CN108568837A - A kind of rope drive moduleization change joint Manipulator - Google Patents
A kind of rope drive moduleization change joint Manipulator Download PDFInfo
- Publication number
- CN108568837A CN108568837A CN201710132121.5A CN201710132121A CN108568837A CN 108568837 A CN108568837 A CN 108568837A CN 201710132121 A CN201710132121 A CN 201710132121A CN 108568837 A CN108568837 A CN 108568837A
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- Prior art keywords
- joint
- manipulator
- hypozygal
- module
- rope
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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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of rope drive moduleizations to become joint Manipulator comprising pedestal, the multiple finger units for being removably bonded to the pedestal.Pedestal includes multiple strip through-holes.Each finger unit includes multiple joint modules of stacking, two casings and two driving ropes, wherein, two adjacent joint modules are removably engaged with each other, each joint module includes upper joint portion and is rotatably connected to the hypozygal portion in the upper joint portion, the top surface in the upper joint portion of each joint module is adapted to engage with the bottom surface in the hypozygal portion of any another joint module, the both sides of each joint module are each formed with guide hole, two driving ropes are suitable for being each passed through the guide hole positioned at the same side of multiple joint modules of stacking and corresponding casing, and suitable for providing driving force to manipulator.The manipulator is driven in such a way that rope drives, and is freely assembled by modular mode realization, convenient for capturing different sizes and object of different shapes.
Description
Technical field
The present invention relates to a kind of manipulators more particularly to a kind of rope drive moduleization to become joint Manipulator.
Background technology
On the one hand manipulator can replace the mankind to realize the functions such as accurate crawl, accurate operation, on the other hand can endanger
It works in danger, complexity and non-structured environment, therefore, at present in home services, industrialized production and space, deep-sea etc.
Field is widely used.To realize the diversity of grasping manipulation, in type of drive and shape etc. all to manipulator
Propose higher requirement.
In type of drive, current main method is motor to be installed on to the position in joint, and directly drive manipulator
Movement, preferable control performance may be implemented by way of motor direct-drive, but since the volume of motor is larger,
This mode increases the volume of manipulator entirety.In vpg connection, due to being crawled the difference of target shape, fixed shape
Manipulator is difficult to the task of competent crawl plurality of target.Drive part can be made far from manipulator sheet in such a way that rope drives
Body solves the problems, such as that manipulator volume is larger, and uses change joint structure and removable modular construction that can make manipulator
The shape for being crawled target is adapted to, solves the shape adaptability problem of manipulator.
In existing technology, for example, Chinese patent open file CN103009398B discloses a kind of manipulator ---
The apery hand of drive lacking exquisiteness drive mechanism, manipulator tool is there are five finger, and thumb is made of two joints, other fingers
It is combined by three joints.This manipulator realizes the rotation of each finger by a motor driving, is adopted in type of drive
With drive lacking.However, smaller driving force can only be provided since motor is limited by volume, the grip of this manipulator
It is smaller.Chinese patent open file CN101244563A discloses a kind of manipulator --- manipulator for imitating human hand household service,
There are four finger, little finger of toe, middle finger and index finger are driven by respective linear motor manipulator tool, and thumb passes through thumb electricity
Machine drives, and after three linear motors and a thumb motor job, by respective drive transmission device, respective transmission is made to push away
Bar and envelope push rod are rotated and are moved back and forth along respective guide rail, are taken to make finger mechanism be in different grasping, pinch
Or releasing orientation.However, the manipulator has a single function, complicated crawl task can not be completed.
In addition, existing manipulator, the manipulator as disclosed in CN103009398B, CN101244563A, usually have
Fixed finger number, each finger also has fixed joint number, once complete design, production and assembling, it is difficult to according to reality
Applicable cases are changed, and are unfavorable for cost management, and have larger application limitation.Meanwhile existing robot manipulator structure
Complexity, is safeguarded and maintenance cost is higher.
Invention content
Based on this, it is necessary to be directed to disadvantage existing in the prior art, provide a kind of new mechanical arm, rope is used to drive
Mode driven, freely assemble by modular mode realization, is convenient for crawl different sizes and object of different shapes.
