CN108237557A - 一种人形机器活动关节受力测试装置 - Google Patents
一种人形机器活动关节受力测试装置 Download PDFInfo
- Publication number
- CN108237557A CN108237557A CN201810107898.0A CN201810107898A CN108237557A CN 108237557 A CN108237557 A CN 108237557A CN 201810107898 A CN201810107898 A CN 201810107898A CN 108237557 A CN108237557 A CN 108237557A
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- connecting rod
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- testing device
- anthropomorphic robot
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- 238000012360 testing method Methods 0.000 title claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 11
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 241000233855 Orchidaceae Species 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000005452 bending Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810107898.0A CN108237557B (zh) | 2018-02-02 | 2018-02-02 | 一种人形机器活动关节受力测试装置 |
US16/231,514 US10994408B2 (en) | 2018-02-02 | 2018-12-23 | Device capable of simulating limb of humanoid robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810107898.0A CN108237557B (zh) | 2018-02-02 | 2018-02-02 | 一种人形机器活动关节受力测试装置 |
Publications (2)
Publication Number | Publication Date |
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CN108237557A true CN108237557A (zh) | 2018-07-03 |
CN108237557B CN108237557B (zh) | 2023-08-04 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201810107898.0A Active CN108237557B (zh) | 2018-02-02 | 2018-02-02 | 一种人形机器活动关节受力测试装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10994408B2 (zh) |
CN (1) | CN108237557B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110542548A (zh) * | 2019-08-27 | 2019-12-06 | 杭州电子科技大学 | 一种软体节肢机器人关节测试装置及测试方法 |
CN110640791A (zh) * | 2019-10-28 | 2020-01-03 | 浙江工业大学 | 模拟工业机器人关节变负载变惯量的实验方法 |
CN110696045A (zh) * | 2019-10-28 | 2020-01-17 | 浙江工业大学 | 一种模拟工业机器人关节变负载变惯量的实验装置 |
CN111223375A (zh) * | 2020-01-16 | 2020-06-02 | 京东方科技集团股份有限公司 | 模拟肢体运动的夹具 |
CN111811851A (zh) * | 2020-06-28 | 2020-10-23 | 河北工业大学 | 一种静态下肢康复辅具测试系统 |
CN112936343A (zh) * | 2021-02-04 | 2021-06-11 | 薛东林 | 一种工业机器人转动灵活度检测设备 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108237557B (zh) * | 2018-02-02 | 2023-08-04 | 深圳市优必选科技有限公司 | 一种人形机器活动关节受力测试装置 |
CN111166614A (zh) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | 具有膝过伸防护功能的腿部限位机构和外骨骼机器人 |
CN112157676B (zh) * | 2020-09-29 | 2023-12-01 | 腾讯科技(深圳)有限公司 | 运动测试装置和运动测试方法 |
CN117863234B (zh) * | 2024-03-12 | 2024-05-31 | 沈阳曼奇智能科技有限公司 | 一种工业机器人调试装置 |
Citations (8)
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JP2003145477A (ja) * | 2001-11-09 | 2003-05-20 | Honda Motor Co Ltd | 脚式移動ロボットの脚体関節アシスト装置 |
CN201094029Y (zh) * | 2007-05-29 | 2008-07-30 | 上海宇航系统工程研究所 | 物体平面运动测量装置 |
CN101525011A (zh) * | 2008-03-04 | 2009-09-09 | 王慧娟 | 一种跳跃机器人及采用惯性匹配的运动优化方法 |
CN101637913A (zh) * | 2009-09-01 | 2010-02-03 | 东南大学 | 用于实现遥操作机器人控制的人机对接的人体关节的运动测量和力反馈的执行机构 |
CN101647736A (zh) * | 2009-09-21 | 2010-02-17 | 上海交通大学 | 并联式外骨骼膝关节 |
