02 | 2020-02-28 | 深圳忆海原识科技有限公司 | 32自由度仿生柔顺内骨骼灵巧手 |
CN110936367A (zh) * | 2019-11-07 | 2020-03-31 | 嘉兴学院 | 一种气动仿人机器人系统 |
US11465278B2 (en) * | 2018-09-10 | 2022-10-11 | Ozyegin Universitesi | Robotic manipulator including pneumatic artificial muscle |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101045300A (zh) * | 2006-03-31 | 2007-10-03 | 北京理工大学 | 气动人工肌肉驱动的仿人灵巧手结构 |
CN101486191A (zh) * | 2009-02-26 | 2009-07-22 | 清华大学 | 变位欠驱动机器人手装置 |
CN102794766A (zh) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | 水下柔性灵巧机械手 |
CN103372865A (zh) * | 2012-04-18 | 2013-10-30 | 马来西亚敦胡先翁大学 | 机械手 |
CN205870568U (zh) * | 2016-06-28 | 2017-01-11 | 中国科学院沈阳自动化研究所 | 轻质仿人五指灵巧手机构 |
CN107309887A (zh) * | 2017-06-29 | 2017-11-03 | 北京理工大学 | 一种耦合与自适应的欠驱动仿生灵巧手指 |
-
2017
- 2017-12-29 CN CN201711476157.1A patent/CN108161958B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101045300A (zh) * | 2006-03-31 | 2007-10-03 | 北京理工大学 | 气动人工肌肉驱动的仿人灵巧手结构 |
CN101486191A (zh) * | 2009-02-26 | 2009-07-22 | 清华大学 | 变位欠驱动机器人手装置 |
CN103372865A (zh) * | 2012-04-18 | 2013-10-30 | 马来西亚敦胡先翁大学 | 机械手 |
CN102794766A (zh) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | 水下柔性灵巧机械手 |
CN205870568U (zh) * | 2016-06-28 | 2017-01-11 | 中国科学院沈阳自动化研究所 | 轻质仿人五指灵巧手机构 |
CN107309887A (zh) * | 2017-06-29 | 2017-11-03 | 北京理工大学 | 一种耦合与自适应的欠驱动仿生灵巧手指 |
Non-Patent Citations (1)
Title |
---|
毛文波: "多自由度气动人工肌肉机械手指结构设计及控制", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11465278B2 (en) * | 2018-09-10 | 2022-10-11 | Ozyegin Universitesi | Robotic manipulator including pneumatic artificial muscle |
CN110936367A (zh) * | 2019-11-07 | 2020-03-31 | 嘉兴学院 | 一种气动仿人机器人系统 |
CN110842962A (zh) * | 2019-12-02 | 2020-02-28 | 深圳忆海原识科技有限公司 | 32自由度仿生柔顺内骨骼灵巧手 |
CN110842962B (zh) * | 2019-12-02 | 2021-03-12 | 深圳忆海原识科技有限公司 | 32自由度仿生柔顺内骨骼灵巧手 |
Also Published As
Publication number | Publication date |
---|---|
CN108161958B (zh) | 2021-08-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108161958A (zh) | 一种基于气动肌肉的仿人手指系统 | |
CN101721290B (zh) | 外骨骼式手指运动功能康复机器人 | |
CN101518491B (zh) | 手指运动功能康复机器人 | |
CN107263523B (zh) | 一种基于气动肌肉混联的仿生关节 | |
CN106913447B (zh) | 一种欠驱动型外骨骼康复机械手 | |
CN105320138B (zh) | 康复训练机器人运动速度和运动轨迹同时跟踪的控制方法 | |
CN107717961A (zh) | 一种基于气缸的仿人型机器人 | |
CN108324376B (zh) | 手术机器人及其机械臂 | |
CN108544473A (zh) | 一种基于气动肌肉的仿人型机器人系统 | |
CN108656100B (zh) | 基于气缸的仿人型机器人 | |
CN107233188B (zh) | 一种柔性手功能康复训练装置 | |
CN105291131B (zh) | 一种具有可调柔性的仿人膝关节 | |
CN110682305A (zh) | 一种仿人型机器人系统 | |
CN108393872B (zh) | 一种基于3-rrr球面并联机构的人形机器人腰关节 | |
CN105364941B (zh) | 两自由度气动肌肉仿生肘关节 | |
CN110936367A (zh) | 一种气动仿人机器人系统 | |
CN108000551B (zh) | 一种基于气动肌肉的仿人胸-背关节系统 | |
CN107598960B (zh) | 全自由度易驱动的仿生机械手 | |
CN108908303B (zh) | 一种基于绳索的仿人肩关节系统 | |
CN108888929A (zh) | 一款辅助篮球投掷的机器人 | |
CN207942400U (zh) | 基于气动肌肉的仿人腰椎系统 | |
CN208409877U (zh) | 一种可升降、可旋转机械抓手 | |
CN105538339A (zh) | 拮抗式气动肌肉驱动的变转轴大转角仿生膝关节 | |
CN205238073U (zh) | 一种两自由度气动肌肉仿生肘关节 | |
CN108553861A (zh) | 一种蛙泳手臂动作教学展示用机器人 |
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 | ||
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 314033 2 building, Photovoltaic Science Park, 1288 Kang He road, Xiuzhou District, Jiaxing, Zhejiang. Applicant after: Jiaxing University Address before: 314033 Yuexiu South Road, Jiaxing, Jiaxing, Zhejiang Applicant before: Jiaxing University |
|
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Jiang Feilong Inventor after: Chen Cheng Inventor after: Zhou Li Inventor after: Dai Ting Inventor after: Yang Lina Inventor after: Zhang Haijun Inventor after: Shen Jianying Inventor after: Zhu Haibin Inventor after: Zhu Helei Inventor after: Qian Cheng Inventor after: Song Yulai Inventor after: Yin Xiaoliang Inventor after: Liu Ruiying Inventor before: Jiang Feilong Inventor before: Zhang Haijun |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221116 Address after: 310000 Room 309, Floor 3, Building 3, No. 516, Renhe Avenue, Renhe Street, Yuhang District, Hangzhou, Zhejiang Patentee after: Hangzhou Jiuchi Precision Machinery Technology Co.,Ltd. Address before: 314033 2 building, Photovoltaic Science Park, 1288 Kang He road, Xiuzhou District, Jiaxing, Zhejiang. Patentee before: JIAXING University |