CN108555959A - A kind of two-freedom cooperating joint section and flexible mechanical arm - Google Patents
A kind of two-freedom cooperating joint section and flexible mechanical arm Download PDFInfo
- Publication number
- CN108555959A CN108555959A CN201711471782.7A CN201711471782A CN108555959A CN 108555959 A CN108555959 A CN 108555959A CN 201711471782 A CN201711471782 A CN 201711471782A CN 108555959 A CN108555959 A CN 108555959A
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- Prior art keywords
- connector
- arm section
- linkage rope
- section
- freedom
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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
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a kind of two-freedom cooperating joint section and flexible mechanical arms, joint segments include the first arm section, the second arm section, the first connector, the second connector, short linkage rope, the first long linkage rope and the second long linkage rope, the head end of first arm section and the first connector are rotatablely connected, the tail end of first arm section and the head end of the second connector are rotatablely connected with the second connector, and the rotation direction of the first arm section and the second arm section is mutually perpendicular to；Short linkage rope is connect with the same side of the first connector, the second connector respectively；The tail end of first long linkage rope is fixed with the second arm section, and head end is located at the offside of tail end from the outside of the first arm section after the first arm section, and axle center of the first long linkage rope with the second long linkage rope respectively with respect to the first arm section is symmetrical.The present invention helps to reduce the assembly work amount of mechanical arm, promotes efficiency of assembling.
Description
Technical field
The present invention relates to robot fields, especially a kind of to be based on two-freedom cooperating joint section, and apply the linkage
The flexible mechanical arm of joint group.
Background technology
Currently, a large amount of high efficiency, high-precision industrial grade robotic people are in manufacture fields such as electrical, chemical industry, machineries
Obtain more wide application, but traditional industrial robot is limited to that its structure is excessive or rigidity is excessively high, can not be adapted to
The extremely narrow working environment with extreme danger, such as duct cleaning.
Compared with tradition machinery arm, flexible mechanical arm may be implemented multiple continuous due to its intrinsic hyper-redundant characteristic
Partial is bent, stretches, reversing, and the movement and operational capacity in restricted clearance are far above traditional multi-joint rigid connecting rod
Robot.In order to keep the bending precision of flexible mechanical arm more controllable, existing flexible mechanical arm mostly uses linkage rope to joint
It is attached, to realize the bending of entire mechanical arm iso-curvature.
Linkage rope both ends in the prior art are usually located at the same side of mechanical arm, and due to the linkage of existing machinery arm
Arm section includes multiple joints, causes the length of linkage rope very long, if the outside that linkage rope is located at joint arm can interfere machinery
Arm moves, therefore linkage rope is passed through from the inside of joint arm in the prior art, and linkage rope is penetrating or be pierced by joint arm
Notch position can rub, and influence the service life of linkage rope, be based on this, and the outside of existing linkage rope must be cased with hose,
And the installation of hose is very complicated, to greatly affected the efficiency of assembling of mechanical arm.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of two-freedom cooperating joint section, existing for solving
The problem that hose is cumbersome for installation in technology, efficiency of assembling is low.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of two-freedom cooperating joint section, including it is the first arm section, the second arm section, the first connector, the second connector, short
Linkage rope, the first long linkage rope and the second long linkage rope, the head end of the first arm section and the first connector are rotatablely connected, the first arm section
Tail end and the head end of the second connector be rotatablely connected with the second connector, and the rotation side of the first arm section and the second arm section
To being mutually perpendicular to；
Short linkage rope is connect with the same side of the first connector, the second connector respectively；The tail end of first long linkage rope with
Second arm section is fixed, and head end is located at the offside of tail end, the first long linkage rope from the outside of the first arm section after the first arm section
Axle center with the second long linkage rope respectively with respect to the first arm section is symmetrical.
As the mode that is further improved of said program, linkage rope is the becket bridle being closed, and linkage rope is rotating around being located at first
Connector, the second connector, and intersect between the first connector, the second connector.
As the mode that is further improved of said program, including guide rod, guide rod is axially fixed in along the first arm section
On first arm section, tensioning sliding block is slidably connected on guide rod, tensioning sliding block is equipped with cord hole, and short linkage rope passes through cord hole,
With tensioning sliding block along the sliding of guide rod, the tensioning degree of short linkage rope is adjustable.
As the mode that is further improved of said program, short linkage rope includes the first short linkage rope and the second short linkage rope,
The both ends of first short linkage rope are fixedly connected with the first connector, the second connector respectively, the both ends difference of the second short linkage rope
It is fixedly connected with the first connector, the second connector, and the first short linkage rope and the second short linkage rope are in the first connector, second
Intersect between connector.
