CN109986542A - A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive - Google Patents
A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive Download PDFInfo
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- CN109986542A CN109986542A CN201910386435.7A CN201910386435A CN109986542A CN 109986542 A CN109986542 A CN 109986542A CN 201910386435 A CN201910386435 A CN 201910386435A CN 109986542 A CN109986542 A CN 109986542A
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- 239000012636 effector Substances 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000013519 translation Methods 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000005498 polishing Methods 0.000 abstract description 4
- 230000035939 shock Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000703 anti-shock Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009963 fulling Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses a kind of hard and soft mixed type power control end effectors of pneumoelectric combination drive, including connect with mechanical arm tail end joint fixed platform, the moving platform of two rotary motions of translation and the combined pneumatic device that is installed between two platforms can be made relative to fixed platform, identical, the PPS branch in parallel being arranged symmetrically that sets that there are three structures between fixed platform and moving platform；Each PPS branch includes the passive translation joint formed by the joint that is actively translatable of voice coil motor driving, by flexible hinge and passive ball-joint；Feedback signal is handled by controller, the power output of combined pneumatic device and voice coil motor is adjusted, realizes that contact force constant between executor tail end and workpiece controls.Present invention employs pneumoelectric combination drive mode, have many advantages, such as that light weight, precision are high, response is fast, strong shock resistance, large carrying capacity are, it can be achieved that complex-curved surface finishing, is particularly suitable for robot grinding and polishing industry.
Description
Technical field
The present invention relates to automation equipment and robotic technology fields, specifically suitable for robot grinding and polishing operation
A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive.
Background technique
The surface finish of complex parts is processed as one in the manufacturing industry such as precision die, aerospace, automobile ship extremely
Close important post-processing process.Such piece surface complex geometry, to contour accuracy especially surface roughness requirements
Height, and surface finish processing belongs to the formula that continuously contacts with and operates, automation difficulty is big.Finished machined still needs to experienced work at this stage
People completes, and dangerous property is high, and working environment is poor, large labor intensity, the low precision of operating efficiency is low, and quality stability difference is asked
Topic.And industrial robot has that flexibility is high, working space is big, scalability is strong, the advantages such as at low cost, but it lacks towards even
The power control technology of continued access touch operation, therefore power control technology is the key that realize the complex-curved precision finishing skill of robotization
Art, it would be highly desirable to solve.
Realize that the mode of the submissive behavior of robot can be divided into passive compliance and active force control two ways at present.Passive compliance
The main flexibility intrinsic using tool or mechanical structure, structure is simple but cannot achieve accurate power control.Realize robot master
Dynamic Control, which mainly has, carries out the side-jet control of power control by control joint of mechanical arm torque and using outside mechanical arm
The indirect force that attachment device carries out power control controls both methods.The former is suitable for lightweight mechanical arm, and safety is good；And work
Industry robot is due to factors such as moving-mass big, joint elasticity, transmission mechanism frictional force, it is difficult to realize side-jet control, therefore
The industrial robot of high-speed overload is more suitable for based on the indirect force prosecutor formula of power control end effector.
Existing power control end effector can be divided into mechanical, pneumatic type, electric drive formula and pneumoelectric according to driving method to mix
It is box-like.Wherein, spring is installed mechanically generally on end effector and realizes passive compliance, advantage is that structure is simple, but its power
It is lower to control precision.Pneumatic type realizes that the power output of end effector, advantage are that have preferably by regulating gas pressure
Flexible, power again than big, control is simple, but there are low-response, precision is low, sluggish the disadvantages of.Electric drive formula is controlled by motor
The power of end effector exports, and advantage is that power control precision is high and fast response time, but that there are quality is big, anti shock and vibration ability is poor
The disadvantages of.And traditional gas electric hybrid type combines the advantages of electric drive formula and pneumatic type, but still there is a problem of that quality is big.
There are power-pose coupled problems during polishing processing, i.e., when robot is there are when Norma l deviation, end is executed
Device necessarily has local pose adjustment function, is just able to satisfy the demand of complex-curved grinding and polishing operation.Therefore, a translation two rotates
Parallel institution becomes the first choice of power control end effector, and such parallel institution configuration has been applied to the tool of numerically-controlled machine tool
Head design.However the existing tool heads based on 3-freedom parallel mechanism are mostly huge and heavy, and do not have power control function, it is difficult
Using the power control end effector as robot.