The purpose of the present invention is to provide a kind of rope drive moduleizations to become joint Manipulator, including：Pedestal, including flat branch
Support face, and upwardly extended with through multiple strip through-holes of the pedestal perpendicular to the side of the supporting surface；And it is multiple
Finger unit is removably bonded to the supporting surface of the pedestal and is supported by the supporting surface, Mei Gesuo
Stating finger unit includes：Multiple joint modules of stacking, wherein two adjacent joint modules removably connect each other
It closes, each joint module includes upper joint portion and is rotatably connected to the upper pass around the rotation axis of the joint module
The top surface in the hypozygal portion in section portion, the upper joint portion of each joint module is adapted to and any another joint module
The bottom surface in hypozygal portion engages, and each upper joint portion and the hypozygal portion offer respectively in the both sides of the rotation axis
Stacking direction perforation along the multiple joint module and drawing in the lateral opening in the upper joint portion or the hypozygal portion
Guide groove, the bottom of the guiding groove are the cylinder shape groove for the open space that diameter is more than the guiding groove, the upper joint portion
The guide hole of the joint module is formed with the cylinder shape groove in the hypozygal portion；Two casings are suitable for connecting respectively
It is connected to the peripheral part of two guide holes of the joint module of the bottom end of the multiple joint module positioned at stacking, the set
Pipe is adapted to pass through the strip through-hole；And two driving ropes, the multiple joint module for being suitable for being each passed through stacking are each
From guide hole positioned at the same side and corresponding casing, and suitable for becoming joint Manipulator offer to the rope drive moduleization
Driving force.
In one of the embodiments, between two adjacent joint modules and the joint module and the support
It is connected with each other by magneticaction between face.
Preferably, the supporting surface is made of the magnetic material with magnetic conductivity.
Preferably, the corresponding position of the bottom surface in the top surface in the upper joint portion and the hypozygal portion is respectively arranged with permanent magnetism
Body.
The top surface in the upper joint portion is opened up there are two circular groove in one of the embodiments, the hypozygal portion
The corresponding position of bottom surface also open up there are two circular groove, the permanent magnet is placed in the circular groove.
One of described driving rope end is provided with block in one of the embodiments, when driving rope is worn
When crossing the guide hole, the block is adapted to abut against in the outside of the guide hole；Another end connection of the driving rope
To driving device or spring assembly.
The joint module further includes cylindrical clutch, the center of the clutch in one of the embodiments,
Axis is aligned with the rotation axis, and the upper joint portion is fixedly attached to the shell of the clutch, and the hypozygal portion, which is fixed, to be connected
It is connected to the delivery outlet of the clutch, wherein the clutch is configured to：It is described when the clutch is in locking state
Relative position between upper joint portion and the hypozygal portion is fixed；When the clutch is in active state, the upper pass
Section portion and the hypozygal portion can mutually be rotated around the rotation axis.
The bottom surface in the top surface in the upper joint portion and the hypozygal portion is respectively arranged with phase in one of the embodiments,
Mutual matched detent mechanism is suitable for the positioning when engagement of two neighboring joint module.
In one of the embodiments, the guiding groove in the upper joint portion opening and the hypozygal portion it is described
The opening of guiding groove is located at two opposite sides of direction.
The opening of the guiding groove is smaller than the diameter of the driving rope, the cylinder in one of the embodiments,
The diameter of connected in star is more than the diameter of the driving rope, and it is recessed that the driving rope enters the cylinder in such a way that interference configures
Slot, after the driving restricts and enters the cylinder shape groove, the driving rope is slidably matched with the cylinder shape groove.
Above-mentioned rope drive moduleization becomes joint Manipulator, compared with the existing technology the advantages of be：
(1) manipulator is using rope type of drive, while providing enough driving forces, effectively mitigates manipulator ontology
Volume and weight；
(2) modular construction is used, difference according to demand, manipulator can be by two or more finger units
Composition, all finger units can be fixed on the base；
(3) by the independent assortment of multiple joint modules, the finger module of different length is may be constructed, for grasping difference
The object of shape；
(4) joint module directly uses permanent magnet to be used as connection type, and the limit between binding modules is easy to dismount, and guarantor
The reliability of intermodule is demonstrate,proved；
(5) by changing the state of clutch, which can be changed the active state in its joint, finger module is made to be formed
Different shape or the number for changing its degree of freedom, to be easier to crawl object.