It is further improved mode as said program,
First connector is equipped with orthogonal first rotating shaft and the second shaft, and the second connector is equipped with and is mutually perpendicular to
Third shaft and the 4th shaft, first rotating shaft is parallel with third shaft, and the second shaft is parallel with the 4th shaft；
The head end of first arm section is rotatablely connected by first rotating shaft and the first connector, and the tail end of the first arm section passes through third
Shaft is rotatablely connected with the second connector, and the head end of the second arm section is rotatablely connected by the 4th shaft and the second connector.
It is further improved mode as said program,
First connector is equipped with the first wire spool, and the first wire spool is equipped with the annular grooving coaxial with first rotating shaft；
Second connector is equipped with the second wire spool, and the second wire spool is equipped with the annular grooving coaxial with third shaft,
Short linkage rope is rotating around in the annular grooving being located on the annular grooving and the second wire spool on the first wire spool.
As the mode that is further improved of said program, first rotating shaft is equipped with pilot hole, the first arm section with third shaft
Head end and tail end also be provided with pilot hole, long linkage rope sequentially passes through pilot hole in first rotating shaft, the first arm section head end is led
Xiang Kong, the pilot hole of the first arm section tail end and the pilot hole in third shaft.
A kind of flexible mechanical arm, including driving rope further include actuating arm section and above-mentioned two-freedom cooperating joint section, driving
Arm section is rotatablely connected with the first connector, and actuating arm section and the rotation direction of the first arm section are mutually perpendicular to, the head of long linkage rope
The head end of end and driving rope is fixedly connected with actuating arm section.
As the mode that is further improved of said program, including the sequentially connected two-freedom cooperating joint section of several groups,
First connector of latter two-freedom cooperating joint section and the tail end of the second arm section of previous two-freedom cooperating joint section turn
Dynamic connection, the second arm of the head end of the long linkage rope of latter two-freedom cooperating joint section and previous two-freedom cooperating joint section
Section is fixedly connected.
The beneficial effects of the invention are as follows：
There are two the linkages that long linkage rope realizes both direction in one degree of freedom jointly for present invention setting so that joint group
The interior arm section comprising there are two, so as to reduce the length of linkage rope, and the both ends of long linkage rope are located at opposite the two of arm section
Side, therefore long linkage rope can be directly wound in the outside of mechanical arm, friction greatly reduces, without in the outside of long linkage rope
Hose is coated, contributes to the assembly work amount for reducing mechanical arm, promotes efficiency of assembling.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the stereoscopic schematic diagram on one direction when two-freedom cooperating joint section of the present invention is in flexuosity；
Fig. 2 is the stereoscopic schematic diagram on another direction when two-freedom cooperating joint section of the present invention is in flexuosity；
Fig. 3 is the stereoscopic schematic diagram that the first arm section of the invention is connect with the first connector, the second connector；
Fig. 4 is the stereoscopic schematic diagram on one direction when flexible mechanical arm of the present invention is in flexuosity；
Fig. 5 is the stereoscopic schematic diagram on another direction when flexible mechanical arm of the present invention is in flexuosity.
Specific implementation mode
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the up, down, left, right, before and after used in invention be only relative in attached drawing each component part of the present invention it is mutual
For position relationship.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant Listed Items
Combination.
Referring to Fig.1, Fig. 2 is shown when two-freedom cooperating joint section of the present invention is in flexuosity on different directions
Stereoscopic schematic diagram.As shown, two-freedom cooperating joint section includes the first arm section 100, the second arm section 200, the first connector
300, the second connector 400, short linkage rope 500, the first long linkage rope 600 and the second long linkage rope 700.
(herein referred " head end " refers to the direction far from mechanical arm driving device to the head end of first arm section 100, and " tail end " refers to
Close to mechanical arm driving device direction, in full together) with the first connector 300 be rotatablely connected, the tail end of the first arm section 100 and
The head end of second connector 200 is rotatablely connected with the second connector 400, and the rotation of the first arm section 100 and the second arm section 200
Direction is mutually perpendicular to.
Specifically, with reference to Fig. 3, the solid that the first arm section of the invention is connect with the first connector, the second connector is shown
Schematic diagram.As shown, the first connector 300 is equipped with orthogonal first rotating shaft 301 and the second shaft 302, second connects
Fitting 400 is equipped with 401 and the 4th shaft 402 of orthogonal third shaft, and first rotating shaft 301 is parallel with third shaft 401,
Second shaft 302 is parallel with the 4th shaft 402.First rotating shaft 301 is stretched out from the opposite sides of the first connector 300, second turn
Axis 302 is stretched out from the other both sides of the first connector 300, and third shaft 401, the 4th shaft 402 are similar therewith.