A kind of robot throwing is disclosed in power control end effector research field, Chinese patent CN201810803256.4
Power control end effector is ground, actuator uses air motor for power source, effectively reduces the gross mass of actuator.It avoids using connection
For axis device to reducing mechanism complexity, structure is more compact.The rotary motion of air motor passes through ball spline for rotary motion
Pass to grinding head part so that two freedom degrees of grinding head realized at ball spline it is mechanically decoupled.But its for it is single from
It is designed by degree, does not have the adjustment capability of position and posture.
Summary of the invention
The purpose of the present invention is to solve the above problem, provides a kind of dynamic with low inertia, large bearing capacity, shock resistance, height
The hard and soft mixed type power control end effector of the pneumoelectric combination drive of state response.
To achieve the above object, the invention provides the following technical scheme: a kind of hard and soft mixed type power of pneumoelectric combination drive
Control end effector, including connect with mechanical arm tail end joint fixed platform, can relative to fixed platform make one translation two rotation transport
Dynamic moving platform and the combined pneumatic device being installed between two platforms, set between fixed platform and moving platform there are three knot
Structure is identical, the PPS branch in parallel being arranged symmetrically；Each PPS branch includes by the joint that is actively translatable of voice coil motor driving, by soft
Property hinge composition passive translation joint and passive ball-joint；Actively be translatable position of the joint equipped with detection voice coil motor movement travel
Displacement sensor, moving platform are equipped with pressure sensor, handle feedback signal by controller, to combined pneumatic device and voice coil electricity
The power output of machine is adjusted, and realizes that contact force constant between actuator and workpiece controls.
As a preferred option, three PPS branches are circumferentially spaced apart from each other 120 ° and are evenly distributed with, and there are five certainly for every PPS branch
By spending, in order to reduce the number of passive joint, every PPS branch has used a passive ball-joint.Pressure on moving platform
Sensor preferably uses six-dimension force sensor.
Scheme as a further improvement, the joint that is actively translatable are directly connected to fixed platform, passive ball-joint and moving platform
It is flexibly connected, the passive joint that is translatable, which is mounted on, to be actively translatable between joint and passive ball-joint.
Scheme as a further improvement actively equals the diarthrodial direction of motion perpendicular to allocating in three PPS branches
Platform passively equals the diarthrodial direction of motion each parallel to fixed platform；It is put down with passive in the joint that is actively translatable on each PPS branch
Movable joint is mutually perpendicular to, and the direction of motion of three passive joints is formed by the central axes that plane intersects at fixed platform.
Scheme as a further improvement, the joint that is actively translatable include the guiding for connecting voice coil motor mover and stator
Device, the two sides that guiding device is arranged in voice coil motor constitute the symmetrical guide frame of double guide rails, and displacement sensor setting is being oriented to
On device.
Scheme as a further improvement, the flexible hinge in PPS branch is using double compound parallel plate spring structures.
Scheme as a further improvement, combined pneumatic device include that an air impeller and three are circumferentially separated by
120 ° of uniformly distributed mechanical springs；The direction of motion of air impeller and mechanical spring is each perpendicular to fixed platform.
Scheme as a further improvement, air impeller can be air spring, cylinder or pneumatic muscles.
One end of scheme as a further improvement, air impeller is connect by screw thread with fixed platform, and the other end passes through
Flexural pivot is connect with moving platform；Mechanical spring is extension spring, and both ends are connected with moving platform and fixed platform respectively.
Scheme as a further improvement, by adjusting the internal pressure of air impeller and selecting different-stiffness
Mechanical spring balances the self weight of end-of-arm tooling, while the output-parallel of air impeller and voice coil motor is arranged, and reduces to voice coil
Motor goes out force request.
Scheme as a further improvement, hard and soft mixed type power control end effector, which has, receives displacement sensor feedback
Voice coil motor mover displacement signal forms the position-force control module of voice coil motor mover；It is anti-with pressure sensor is received
The tool of feedback and the contact forces signal of workpiece, and the force transducer for being converted to corresponding terminal position thermal compensation signal and exporting
Module；With terminal position thermal compensation signal to be compared with reference value Ur, the first of reference signal Ug is calculated after being compensated
Module；And have and resolved by inverse kinematics, the reference signal Uj of articulamentum is obtained, thus adjusts and actively puts down diarthrodial position
The adjusting drive module of in-migration adjusting contact force size.