Description of the drawings
Fig. 1 is the overall structure diagram according to the manipulator of one embodiment of the present of invention；
Fig. 2 is the structural schematic diagram of the pedestal of manipulator shown in FIG. 1；
Fig. 3 is the structural schematic diagram of the driving rope of manipulator shown in FIG. 1；
Fig. 4 is the structural schematic diagram of the casing of manipulator shown in FIG. 1；
Fig. 5 is the structural schematic diagram of one of manipulator shown in FIG. 1 hand unit；
Fig. 6 is the structural schematic diagram of one of hand unit shown in fig. 5 joint module；
Fig. 7 A are the birds-eye perspective of the upper joint portion of joint module shown in fig. 6 before assembling；
Fig. 7 B are the face upwarding view of the upper joint portion of joint module shown in fig. 6 before assembling；
Fig. 8 A are the birds-eye perspective of the hypozygal portion of joint module shown in fig. 6 before assembling；
Fig. 8 B are the face upwarding view of the hypozygal portion of joint module shown in fig. 6 before assembling；
Fig. 9 is the schematic diagram for the permanent magnet being adapted for placement in joint module shown in fig. 6；
Figure 10 is the schematic diagram of the clutch of joint module shown in fig. 6；
Figure 11 is the schematic diagram of the one of which form of manipulator shown in FIG. 1；
Figure 12 is the schematic diagram of another form of manipulator shown in FIG. 1；
Figure 13 is the overall structure diagram according to the manipulator of an alternative embodiment of the invention.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Fig. 1 is the overall structure diagram according to the manipulator of one embodiment of the present of invention.As shown in Figure 1, the machinery
Hand includes pedestal 100 and two finger units 200.Pedestal 100 includes flat supporting surface 110, and perpendicular to supporting surface 110
Side upwardly extend with through multiple strip through-holes 120 of pedestal 100, as shown in Figure 2.Two finger units 200 are with the company of buckle
Connect, be bolted, adhesion, the removablies such as magnetic connection are bonded to the supporting surface 110 of pedestal 100, and by supporting surface 110
Support the two finger units 200.Each finger unit 210 includes multiple joint modules 210 of stacking, adjacent two joints
Module 210 is to snap connection, be bolted, adhesion, the removablies such as magnetic connection are engaged with each other.Each joint module 210
The hypozygal portion 212 in upper joint portion 211 is rotatably connected to including upper joint portion 211 and around the rotation axis of joint module 210.
The top surface in the upper joint portion 211 of each joint module 210 is adapted to and the hypozygal portion 212 of any another joint module 210
Bottom surface engages.Be each formed in joint module 210 positioned at both sides respectively supply two driving rope across guide hole.
As shown in figure 3, one of driving rope 230 end is provided with block 231.When driving rope 230 passes through stacking
Joint module be each located on the guide hole of the same side after, block 231 is adapted to abut against the guiding in the joint module positioned at top
The outside in hole.Driving rope 230 can be any type of suitable rope known in the art, be suitable for manipulator and provide driving
Power.
Peripheral part positioned at two guide holes of the joint module of bottom end is connected there are two casing 220, as shown in figure 4, set
Pipe 200 is adapted to pass through the strip through-hole 120 of pedestal 100.Pipe sleeve 220 can be any type of suitable pipe known in the art
Shape structure is suitable for auxiliary drive rope and provides driving force.The driving rope 230 stretched out from the guide hole of joint module 210 passes through set
Pipe 220 is protruding, and the external part of driving rope 230 is connected to driving device or spring assembly (not shown).