First rotating shaft 301 is equipped with pilot hole with third shaft 401.
The head end of first arm section 100 is rotatablely connected by first rotating shaft 301 and the first connector 300, the first arm section 100
Tail end is rotatablely connected by third shaft 401 and the second connector 400, the head end of the second arm section 200 by the 4th shaft 402 with
Second connector 400 is rotatablely connected.
First connector 300 is equipped with the first wire spool 303, and the first wire spool 303 is equipped with coaxial with first rotating shaft 301
Annular grooving.Second connector 400 is equipped with the second wire spool 403, and the second wire spool 403 is equipped with and third shaft 401
Coaxial annular grooving.First wire spool 303 and the second wire spool 403 are respectively positioned on the same side of the first arm section 100.
Short linkage rope 500 is preferably the becket bridle being closed, and short linkage rope 500 is around the endless rope being located on the first wire spool 303
In annular grooving on slot and the second wire spool 403, and intersect between the first connector 300, the second connector 400, in this way,
When the first connector 300 rotates a certain angle in one direction relative to the first arm section 100, the second connector 400 will be with respect to
One arm section 100 rotates identical angle in the opposite direction.
In addition, in another embodiment, the present invention can also use short linkage rope group to realize linkage, short linkage rope do including
First short linkage rope and the second short linkage rope, the both ends of the first short linkage rope respectively with the first connector 300, the second connector
400 are fixedly connected, and the both ends of the second short linkage rope are also fixedly connected with the first connector 300, the second connector 400 respectively, and
First short linkage rope is intersected with the second short linkage rope between the first connector 300, the second connector 400, you can be considered as by
Becket bridle in a upper embodiment is symmetrically blocked to be respectively formed the first short linkage rope and the second short linkage rope.
Further, the present invention is additionally provided with the strainer of short linkage rope, and strainer includes guide rod 81 and tensioning
Sliding block 82, guide rod 81 are axially fixed in along the first arm section 100 on the first arm section 100, and tensioning is connected on guide rod 81
Sliding block 82, tensioning sliding block 82 is equipped with cord hole and screw hole, and when the screw in screw hole unscrews, tensioning sliding block 82 can be slided
Dynamic, when the screw in screw hole screws pine, tensioning sliding block 82 can be fixed on guide rod 81, and short linkage rope 500 passes through rope
Hole, in this way, as tensioning sliding block 82 is along the sliding of guide rod 81, the tensioning degree of short linkage rope 500 is adjustable.
Return to Fig. 1, Fig. 2, the tail end 601 of the first long linkage rope 600 and the second arm section 200 are fixed, and head end 602 is from the first arm
The outside of section 100 around be located at after the first arm half of circumference of section tail end 601 offside (the first long linkage rope 600 in Fig. 2
The rear that main part is hidden in the first arm section 100 is not shown).The connection type of second long linkage rope 700 links with the first length
It restricts 600 similar, the tail end 701 of the second long linkage rope 700 and the second arm section 200 are fixed, and head end 702 is from the outer of the first arm section 100
Portion bypasses the offside for being located at tail end 701 after the first arm half of circumference of section, and the first long linkage rope 600 and the second long linkage rope
The axle center of 700 opposite first arm sections 100 is symmetrical.
In addition to the pilot hole in above-mentioned first rotating shaft 301 and third shaft 401, the head end and tail end of the first arm section 100
It also is provided with pilot hole, above-mentioned pilot hole can be oriented to long linkage rope, ensure that long linkage rope is close to the side of the first arm section 100
Wall further decreases influence of the long linkage rope to manipulator motion.By taking the second long linkage rope 700 in Fig. 2 as an example, figure is passed through
After showing the pilot hole in the first rotating shaft 301 of right side, the guiding of the pilot hole 101 and tail end of 100 head end of the first arm section is sequentially passed through
Hole 102 eventually passes through the pilot hole in diagram left side third shaft 401, is finally fixed with the second arm section 200.
There are two the linkages that long linkage rope realizes both direction in one degree of freedom jointly for present invention setting so that joint group
The interior arm section comprising there are two, so as to reduce the length of linkage rope, and the both ends of long linkage rope are located at opposite the two of arm section
Side, therefore long linkage rope can be directly wound in the outside of mechanical arm, friction greatly reduces, without in the outside of long linkage rope
Hose is coated, contributes to the assembly work amount for reducing mechanical arm, promotes efficiency of assembling.
With reference to Fig. 4, Fig. 5, the solid on different directions when flexible mechanical arm of the present invention is in flexuosity is respectively illustrated
Schematic diagram.As shown, flexible mechanical arm includes driving rope 910, actuating arm section 920 and above-mentioned two-freedom cooperating joint section.