Compared with existing end effector, the hard and soft mixed type power control end effector of pneumoelectric combination drive of the present invention has
It has the advantage that
1, the big mass rigid translation joint traditional by using light-weighted flexible translation joint replacement, reduces by three freely
Spend the moving-mass of power control end effector；
2, using the bearing capacity and shock resistance of air impeller lifting force control actuator；
3, system stiffness can be increased using mechanical spring, promotes dynamic response；
4, it by the way of air impeller and mechanical spring combination arrangement, is contacted by properly configuring achievable coarse adjustment
The requirement of power and compensation gravity can also reduce and go out force request to motor, reduce motor quality.
Detailed description of the invention
Fig. 1 is the integral installation distribution structure schematic diagram of hard and soft mixed type power control end effector in the present embodiment.
Fig. 2 is the distributed architecture schematic diagram of the present embodiment half sleeve formula air spring, mechanical spring and voice coil motor.
Fig. 3 is the structural schematic diagram of flexible hinge in the present embodiment.
Fig. 4 is the contact force control block diagram of pneumoelectric combination drive in the present embodiment.
Appended drawing reference of the Fig. 1 into Fig. 3 are as follows: moving platform 1, sleeve formula air spring 3, mechanical spring 4, is led at passive ball-joint 2
To device 5, fixed platform 6, displacement sensor 7, mover 8, stator 9, flexible hinge 10, six-dimension force sensor 11.
Specific embodiment
Below with reference to embodiment, present invention is further described in detail with attached drawing, it should be pointed out that following embodiment
It is intended to convenient for the understanding of the present invention, and does not play any restriction effect to it.
As shown in Figure 1, a kind of hard and soft mixed type power control end effector of pneumoelectric combination drive of the invention, including with machine
The fixed platform 6 of tool arm end joint connection, the moving platform 1 that two rotary motions of translation can be made relative to fixed platform 6 and installation
Combined pneumatic device between two platforms.
It is set between fixed platform 6 and moving platform 1 there are three structure is identical, the PPS branch in parallel being arranged symmetrically, be may be implemented
Two rotary motions of translation that moving platform 1 zero reverses.PPS branch includes by the joint that is actively translatable of voice coil motor driving, by soft
Property hinge 10 form passive translation joint and passive ball-joint 2.Joint be actively translatable equipped with detection voice coil motor movement travel
Displacement sensor 7, moving platform 1 is equipped with pressure sensor, handles feedback signal by controller, to combined pneumatic device and
The power output of voice coil motor is adjusted, and realizes that contact force constant between actuator and workpiece controls.
Three PPS branches are circumferentially spaced apart from each other 120 ° of uniformly distributed, freedom degrees that there are five every PPS branches, in order to reduce quilt
Diarthrodial number, every PPS branch have used a passive ball-joint.Pressure sensor on moving platform 1 is six-dimensional force
Sensor 11.
The joint that is actively translatable is directly connected to fixed platform 6, and passive ball-joint 2 is flexibly connected with moving platform 1, and passive translation is closed
Section, which is mounted on, to be actively translatable between joint and passive ball-joint 2.
The diarthrodial direction of motion is actively equalled perpendicular to fixed platform 6 in three PPS branches, passively puts down diarthrodial movement
Direction is each parallel to fixed platform 6.The joint that is actively translatable on each PPS branch is mutually perpendicular to passive translation joint, and three
The direction of motion of a passive joint is formed by the central axes that plane intersects at fixed platform 6.
The joint that is actively translatable includes guiding device 5 for connecting voice coil motor mover 8 Yu stator 9, and guiding device 5 is arranged
The symmetrical guide frame of double guide rails is constituted in the two sides of voice coil motor, it is ensured that actively equals diarthrodial rigidity.Displacement sensor 7
It is arranged on guiding device 5.The joint that is actively translatable of the invention is directly connected with fixed platform 6, and preferably moving-coil type voice coil motor
As driving unit, to reduce moving-mass.
It learns that passive translation joint displacements only need grade stroke by preliminary analysis, therefore uses as shown in Figure 3 double multiple
The flexible hinge 10 for closing parallel plate spring structure substitutes conventional linear guide rail as passive translation joint to reduce moving-mass, improves
The dynamic response capability of system.
Combined pneumatic device includes that an air impeller and three are circumferentially separated by 120 ° of uniformly distributed mechanical springs 4.
The direction of motion of air impeller and mechanical spring 4 is each perpendicular to fixed platform 6.
Air impeller can be sleeve formula air spring 3, cylinder or pneumatic muscles, with formula air spring of tucking inside the sleeve in the present embodiment
For 3.
Sleeve formula air spring 3 arranges that axis of movement is overlapped with the circle central axis of fixed platform 6 perpendicular to fixed platform 6.Sleeve formula is empty
Gas spring 3 is to be threadedly coupled with fixed platform 6, makees axial stretching movement, is connect with moving platform 1 by flexural pivot, so that moving platform 1
One translation two rotary motions it is unaffected.