It is in the present embodiment, fixed on pedestal 100 that there are two hand units 200, it will be appreciated by those skilled in the art that
It is that the hand unit of any suitable number can be fixed on pedestal, the particular number and distribution form of hand unit can roots
It is configured according to the object to be captured.
Hand unit 200 may be used various connection types customary in the art and be fixed on pedestal 100, for example, passing through
It snaps connection, be bolted, the modes such as adhesion, the joint module 210 of 200 bottom end of hand unit is fixed on pedestal 100.So
And for ease of dismounting, present invention employs the modes of magnetic connection to be fixed on the base hand unit, and adjacent two
It is connected with each other also by magneticaction between a joint module.In the present embodiment, supporting surface 110 is by the magnetism with magnetic conductivity
Material is constituted, and in the corresponding position of the bottom surface of the top surface and hypozygal portion 212 in the upper joint portion 211 of joint module 210 point
It is not provided with permanent magnet 214.The permanent magnet being arranged on the bottom surface in hypozygal portion 212 is suitable for being firmly adsorbed on pedestal 100
On supporting surface 110.Permanent magnet on the top surface in upper joint portion 211 is set and is arranged on the bottom surface in hypozygal portion 212 forever
Magnet has opposite polarity, therefore two adjacent joint modules can be fixedly engaged to one by the magnetic force that there is a natural attraction between the sexes
It rises.
Fig. 5 is the structural schematic diagram of one of manipulator shown in FIG. 1 hand unit.As shown, hand unit
200 include four joint modules 210, it will be appreciated by persons skilled in the art that hand unit can be by any suitable number
Joint module composition, the particular number of joint module can be configured according to the object to be captured.
Fig. 6 is the structural schematic diagram of one of hand unit shown in fig. 5 joint module；Fig. 7 A are shown in fig. 6
The birds-eye perspective of the upper joint portion of joint module before assembling；Fig. 7 B are the upper joint portion of joint module shown in fig. 6 in group
Face upwarding view before dress；Fig. 8 A are the birds-eye perspective of the hypozygal portion of joint module shown in fig. 6 before assembling；Fig. 8 B are
The face upwarding view of the hypozygal portion of joint module shown in fig. 6 before assembling.
As shown, each upper joint portion 211 and hypozygal portion 212 are offered respectively in the both sides of rotation axis along joint mould
The stacking direction perforation of block and the guiding groove of the lateral opening in corresponding upper joint portion 211 or hypozygal portion 212.Guiding groove
Bottom be diameter be more than guiding groove open space cylinder shape groove.In the present embodiment, between the opening of the guiding groove
Away from the diameter for being slightly less than driving rope, and the diameter of cylinder shape groove is slightly larger than the diameter of the driving rope, in this way, driving rope will be with
The mode of interference configuration enters cylinder shape groove, and after driving rope enters cylinder shape groove, driving rope is slided with cylinder shape groove
Cooperation.Preferably, the opening of the guiding groove in the opening of the guiding groove in upper joint portion 211 and hypozygal portion 212 is located at direction
Two opposite sides, for example, as shown in fig. 6, the opening of the guiding groove in upper joint portion 211 is facing forward, the guiding in hypozygal portion 212
The opening of slot is backwards.In this way, driving rope be not easy to loosen after the cylinder shape groove for being caught in guiding groove, and its
The displacement of horizontal direction is limited.After upper joint portion and hypozygal portion fit together, the circle in upper joint portion and hypozygal portion
Cylindrical groove forms the guide hole of joint module.
In the present embodiment, the top surface in upper joint portion 211 is opened up there are two circular groove, the bottom surface in hypozygal portion 212
Corresponding position is also opened up there are two circular groove.The circular groove is suitable for accommodating permanent magnet 214.As shown in figure 9, permanent magnet
214 be oblate cylindricality.Permanent magnet can be any appropriate natural or artificial permanent-magnet material constitute.When permanent magnet is placed on circle
When in connected in star, the top of permanent magnet is flushed with the bottom surface of the top surface in upper joint portion or hypozygal portion.
