CN108789461A - A kind of sufficient pawl of machinery for multi-foot robot - Google Patents
A kind of sufficient pawl of machinery for multi-foot robot Download PDFInfo
- Publication number
- CN108789461A CN108789461A CN201810585128.7A CN201810585128A CN108789461A CN 108789461 A CN108789461 A CN 108789461A CN 201810585128 A CN201810585128 A CN 201810585128A CN 108789461 A CN108789461 A CN 108789461A
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- China
- Prior art keywords
- foot
- machinery
- manipulator
- finger joint
- mechanical
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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
-
- 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
- B25J15/08—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
Abstract
The present invention discloses a kind of sufficient pawl of the machinery for multi-foot robot, and physical mechanical structure is divided into two parts：One is the sufficient structure of machinery, and vola is hemisphere form, is 3 supporting rods to play a supportive role among it, and top, which has, places the cylindrical body of motor, can be connected with leg structure；Secondly referring to drive lacking link type mechanical paw for three, there is torsional spring between the first and second finger joint and second and third finger joint.Mechanical foot, which is constrained with gripper by the prismatic pair of sliding block and rod piece, constitutes an entirety, switches the function switch for realizing crawl and support by sufficient pawl structure.The drive system of mechanical paw is built on the basis of physical mechanical structure, drive system is the linear stepping motor of an included trapezoidal screw, and motor is controlled by mating driver, and motor driver access 220V turns the transformer of 12V.
Description
Technical field
The invention belongs to the fields such as robotics and theory of mechanisms, it is related to a kind of manipulator that has both for multi-foot robot and grabs
Take the sufficient pawl of machinery with the sufficient support function of machinery.
Background technology
Ground mobile robot is the intelligent machine system of a high integrity, according to the difference of motion pattern,
It is several that it can substantially be divided into wheeled robot, legged type robot, caterpillar type robot and other bionical move mode robots etc.
Class.Wherein, legged type robot obtains scholars and industry due to itself preferable mobility, to the superior adaptability of landform
More and more pay attention on boundary.It is with a varied topography that the multi-foot robot developed at present is widely used in transporting heavy things, volcano and seabed etc.
Area detection and the fields such as Edutainment, but existing Multifeet walking robot is mostly just used as a kind of mobile platform.
Pedipulator has the function of that support walking, mechanical arm have the function of crawl, carry object and operation instrument, function
Though in different but structure, there are common ground, are joint type structure.In nature, leg arm fusion, brothers multiplexing mechanism
The generally existing in primate.Most of primate still retains quadruped locomotion mode, and forelimb develops into arm, row
This body weight is supported as leg, when crawl operates as arm, realizes leg arm fusion function, and thumb can refer to pair with other four when walking
It holds, realizes that brothers are multiplexed function.Worldwide many scientific research personnel conduct a research to the moving operation of multi-foot robot, but
The multi-foot robot that many has shift operation functionality fulfils assignment only by specific mechanical arm is configured.By additional
Mechanical arm captures the function of object to realize, this not only adds the weight of robot, can also be because of mechanical foot and mechanical arm
Influence each other and reduce the working space of mechanical paw.
By brothers' Combined design of robot, so that end effector is had both mechanical foot support walking and capture object with manipulator
The function of body, the leg branch of multi-foot robot have the operating function of mechanical arm, realize the multiplexing of leg arm function, can be efficiently modified
This defect pushes the multiplexing of leg arm, the robot of brothers' fusion practical, expands multi-foot robot application field, while being machine
The research that device human hand (pawl) is multiplexed enough provides new thinking.
Invention content
In view of the above-mentioned problems, the present invention copies primate quadruped locomotion mechanism, design is a kind of to be used for multi-foot robot
The sufficient pawl of machinery add robot manipulator structure, and the two is subjected to organic knot on the basis of the foot structure of traditional multi-foot robot
It closes, the sufficient pawl of machinery that both makes to permeate is whole.
A kind of sufficient pawl of machinery for multi-foot robot of the present invention, has mechanical foot and manipulator；Manipulator is adopted as imitating
The connecting rod type under-actuated finger mechanism of strong driving mechanism, including drive rod, middle finger joint, remote finger joint and seven drive links are constituted.