As shown in Fig. 2, adding mechanical spring 4 between fixed platform 6 and moving platform 1, mechanical spring 4 is preferably using stretching bullet
Spring is distributed in the periphery of sleeve formula air spring 3, circumferentially separates 120 ° and is evenly distributed with, can increase system stiffness to improve dynamic response.
By suitable type selecting collocation air impeller and mechanical spring 4, going out force request and then reducing motor for voice coil motor can be reduced
Quality.
The air inlet of sleeve formula air spring 3 is lateral arrangement, is controlled and is protected by external gas circuit when moving platform 1 adjusts pose
Constant pressure is held, and adjustment in real time can be needed according to processing.By the internal pressure and selection of adjusting sleeve saving type air spring 3
The mechanical spring 4 of different-stiffness balances the self weight of end-of-arm tooling, improves the bearing capacity of system, and can increase system damping
It is influenced with reducing vibration.While the output-parallel setting of tuck inside the sleeve formula air spring 3 and voice coil motor, reduce the power output to voice coil motor
It is required that.
As shown in figure 4, using explicit admittance control algorithms in the technical program, inner ring is position control ring, outside
Ring is power control ring, controller while control combination formula pneumatic device and voice coil motor.Hard and soft mixed type power control end effector
Control system there is voice coil motor mover 8 displacement signal for receiving the feedback of displacement sensor 7, form voice coil motor mover 8
Position-force control module；Contact forces signal with the tool and workpiece for receiving pressure sensor feedback, and be converted to phase
Corresponding terminal position thermal compensation signal and the force transducer module exported；With by terminal position thermal compensation signal and reference value Ur into
Row compares, the first computing module of reference signal Ug after being compensated；And have and resolved by inverse kinematics, obtain articulamentum
Reference signal Uj, thus adjust and actively put down diarthrodial be displaced to adjust the adjusting drive module of contact force size
In a particular embodiment, according to process requirements, the contact force of combined pneumatic device output par, c is made by controller,
Play the role of coarse adjustment contact force.In order to improve whole dynamic response capability, the mesh of fine tuning contact force is realized by voice coil motor
Mark, detailed process is as follows: internal position ring by displacement sensor 7 by the Displacement Feedback of voice coil motor mover 8 to controller,
Form the position-force control of voice coil motor；External power control ring will be between tool and workpiece by six-dimension force sensor 11
Contact force feeds back to force transducer, and reading of force snesor is converted to corresponding terminal position thermal compensation signal by it, and with
Reference value Ur is compared, and obtains compensated reference signal Ug.It is resolved by inverse kinematics, obtains the reference signal of articulamentum
Uj adjusts the size of contact force from there through main diarthrodial displacement is adjusted.
Technical solution of the present invention is not limited to the limitation of above-mentioned specific implementation case, it is all do not depart from present inventive concept and
In the case of scope of the claimed protection, the technology deformation made according to the technique and scheme of the present invention is fallen within of the invention
Within protection scope.
Claims (10)
1. the hard and soft mixed type power control end effector of a kind of pneumoelectric combination drive, including determining with what mechanical arm tail end joint was connect
Platform (6) can make the moving platform (1) and be installed between two platforms that one translates two rotary motions relative to fixed platform (6)
Combined pneumatic device, it is characterized in that: structure is identical, in parallel right there are three setting between the fixed platform (6) and moving platform (1)
Claim the PPS branch of arrangement；The PPS branch includes by the joint that is actively translatable of voice coil motor driving, by flexible hinge (10)
The passive translation joint of composition and passive ball-joint (2)；The joint that is actively translatable is equipped with detection voice coil motor movement travel
Displacement sensor (7), the moving platform (1) be equipped with pressure sensor, feedback signal is handled by controller, to combined type
The power output of pneumatic device and voice coil motor is adjusted, and realizes that contact force constant between executor tail end and workpiece controls.
2. hard and soft mixed type power control end effector according to claim 1, it is characterised in that: PPS branch described in three
Chain is circumferentially spaced apart from each other 120 ° of uniformly distributed, freedom degrees that there are five PPS branches described in every；Pressure on the moving platform (1)
Sensor is six-dimension force sensor (11).
3. hard and soft mixed type power control end effector according to claim 1, it is characterised in that: the active, which is translatable, closes
Section is directly connected to fixed platform (6), and passive ball-joint (2) pedestal is directly connected to moving platform (1), and described is passive flat
Movable joint, which is mounted on, to be actively translatable between joint and passive ball-joint (2).