As shown in Fig. 6,7B and 8B, the top surface in upper joint portion and the bottom surface in hypozygal portion are respectively arranged with determining of being mutually matched
Position mechanism is suitable for the positioning when engagement of two neighboring joint module.For example, edge protuberance there are three the top surface tools in upper joint portion,
And the bottom surface in hypozygal portion has block-shaped protrusion, and when two neighboring joint module is engaged, the bulk of the bottom surface in hypozygal portion
Protrusion lateral wall and the madial wall of the edge protuberance of the top surface in upper joint portion fit closely, further limit joint module it
Between mutual shaking, to improve the reliability of the connection between joint module.
In the present embodiment, joint module 210 further includes cylindrical clutch 213, as shown in Figure 10.Clutch 213
Central shaft be aligned with the rotation axis of joint module 210.Upper joint portion 211 is suitable for being fixedly attached to the shell of clutch 213, under
Joint portion 212 is suitable for being fixedly attached to the delivery outlet of clutch 213.Arbitrary class known in the art may be used in clutch 213
The suitable clutch of type.The clutch is configured to：When clutch is in locking state, between upper joint portion and hypozygal portion
Relative position fix；When clutch is in active state, upper joint portion and hypozygal portion can mutually be rotated around rotation axis.
The operation of the manipulator of the present embodiment will be described below.
First, according to the size and shape for the object to be captured, two or more fingers are installed on pedestal 100
Unit 200, the quantity of the joint module 210 of each finger unit of simultaneous selection 200.In the present embodiment, it is mounted on pedestal 100
Two finger units 200, each finger unit 200 include four joint modules 210.Then, each finger unit 200 is worn
Two driving ropes 230 are crossed, the external part that will be close to the driving rope for the object side to be captured is connect with driving device, by the other side
Driving rope external part connect with spring assembly, at this point, the spring in spring assembly is in compressive state.In crawl object
Before, since the spring of compression tenses the driving rope application elastic force in outside the driving rope in outside, the open-shaped state of manipulator；When
The driving rope for driving rope to apply driving force and tensing inside of driving device inwardly, manipulator are closed, crawl object.When grabbing
When taking object of different shapes, thus it is possible to vary the folding condition of the clutch 213 in joint module 210 makes finger unit 200
Joint module 210 under different relative angles lock or freely activity, to change the shape of finger unit, to adapt to grab
The shape of the object taken.Figure 11 and Figure 12 is two kinds of different shapes that finger unit is presented when changing the active state of clutch
State.
Figure 13 is the overall structure diagram according to the manipulator of an alternative embodiment of the invention.In this embodiment,
Three finger units are used, assembling and operating process are same as the previously described embodiments, and details are not described herein.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of rope drive moduleization becomes joint Manipulator, including：
Pedestal comprising flat supporting surface, and upwardly extended with through the pedestal perpendicular to the side of the supporting surface
Multiple strip through-holes；And
Multiple finger units are removably bonded to the supporting surface of the pedestal and by the supporting surface branch
Support, each finger unit include：
Multiple joint modules of stacking, wherein two adjacent joint modules are removably engaged with each other, each pass
Section module includes upper joint portion and is rotatably connected to the hypozygal in the upper joint portion around the rotation axis of the joint module
The top surface in portion, the upper joint portion of each joint module is adapted to connect with the bottom surface in the hypozygal portion of any another joint module
It closes, each upper joint portion and the hypozygal portion are offered respectively in the both sides of the rotation axis along the multiple joint mould
The stacking direction perforation of block and the guiding groove of the lateral opening in the upper joint portion or the hypozygal portion, the guiding groove
Bottom be the open space that diameter is more than the guiding groove cylinder shape groove, the upper joint portion and the hypozygal portion
The cylinder shape groove forms the guide hole of the joint module；
Two casings are suitable for being respectively connected to the joint module of the bottom end of the multiple joint module positioned at stacking
The peripheral part of two guide holes, described sleeve pipe are adapted to pass through the strip through-hole；And
Two driving ropes, be suitable for being each passed through the respective guide hole positioned at the same side of the multiple joint module of stacking with
Corresponding casing, and provide driving force suitable for becoming joint Manipulator to the rope drive moduleization.