To enable seven drive links be respectively main transmission bar, drive link on the inside of drive link on the inside of nearly finger joint, drive link on the outside of nearly finger joint, middle finger joint
With drive link on the outside of middle finger joint；Wherein, drive rod output end is hinged with main transmission bar centre position by axis pin, main transmission bar two
End is hinged with the end of drive link on the outside of drive link on the inside of nearly finger joint and nearly finger joint respectively by axis pin；Middle finger joint is triangle knot
Structure, it is respectively angle a, angle b and angle c to enable three of them angle；Then pass through axis pin and drive link front end on the inside of nearly finger joint and middle finger joint at a of angle
It is hinged between the drive link end of inside；Front end at the b of angle by axis pin and drive link 206 on the outside of nearly finger joint is hinged；Pass through pin at the c of angle
Axis is hinged with drive link end on the outside of middle finger joint；First torsional spring is installed at a of angle on axis pin, the first torsional spring both ends respectively with closely refer to
Drive link is fixed on the inside of section inside drive link and middle finger joint；Drive link is pacified on axis pin at remote knucklejoint on the inside of middle finger joint simultaneously
Equipped with the second torsional spring, the second torsional spring both ends are fixed with drive link on the inside of middle finger joint and remote finger joint respectively；Drive link on the inside of middle finger joint
It is hinged with the connector of remote finger joint tip designs respectively by axis pin with drive link front end on the outside of middle finger joint, and articulated position is adjacent
Above-mentioned manipulator is circumferentially uniformly distributed, is installed on mechanical foot periphery；Manipulator is electric by the driving installed on mechanical foot
Circumferential three manipulators of machine driving move up and down, while driving the grasping movement of three manipulators.
The advantage of the invention is that：
1, machinery sufficient pawl of the present invention for multi-foot robot, has both the support work(of the crawl function and machinery foot of manipulator
Can, without installing additional motion arm, structure is relatively easy and quality is also relatively lighter.
2, machinery sufficient pawl of the present invention for multi-foot robot, is integrated into one by mechanical foot with under-actuated finger initiatively
Body structure, brothers' function switch process and the freedom to work degree of finger grip object process are always one, and two processes can
It is driven by a motor, control is more simple.
Description of the drawings
Fig. 1 is the overall structure diagram of the sufficient pawl of present invention machinery；
Fig. 2 is the sufficient structural schematic diagram of machinery in the sufficient pawl of present invention machinery；
Fig. 3 is the sufficient supporting rod fixed form schematic diagram of machinery in the sufficient pawl of present invention machinery；
Fig. 4 is robot manipulator structure schematic diagram in the sufficient pawl of present invention machinery；
Fig. 5 is the sufficient pawl protective shell structural schematic diagram of present invention machinery；
Fig. 6 is structural schematic diagram when the sufficient pawl of machinery of the invention is in machinery foot holding state；
Fig. 7 is structural schematic diagram when the sufficient pawl of present invention machinery is in manipulator seized condition；
Fig. 8 is status diagram when the sufficient pawl of present invention machinery captures sphere completely.
In figure：
1- machinery foot 2- manipulator 3- stepper motors
The volas 4- top shoe 5- sliding block 101-
Lug under fixing piece 103a- under 102- supporting rods 103-
104- upper fixing element 104a- upper lug 105- plano-concaves hole
The remote finger joints of 201- drive rod 202- middle finger joints 203-
Drive link on the outside of the nearly finger joints of drive link 206- on the inside of the nearly finger joints of 204- main transmission bars 205-
Drive link 301- drives lead screw on the outside of drive link 208- middle finger joints on the inside of 207- middle finger joints
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
The present invention designs a kind of sufficient pawl of the machinery for multi-foot robot, has machinery foot 1 and manipulator 2, such as Fig. 1 institutes
Show.
The machinery foot 1 includes vola 101, supporting rod 102, lower fixing piece 103 and 104 4 parts of upper fixing element, such as
Shown in Fig. 2.Wherein, 101 lower part of vola is spherical cambered surface, realizes that class flexural pivot contacts with ground, loaded area is relatively large, and energy
Robot architecture's stability is enough kept, robot is made to be applicable in various complicated landforms.101 top of vola is plane, for installing branch
Strut 102.Supporting rod 102 is three, is vertically arranged, circumferential uniformly distributed, and bottom end is worn by slotted pan head screw by 101 lower section of vola
It is fixed with vola 101 after crossing the plano-concave hole 105 of vola 101 outer rim design, as shown in Figure 3.102 upper end of supporting rod is designed with connection
Platform is used for supporting lower fixing piece 103.Lower fixing piece 103 is slab construction, and there are six lower lug 103a for circumferential uniform design, wherein
Three alternate lower lug 103a are bonded setting between three 102 upper end connected units of supporting rod respectively, lug 103a under the other three
For connecting protective shell 5.Upper fixing element 104 is barrel-like structure, is designed with three upper lug 104a in the circumferential direction of lower end, three convex
Ear 104a is bonded setting between three lower lug 103a respectively；Upper end is flange plate structure, for the leg with multi-foot robot
It is attached.Triangular company is realized by bolt between the above-mentioned connected unit being bonded to each other, lower lug 103a and upper lug 104a
It connects, while realizing that the relative position between three supporting rods 102 is fixed.102 inside of upper fixing element is used for placing stepper motor 3, walks
4~5mm that stepper motor 3 sequentially passes through lower fixing piece 102 by cruciform slot screw, upper fixing element 103 is carried with stepper motor 3
Threaded hole is threadedly coupled, and realizes the fixation of stepper motor 3.Stepper motor 3 is the linear stepping motor of included trapezoidal screw simultaneously,
It is controlled by necessary electromotor driver, motor driver access 220V turns the transformer of 12V；Lead screw 301 is driven, lead screw is driven
301 pass through the center opening of lower fixing piece 102, upper fixing element 103, as shown in Figure 1.