Actuating arm section 920 is rotatablely connected by the second shaft 302 and the first connector 300, and actuating arm section 920 and first
The rotation direction of arm section 100 is mutually perpendicular to, the first long linkage rope 600, the head end of the second long linkage rope 700 and driving rope 910
Head end be fixedly connected with actuating arm section 920, i.e., actuating arm section 920 is pulled as master arm by driving rope 910, and then is passed through
Linkage rope drives the first arm section 100 and the second arm section 200 to move, and realizes the rotation of each arm section iso-curvature in the same direction.
Preferably, mechanical arm includes the sequentially connected two-freedom cooperating joint section of several groups, and latter two-freedom joins
First connector of movable joint section and the tail end of the second arm section of previous two-freedom cooperating joint section are rotatablely connected, and rear one or two certainly
Be fixedly connected with the second arm section of previous two-freedom cooperating joint section by the head end of long linkage rope of degree cooperating joint section, i.e., before
Second arm section of one joint segments can be considered as the actuating arm of latter joint segments.
Preferably, as shown, being connected by tensioning apparatus between long linkage rope and actuating arm section 920, strainer packet
Guide rod 921 and tensioning sliding block 922 are included, guide rod 921 is axially fixed on actuating arm section 920 along actuating arm section 920, leads
Tensioning sliding block 922 is connected on bar 921, tensioning sliding block 922 is equipped with cord hole and screw hole, when the screw in screw hole unscrews
When, tensioning sliding block 922 can slide, and when the screw in screw hole screws pine, tensioning sliding block 922 can be fixed on guide rod
On 921, long linkage rope passes through cord hole, and head end avoids deviating from from tensioning sliding block 922 by terminal, in this way, on the one hand can incite somebody to action
Long linkage rope is fixed in actuating arm section 920, on the other hand as tensioning sliding block 922 is along the sliding of guide rod 921, long linkage rope
Tensioning degree it is adjustable.
Three driving ropes are used to realize the bending on two degree of freedom four directions of mechanical arm in the present invention altogether.
It is illustrating for progress to be implemented to the preferable of the present invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of two-freedom cooperating joint section, which is characterized in that
Including the first arm section, the second arm section, the first connector, the second connector, short linkage rope, the first long linkage rope and the second length
Linkage rope, the head end of the first arm section and first connector are rotatablely connected, the tail end of the first arm section and described
The head end of second connector is rotatablely connected with second connector, and the rotation direction of the first arm section and the second arm section
It is mutually perpendicular to；
The short linkage rope is connect with the same side of first connector, the second connector respectively；The first long linkage rope
Tail end fixed with the second arm section, head end is located at the tail end after the first arm section from the outside of the first arm section
Offside, the axle center of the first long linkage rope and the second long linkage rope relatively described first arm section respectively is symmetrical.
2. two-freedom cooperating joint section according to claim 1, which is characterized in that the linkage rope is the rope being closed
Ring, the linkage rope is rotating around being located at first connector, the second connector, and in first connector, the second connection
Intersect between part.
3. two-freedom cooperating joint section according to claim 2, which is characterized in that including guide rod, the guide rod
Along being axially fixed on the first arm section for the first arm section, tensioning sliding block, institute are slidably connected on the guide rod
It states tensioning sliding block and is equipped with cord hole, the short linkage rope passes through the cord hole, with the tensioning sliding block along the cunning of the guide rod
Dynamic, the tensioning degree of the short linkage rope is adjustable.
4. two-freedom cooperating joint section according to claim 1, which is characterized in that the short linkage rope includes first short
The both ends of linkage rope and the second short linkage rope, the first short linkage rope are solid with first connector, the second connector respectively
Fixed connection, the both ends of the second short linkage rope are fixedly connected with first connector, the second connector respectively, and described the
One short linkage rope is intersected with the second short linkage rope between first connector, the second connector.
5. two-freedom cooperating joint section according to any one of claim 1 to 4, which is characterized in that
First connector is equipped with orthogonal first rotating shaft and the second shaft, and second connector is equipped with mutual
Vertical third shaft and the 4th shaft, the first rotating shaft is parallel with third shaft, and second shaft is flat with the 4th shaft
Row；
The head end of the first arm section is rotatablely connected by the first rotating shaft and first connector, the first arm section
Tail end is rotatablely connected by the third shaft and second connector, and the head end of the second arm section passes through described 4th turn
Axis is rotatablely connected with second connector.