CN102743838A (zh) * | 2012-07-13 | 2012-10-24 | 中国科学院自动化研究所 | 一种新型坐卧式下肢康复机器人下肢关节机构 |
CN104571476A (zh) * | 2013-10-18 | 2015-04-29 | 苏茂 | 人体膝关节运动检测装置 |
CN104644377A (zh) * | 2015-01-22 | 2015-05-27 | 哈尔滨工程大学 | 一种坐卧式下肢康复装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8887785B2 (en) * | 2009-08-11 | 2014-11-18 | Carefree/Scott Fetzer Co. | Awning control with multidimensional motion sensing |
DE102015116808B3 (de) * | 2015-10-02 | 2017-01-19 | Beckhoff Automation Gmbh | Roboter, XY-Tisch für einen solchen Roboter und lineares Transportsystem |
US11369494B2 (en) * | 2016-06-24 | 2022-06-28 | The Regents of the University of Califomia | Semi-active robotic joint |
US10625427B2 (en) * | 2017-06-14 | 2020-04-21 | The Boeing Company | Method for controlling location of end effector of robot using location alignment feedback |
CN108237557B (zh) * | 2018-02-02 | 2023-08-04 | 深圳市优必选科技有限公司 | 一种人形机器活动关节受力测试装置 |
US20190240831A1 (en) * | 2018-02-05 | 2019-08-08 | Kimball Electronics Indiana, Inc. | Robot Having Vertically Oriented Articulated Arm Motion |
-
2018
- 2018-02-02 CN CN201810107898.0A patent/CN108237557B/zh active Active
- 2018-12-23 US US16/231,514 patent/US10994408B2/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003145477A (ja) * | 2001-11-09 | 2003-05-20 | Honda Motor Co Ltd | 脚式移動ロボットの脚体関節アシスト装置 |
CN201094029Y (zh) * | 2007-05-29 | 2008-07-30 | 上海宇航系统工程研究所 | 物体平面运动测量装置 |
CN101525011A (zh) * | 2008-03-04 | 2009-09-09 | 王慧娟 | 一种跳跃机器人及采用惯性匹配的运动优化方法 |
CN101637913A (zh) * | 2009-09-01 | 2010-02-03 | 东南大学 | 用于实现遥操作机器人控制的人机对接的人体关节的运动测量和力反馈的执行机构 |
CN101647736A (zh) * | 2009-09-21 | 2010-02-17 | 上海交通大学 | 并联式外骨骼膝关节 |
CN102743838A (zh) * | 2012-07-13 | 2012-10-24 | 中国科学院自动化研究所 | 一种新型坐卧式下肢康复机器人下肢关节机构 |
CN104571476A (zh) * | 2013-10-18 | 2015-04-29 | 苏茂 | 人体膝关节运动检测装置 |
CN104644377A (zh) * | 2015-01-22 | 2015-05-27 | 哈尔滨工程大学 | 一种坐卧式下肢康复装置 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110542548A (zh) * | 2019-08-27 | 2019-12-06 | 杭州电子科技大学 | 一种软体节肢机器人关节测试装置及测试方法 |
CN110640791A (zh) * | 2019-10-28 | 2020-01-03 | 浙江工业大学 | 模拟工业机器人关节变负载变惯量的实验方法 |
CN110696045A (zh) * | 2019-10-28 | 2020-01-17 | 浙江工业大学 | 一种模拟工业机器人关节变负载变惯量的实验装置 |
CN110640791B (zh) * | 2019-10-28 | 2021-04-27 | 浙江工业大学 | 模拟工业机器人关节变负载变惯量的实验方法 |
CN110696045B (zh) * | 2019-10-28 | 2024-06-04 | 浙江工业大学 | 一种模拟工业机器人关节变负载变惯量的实验装置 |
CN111223375A (zh) * | 2020-01-16 | 2020-06-02 | 京东方科技集团股份有限公司 | 模拟肢体运动的夹具 |
CN111811851A (zh) * | 2020-06-28 | 2020-10-23 | 河北工业大学 | 一种静态下肢康复辅具测试系统 |
CN112936343A (zh) * | 2021-02-04 | 2021-06-11 | 薛东林 | 一种工业机器人转动灵活度检测设备 |
CN112936343B (zh) * | 2021-02-04 | 2024-01-09 | 重庆匠丰自动化设备有限公司 | 一种工业机器人转动灵活度检测设备 |
Also Published As
Publication number | Publication date |
---|---|
CN108237557B (zh) | 2023-08-04 |
US20190240829A1 (en) | 2019-08-08 |
US10994408B2 (en) | 2021-05-04 |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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Effective date of registration: 20231129 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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