The manipulator 2 is three, is circumferentially distributed in 1 periphery of pedipulator, as shown in Figure 1.Three manipulators 2 are imitative strong drive
The connecting rod type under-actuated finger mechanism of mechanism, structure is identical, including drive rod 201, middle finger joint 202, remote finger joint 203 and seven
Root drive link is constituted.It is respectively main transmission bar 204, nearly finger joint inside drive link 205, the transmission of nearly finger joint outside to enable seven drive links
Drive link 207 and drive link 208 on the outside of middle finger joint on the inside of bar 206, middle finger joint, as shown in Figure 4.
Wherein, 201 output end of drive rod is hinged with 202 centre position of main transmission bar by axis pin, 202 both ends of main transmission bar
It is hinged with the end of drive link 206 on the outside of drive link 205 on the inside of nearly finger joint and nearly finger joint respectively by axis pin.Middle finger joint is triangle
Shape structure, it is respectively angle a, angle b and angle c to enable three of them angle；Then pass through axis pin and 205 front end of drive link on the inside of nearly finger joint at a of angle
And it is hinged between 207 end of drive link on the inside of middle finger joint；Front end at the b of angle by axis pin and drive link 206 on the outside of nearly finger joint is hinged；
It is hinged with 208 end of drive link on the outside of middle finger joint by axis pin at the c of angle.First torsional spring, the first torsional spring are installed at a of angle on axis pin
Both ends are fixed with drive link 207 on the inside of drive link 205 on the inside of nearly finger joint and middle finger joint respectively；Drive link on the inside of middle finger joint simultaneously
207 with the second torsional spring is installed on 203 hinged place axis pin of remote finger joint, the second torsional spring both ends respectively with drive link on the inside of middle finger joint
207 and remote finger joint 203 fix.Drive link 207 is distinguished with 208 front end of drive link on the outside of middle finger joint by axis pin on the inside of middle finger joint
It is hinged with the connector of remote finger joint tip designs, and articulated position is adjacent.It is circumferential upper in pedipulator 1 when drive rod 201 as a result,
Fixation is set, and main transmission bar 204 controls drive rod 201 to 101 direction of vola when 1 circumferential direction of mechanical foot and axial position are fixed
Movement enables three manipulators 2 adaptively envelope crawl object by the damper restriction of each drive link transmission and torsional spring
Body.
It is designed with plane A at 205 extreme ends of drive link on the inside of above-mentioned nearly finger joint, is used for and drive link on the inside of middle finger joint
207 distal end faces coordinate, and realize 205 rotary spacing of drive link on the inside of nearly finger joint；Equally, 207 front end of drive link on the inside of middle finger joint
End is designed with plane B, is used for coordinating with 203 distal end faces of remote finger joint, realizes 207 rotary spacing of drive link on the inside of middle finger joint.
Thus in 2 setting in motion of manipulator, by the position-limiting action of plane A and plane B, can make on the inside of nearly finger joint drive link 205 with
207 rotating Vortex of drive link on the inside of middle finger joint, as shown in Figure 4.
Three manipulators 2 of above structure are connected by top shoe 4 and sliding block 5 with mechanical foot 1, and connection type is identical,
As shown in Figure 1.Circumferentially there are three trepannings on top shoe 4 and sliding block 5, passed through for three supporting rods 102, make top shoe 4
It is placed on three supporting rods 102 with sliding block 5.It is designed with three articulated joints in top shoe 4 and 5 circumferential direction of sliding block；It is wherein upper to slide
Three articulated joints are hinged by axis pin with 201 input terminal of drive rod in three manipulators 2 respectively on block 4；Three on sliding block 5
Drive link 205 and middle finger joint inside 207 hinged place of drive link are hinged on the inside of nearly finger joint with three manipulators respectively for a articulated joint,
And it is triangular hinged by realizing that the axis pin that drive link 207 is hinged on the inside of nearly finger joint inside drive link 205 and middle finger joint is realized.