2. rope drive moduleization according to claim 1 becomes joint Manipulator, which is characterized in that two adjacent passes
It is connected with each other by magneticaction between the joint module and the supporting surface between section module.
3. rope drive moduleization according to claim 2 becomes joint Manipulator, which is characterized in that the supporting surface is by having
The magnetic material of magnetic conductivity is constituted, and the corresponding position of the bottom surface in the top surface in the upper joint portion and the hypozygal portion is respectively set
There is permanent magnet.
4. rope drive moduleization according to claim 3 becomes joint Manipulator, which is characterized in that the top in the upper joint portion
Face is opened up there are two circular groove, and the corresponding position of the bottom surface in the hypozygal portion also opens up that there are two circular grooves, described
Permanent magnet is placed in the circular groove.
5. rope drive moduleization according to claim 1 becomes joint Manipulator, which is characterized in that the driving rope is wherein
One end is provided with block, and when the driving is restricted across the guide hole, the block is adapted to abut against in the guide hole
Outside.
6. rope drive moduleization according to claim 5 becomes joint Manipulator, which is characterized in that the driving is restricted another
A end is connected to driving device or spring assembly.
7. rope drive moduleization according to claim 1 becomes joint Manipulator, which is characterized in that the joint module also wraps
Cylindrical clutch is included, the central shaft of the clutch is aligned with the rotation axis, and the upper joint portion is fixedly attached to institute
The shell of clutch is stated, the hypozygal portion is fixedly attached to the delivery outlet of the clutch, wherein the clutch configuration
For：When the clutch is in locking state, the relative position between the upper joint portion and the hypozygal portion is fixed；When
When the clutch is in active state, the upper joint portion and the hypozygal portion can mutually be rotated around the rotation axis.
8. rope drive moduleization according to claim 1 becomes joint Manipulator, which is characterized in that the top in the upper joint portion
The bottom surface in face and the hypozygal portion is respectively arranged with the detent mechanism being mutually matched, when being suitable for the engagement of two neighboring joint module
Positioning.
9. rope drive moduleization according to claim 1 becomes joint Manipulator, which is characterized in that the institute in the upper joint portion
State opening and the opening of the guiding groove in the hypozygal portion two sides that be located at direction opposite of guiding groove.
10. rope drive moduleization according to claim 1 becomes joint Manipulator, which is characterized in that the guiding groove is opened
Mouth is smaller than the diameter of the driving rope, and the diameter of the cylinder shape groove is more than the diameter of the driving rope, the driving
Rope enters the cylinder shape groove in such a way that interference configures, after the driving restricts and enters the cylinder shape groove, the drive
Running rope is slidably matched with the cylinder shape groove.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710132121.5A CN108568837A (en) | 2017-03-07 | 2017-03-07 | A kind of rope drive moduleization change joint Manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710132121.5A CN108568837A (en) | 2017-03-07 | 2017-03-07 | A kind of rope drive moduleization change joint Manipulator |
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| CN108568837A true CN108568837A (en) | 2018-09-25 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176568A (en) * | 2018-09-28 | 2019-01-11 | 北京邮电大学 | A kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving |
| CN109202937A (en) * | 2018-11-19 | 2019-01-15 | 河北科技大学 | Modularization multi-joint line-controlled robot people |
| CN109278034A (en) * | 2018-10-24 | 2019-01-29 | 哈尔滨工业大学（深圳） | A kind of rope drives flexible gripper and robot |
| CN109732578A (en) * | 2019-01-29 | 2019-05-10 | 西安交通大学 | A kind of modular space allosteric type robot architecture |
| CN112061261A (en) * | 2020-08-24 | 2020-12-11 | 上海大学 | Software crawling robot based on paper folding structure |
| CN113442148A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Multi-dimensional adjustable manipulator |
| CN114888843A (en) * | 2022-05-13 | 2022-08-12 | 华中科技大学 | Friction locking-based joint rigidity changing method and device |
| CN114905535A (en) * | 2022-05-17 | 2022-08-16 | 北京理工大学 | But quick assembly disassembly's underactuated manipulator |
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