4. hard and soft mixed type power control end effector according to claim 1, it is characterised in that: in three PPS branches
The diarthrodial direction of motion is actively equalled perpendicular to fixed platform (6), passively equals the diarthrodial direction of motion each parallel to fixed platform
(6)；The joint that is actively translatable on each PPS branch is mutually perpendicular to passive translation joint, and the movement of three passive joints
Direction is formed by the central axes that plane intersects at fixed platform (6).
5. hard and soft mixed type power control end effector according to claim 1, it is characterised in that: the active, which is translatable, closes
Section includes the guiding device (5) for connecting voice coil motor mover (8) Yu stator (9), and the guiding device (5) is arranged in sound
The two sides for enclosing motor constitute the symmetrical guide frame of double guide rails, and the displacement sensor (7) is arranged on guiding device (5).
6. hard and soft mixed type power control end effector according to claim 1, it is characterised in that: in the PPS branch
Flexible hinge (10) is using double compound parallel plate spring structures.
7. according to claim 1 to hard and soft mixed type power control end effector described in 6 any claims, it is characterised in that:
The combined pneumatic device includes that an air impeller and three are circumferentially separated by 120 ° of uniformly distributed mechanical springs (4)；
The direction of motion of the air impeller and mechanical spring (4) is each perpendicular to fixed platform (6)；By adjusting the air impeller
Internal pressure and select different-stiffness mechanical spring (4) balance end-of-arm tooling self weight, while air impeller and sound
The output-parallel arrangement for enclosing motor, reduces and goes out force request to voice coil motor.
8. hard and soft mixed type power control end effector according to claim 7, it is characterised in that: the air impeller
For air spring, cylinder or pneumatic muscles.
9. hard and soft mixed type power control end effector according to claim 7, it is characterised in that: the air impeller
One end is connect by screw thread with fixed platform (6), and the other end is connect by ball-joint (2) with moving platform (1)；The mechanical spring
It (4) is extension spring, both ends are connected with moving platform (1) and fixed platform (6) respectively.
10. hard and soft mixed type power control end effector according to claim 7, it is characterised in that: have and receive displacement biography
Voice coil motor mover (8) displacement signal of sensor (7) feedback, forms the position-force control module of voice coil motor mover (8)；Tool
There is the contact forces signal of the tool and workpiece that receive pressure sensor feedback, and is converted to corresponding terminal position compensation letter
Number and export force transducer module；With terminal position thermal compensation signal to be compared with reference value Ur, join after being compensated
Examine the first computing module of signal Ug；And have and resolved by inverse kinematics, the reference signal Uj of articulamentum is obtained, is thus adjusted
Section puts down diarthrodial displacement actively to adjust the adjusting drive module of contact force size.
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Cited By (17)
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| CN110694883A (en) * | 2019-09-29 | 2020-01-17 | 泉州极简机器人科技有限公司 | Vibration table |
| CN110789633A (en) * | 2019-11-04 | 2020-02-14 | 上海硅族智能科技有限公司 | Flexible linear drive control method and control system |
| CN110814968A (en) * | 2019-11-24 | 2020-02-21 | 重庆大学 | Abrasive belt grinding device with active and passive compliant mechanism switching |
| CN110861097A (en) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | Force control tail end actuating mechanism and force control method for reducing vibration of mechanical arm |
| CN111136543A (en) * | 2020-01-13 | 2020-05-12 | 河北工业大学 | Grinding and polishing force control end execution device |
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| CN113427399A (en) * | 2021-06-16 | 2021-09-24 | 中国科学院宁波材料技术与工程研究所 | End effector |
| CN114102079A (en) * | 2021-11-09 | 2022-03-01 | 燕山大学 | Compact processing assembly quality |
| CN114425733A (en) * | 2021-12-14 | 2022-05-03 | 上海工程技术大学 | Two-degree-of-freedom force control end effector |
| CN115816174A (en) * | 2023-02-14 | 2023-03-21 | 中北大学 | Robot-controlled ultrasonic polishing and grinding end effector |
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| CN113427399A (en) * | 2021-06-16 | 2021-09-24 | 中国科学院宁波材料技术与工程研究所 | End effector |
| CN114102079A (en) * | 2021-11-09 | 2022-03-01 | 燕山大学 | Compact processing assembly quality |
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| CN114425733A (en) * | 2021-12-14 | 2022-05-03 | 上海工程技术大学 | Two-degree-of-freedom force control end effector |
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