Between above-mentioned top shoe 4 and sliding block three branch are respectively sleeved in by three circumferentially disposed compressed springs, three compressed springs
On strut, spring upper and lower ends are Nian Jie with top shoe and sliding block respectively with AB glue.Top shoe 4 is provided with circumferential direction with sliding block 5
Uniformly distributed lightening hole, three lightening holes be located at for three supporting rods 102 across trepanning.4 center opening of above-mentioned top shoe
It is fixedly sheathed on the nut that stepper motor carries on lead screw；The lead screw also extends through the center opening designed on sliding block 5.Thus
Trapezoidal screw can be driven to rotate by stepper motor, drive the movement of 4 upper and lower directions of top shoe.
Above-mentioned protective shell 5 is tubular structure, is placed on outside the sufficient pawl of entire machinery, is circumferentially all provided with that there are three for placing three
The protection chamber 501 of manipulator, and circumferentially design is used for connecting guarantor there are three three in connected unit 502, with lower fixing piece 103 for top surface
Fixation is bolted in the lower lug 103a of protective case 5, as shown in Figure 5.
When initial, three hand manipulators 2 are integrally located between supporting rod 102 and protective shell 5, and stepper motor carries on lead screw
Nut contacted with lower fixing piece 102, as shown in fig. 6, the sufficient pawl of machinery is the sufficient holding state of machinery at this time.
When brothers start switching, under the effect of contraction of spring and torsional spring, manipulator 2 only has moving along lead screw axial direction
Degree of freedom slides by the way that stepper motor driving manipulator 2 is whole to vola 101, until sliding block 3 and 101 top of vola terminate
It touches, manipulator 2 refers to fully extended respective protection chamber 501, stepper motor spin down at this time.Sliding block 3 by vola 101 with
Two relative to force of compressed spring, remains stationary state, sufficient pawl mechanical at this time become manipulator state, as shown in Figure 7.
After being converted to manipulator state, top shoe 3 continues to slide to vola 101, applies drive rod 201 to vola
The driving force in 101 directions, on the inside of the nearly finger joint drive link 205 with when drive link 207, three manipulators 2 are distinguished on the inside of middle finger joint
Around the articulated shaft rotation respectively between sliding block 4；Until drive link 205 and be crawled after object contacts on the inside of nearly finger joint, close finger
Section inside drive link 205 is motionless, and drive link 207 is rotated further with remote finger joint 203 on the inside of middle finger joint, after being contacted successively with object,
Object is captured by three 2 envelopes of manipulator, keeps stable grasp state, as shown in Figure 8.
After the crawl object of manipulator 2 is positioned over designated position, crawl object is unclamped in motor revolution, and finger is in structural constraint
Become state shown in Fig. 7 under the action of plane A and plane B, at this time at this point, spring restores initial length, torsional spring reverts to initially
State, plane A are bonded with corresponding side surface respectively with plane B, and sliding block is still contacted with vola upper surface.In the limitation of compressed spring
Under, manipulator again by it is single it is whole in the form of 102 direction of downward fixing piece slide, until stepper motor carry lead screw on spiral shell
Female to be contacted with lower fixing piece 102, stepper motor 3 stalls, and machinery foot pawl is changed into original state.
Claims (6)
1. a kind of sufficient pawl of machinery for multi-foot robot, has mechanical foot and manipulator；It is characterized in that：
Manipulator is circumferentially uniformly distributed, is installed on mechanical foot periphery；Manipulator drives week by the driving motor installed on mechanical foot
It moves up and down to three manipulators, while driving the grasping movement of three manipulators.
2. the sufficient pawl of a kind of machinery for multi-foot robot as described in claim 1, it is characterised in that：The machinery foot includes foot
Bottom, supporting rod, lower fixing piece and upper fixing element；Supporting rod, which is circumferentially all provided with, is installed on vola upper surface；Upper fixing element, lower fixing piece
It is from top to bottom connected and fixed with support bar top；It is used for placing driving motor inside upper fixing element.
3. the sufficient pawl of a kind of machinery for multi-foot robot as claimed in claim 2, it is characterised in that：The vola lower part is ball
Cambered surface.