6. two-freedom cooperating joint section according to claim 5, which is characterized in that
First connector is equipped with the first wire spool, and first wire spool is equipped with the ring coaxial with the first rotating shaft
Shape grooving；
Second connector is equipped with the second wire spool, and second wire spool is equipped with the ring coaxial with the third shaft
Shape grooving, the short linkage rope is rotating around the endless rope on the annular grooving and the second wire spool being located on first wire spool
In slot.
7. two-freedom cooperating joint section according to claim 5, which is characterized in that the first rotating shaft and third shaft
It is equipped with pilot hole, the head end of the first arm section and tail end also are provided with pilot hole, and the long linkage rope sequentially passes through described the
The pilot hole of pilot hole, the first arm section head end, the pilot hole of the first arm section tail end in one shaft and described
Pilot hole in three shafts.
8. a kind of flexible mechanical arm, including driving rope, which is characterized in that further include actuating arm section with it is any in claim 1 to 7
Two-freedom cooperating joint section described in, the actuating arm section is rotatablely connected with first connector, and the actuating arm
The rotation direction of section and the first arm section is mutually perpendicular to, the first long linkage rope, the head end of the second long linkage rope and the drive
The head end of running rope is fixedly connected with the actuating arm section.
9. flexible mechanical arm according to claim 8, which is characterized in that freely including several groups sequentially connected described two
Spend cooperating joint section, the first connector of the latter two-freedom cooperating joint section and the previous two-freedom cooperating joint
The tail end rotation connection of second arm section of section, the described first long linkage rope of the latter two-freedom cooperating joint section, second
The head end of long linkage rope is fixedly connected with the second arm section of the previous two-freedom cooperating joint section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711471782.7A CN108555959B (en) | 2017-12-29 | 2017-12-29 | Two-degree-of-freedom linkage joint section and flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711471782.7A CN108555959B (en) | 2017-12-29 | 2017-12-29 | Two-degree-of-freedom linkage joint section and flexible mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108555959A true CN108555959A (en) | 2018-09-21 |
| CN108555959B CN108555959B (en) | 2020-05-12 |
Family
ID=63530413
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711471782.7A Active CN108555959B (en) | 2017-12-29 | 2017-12-29 | Two-degree-of-freedom linkage joint section and flexible mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN108555959B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048991A (en) * | 2018-10-15 | 2018-12-21 | 常州大学 | A kind of flexible multi-freedom joint device can be used for clean robot |
| CN109325315A (en) * | 2018-11-13 | 2019-02-12 | 清华大学深圳研究生院 | A kind of statics modeling method of continuous type mechanical arm |
| CN109366486A (en) * | 2018-09-28 | 2019-02-22 | 哈尔滨工业大学（深圳） | Flexible robot's inverse kinematics method, system, equipment, storage medium |
| CN110406652A (en) * | 2019-07-12 | 2019-11-05 | 天津大学 | A kind of two-freedom degree joint for the latent device of deep-sea multi-joint |
| CN111015645A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
| CN113386168A (en) * | 2021-05-13 | 2021-09-14 | 上海工程技术大学 | Bionic flexible mechanical wrist device for quarantine sampling |
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| CN106625639A (en) * | 2017-02-28 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Flexible arm linkage joint section |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106625639A (en) * | 2017-02-28 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Flexible arm linkage joint section |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366486A (en) * | 2018-09-28 | 2019-02-22 | 哈尔滨工业大学（深圳） | Flexible robot's inverse kinematics method, system, equipment, storage medium |
| CN109366486B (en) * | 2018-09-28 | 2021-12-07 | 哈尔滨工业大学（深圳） | Flexible robot inverse kinematics solving method, system, equipment and storage medium |
| CN109048991A (en) * | 2018-10-15 | 2018-12-21 | 常州大学 | A kind of flexible multi-freedom joint device can be used for clean robot |
| CN109325315A (en) * | 2018-11-13 | 2019-02-12 | 清华大学深圳研究生院 | A kind of statics modeling method of continuous type mechanical arm |
| CN109325315B (en) * | 2018-11-13 | 2022-11-18 | 清华大学深圳研究生院 | Statics modeling method of continuous mechanical arm |
| CN110406652A (en) * | 2019-07-12 | 2019-11-05 | 天津大学 | A kind of two-freedom degree joint for the latent device of deep-sea multi-joint |
| CN111015645A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN111015645B (en) * | 2019-12-25 | 2022-09-20 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
| CN113386168A (en) * | 2021-05-13 | 2021-09-14 | 上海工程技术大学 | Bionic flexible mechanical wrist device for quarantine sampling |
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| Publication number | Publication date |
|---|---|
| CN108555959B (en) | 2020-05-12 |
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