4. the sufficient pawl of a kind of machinery for multi-foot robot as described in claim 1, it is characterised in that：Manipulator passes through upper downslide
Block is realized to be connect with mechanical foot；Wherein top shoe is placed on mechanical foot, and upper and lower position is driven by driving motor；Sliding block is placed on machine
On tool foot, it is connected by circumferential spring between top shoe；It is hinged between drive rod and top shoe in three manipulators, on sliding block
Three articulated joints are hinged with first knuckle hinged place in three manipulators respectively；Meanwhile top shoe is fixed on driving motor and carries
On nut on lead screw；Lead screw rotation is driven by driving motor as a result, and then manipulator is driven to be moved axially along machinery foot.
5. the sufficient pawl of a kind of machinery for multi-foot robot as claimed in claim 4, it is characterised in that：When initial, when driving electricity
The nut that machine carries on lead screw is contacted with lower fixing piece, is at this time mechanical sufficient holding state；Pass through driving motor driving manipulator
It is slid to vola, is at this time manipulator state until sliding block and vola top end in contact；Top shoe continues to slide to vola,
Realize that manipulator envelope captures object.
6. the sufficient pawl of a kind of machinery for multi-foot robot as described in claim 1, it is characterised in that：Also there is protective shell, protect
Protective case is placed on outside manipulator, is circumferentially all provided with that there are three for placing the protection chambers of three manipulators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810585128.7A CN108789461B (en) | 2018-06-08 | 2018-06-08 | Mechanical foot claw for multi-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810585128.7A CN108789461B (en) | 2018-06-08 | 2018-06-08 | Mechanical foot claw for multi-foot robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789461A true CN108789461A (en) | 2018-11-13 |
| CN108789461B CN108789461B (en) | 2020-10-30 |
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ID=64088948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810585128.7A Active CN108789461B (en) | 2018-06-08 | 2018-06-08 | Mechanical foot claw for multi-foot robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014442A (en) * | 2019-05-22 | 2019-07-16 | 浙江大学滨海产业技术研究院 | A kind of robot with omnidirection touch sensing device |
| CN110480670A (en) * | 2019-08-29 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of Bionic flexible jaw arrangement that dragon and phoenix fancy carp tail fin biology inspires |
| CN110978028A (en) * | 2020-01-13 | 2020-04-10 | 郑州轻工业大学 | Hand and foot combination device for walking robot |
| CN111015635A (en) * | 2020-01-08 | 2020-04-17 | 郑州轻工业大学 | Walking and fetching composite function execution device for walking robot |
| CN111421568A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Slider type under-actuated three-joint mechanical finger structure, manipulator and operation method of manipulator |
| CN112518795A (en) * | 2020-11-13 | 2021-03-19 | 中国空间技术研究院 | Space capture robot and capture mechanism thereof |
| CN113321050A (en) * | 2021-05-28 | 2021-08-31 | 陕西科技大学 | Adjustable manipulator that snatchs |
| CN113998025A (en) * | 2021-12-10 | 2022-02-01 | 合肥工业大学 | Space four-foot wall-climbing robot and control method thereof |
| CN114734470A (en) * | 2022-03-16 | 2022-07-12 | 燕山大学 | Multi-form transformation claw foot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110480670A (en) * | 2019-08-29 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of Bionic flexible jaw arrangement that dragon and phoenix fancy carp tail fin biology inspires |
| CN111015635A (en) * | 2020-01-08 | 2020-04-17 | 郑州轻工业大学 | Walking and fetching composite function execution device for walking robot |
| CN110978028A (en) * | 2020-01-13 | 2020-04-10 | 郑州轻工业大学 | Hand and foot combination device for walking robot |
| CN110978028B (en) * | 2020-01-13 | 2021-02-09 | 郑州轻工业大学 | Hand and foot combination device for walking robot |
| CN111421568A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Slider type under-actuated three-joint mechanical finger structure, manipulator and operation method of manipulator |
| CN112518795A (en) * | 2020-11-13 | 2021-03-19 | 中国空间技术研究院 | Space capture robot and capture mechanism thereof |
| CN112518795B (en) * | 2020-11-13 | 2022-03-04 | 中国空间技术研究院 | Space capture robot and capture mechanism thereof |
| CN113321050A (en) * | 2021-05-28 | 2021-08-31 | 陕西科技大学 | Adjustable manipulator that snatchs |
| CN113998025A (en) * | 2021-12-10 | 2022-02-01 | 合肥工业大学 | Space four-foot wall-climbing robot and control method thereof |
| CN114734470A (en) * | 2022-03-16 | 2022-07-12 | 燕山大学 | Multi-form transformation claw foot mechanism |
| CN114734470B (en) * | 2022-03-16 | 2024-04-12 | 燕山大学 | Multi-form changing claw foot mechanism |
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