CN110193817A - A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot - Google Patents
A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot Download PDFInfo
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- CN110193817A CN110193817A CN201910459421.3A CN201910459421A CN110193817A CN 110193817 A CN110193817 A CN 110193817A CN 201910459421 A CN201910459421 A CN 201910459421A CN 110193817 A CN110193817 A CN 110193817A
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- cylindrical bracket
- bracket
- outer cylindrical
- degree
- stress control
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 25
- 238000009434 installation Methods 0.000 claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000005855 radiation Effects 0.000 claims description 7
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 7
- 238000000227 grinding Methods 0.000 abstract description 4
- 238000005498 polishing Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of adaptive stress control flanges of single-degree-of-freedom active for industrial robot, mainly include fixed platform, moving platform, linear motor, air spring and guiding device etc.；And inner cylindrical bracket and outer cylindrical bracket with concentric nested installation, guiding device are arranged between interior cylindrical stent lateral wall and outer cylindrical bracket inner sidewall；One end of outer cylindrical bracket has the opening for accommodating inner cylindrical bracket, and the other end is fixedly connected with fixed platform；Inner cylindrical bracket is located at the inner end in outer cylindrical bracket, air spring is equipped between fixed platform, the outer end of inner cylindrical bracket is fixedly connected with moving platform；The motor stator of linear motor is mounted on outer cylindrical carrier openings portion；Electric mover is mounted on the inside of moving platform, and with the concentric arrangement of inner cylindrical bracket.The present invention power control precision, preferable dynamic response performance and biggish power control range with higher, are suitable for the industries such as component assembly and polishing grinding.
Description
Technical field
The present invention relates to industrial robot end equipments, and in particular to one kind is for operations such as component assembly, polishing grindings
The industrial robot end power control device of form.
Background technique
In industries such as component assembly, polishing grindings, traditional operation mode is manual work, and a large amount of manpower is needed to provide
The quality of source, higher cost, and operation tends to rely on the experience and qualification of worker, does not ensure that quality complete one
It causes.Meanwhile the mode production efficiency of manual work is low, there are biggish threats to worker safe and healthy for working environment.Tradition
Various drawbacks of manual work force the operation mode of the technical field to be changed to new high-effect high-quality direction.
With the development of science and technology industrial robot is good with flexibility, working space is big, and control is simple, at low cost, high-efficient
Etc. advantages gradually obtain the favors of each large enterprises.Working method of the industrial robot in production operation can be divided mainly into contact
Operation and contactless operation, in contact operation, the control mode of industrial robot can be divided into position control and power control.
Position control is the attitudes vibration for realizing end by each joint of adjusting industrial robot, and power control is by adjusting industry
Each joint moment of robot realizes that end power output, also referred to as side-jet control, this method need to establish accurate machine
It is numb to implement comparison according to the anti-output torque for solving each joint of industrial robot of end power output for human occupant dynamic model
It is tired.And the indirect force control of industrial robot is the end installing force control device in robot, is responsible for position by industrial robot
Control, power control device are responsible for the control of end power output, and the two, which be combined with each other, realizes power/position decoupling of industrial robot.
Existing power control device mostly uses greatly air pressure driving or motor driven.There are serious non-in control for air pressure driving
Linearly, power control precision is low, and gas haves the shortcomings that response is sluggish, can not realize and quickly adjust contact force size.And it is electric
The mode flexibility of machine driving is poor, and when operation is also easy to produce vibration, and single motor-driven power control device quality is larger, is not inconsistent
Close light-weighted design requirement.To meet the needs of industries such as component assembly and polishing grinding, it would be highly desirable to it is high, loud to research and develop a kind of precision
Answer the power control device that fast, flexible, light weight, power control range are big.
Summary of the invention
The object of the present invention is to provide a kind of single-degree-of-freedom actively adaptive stress control flange, with solve it is above-mentioned in the prior art
There are the problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of single-degree-of-freedom master for industrial robot
Adaptive stress control flange is moved, mainly includes fixed platform, moving platform, linear motor, air spring and guiding device；And have coaxial
The inner cylindrical bracket and outer cylindrical bracket of heart nesting installation, guiding device are arranged in interior cylindrical stent lateral wall and outer cylindrical bracket
Between inner sidewall；One end of outer cylindrical bracket has the opening for accommodating inner cylindrical bracket, and the other end is fixedly connected with fixed platform；It is interior
Cylindrical stent is located at the inner end in outer cylindrical bracket, and air spring is equipped between fixed platform；The outer end of inner cylindrical bracket
It is fixedly connected with moving platform；The motor stator of linear motor is mounted on outer cylindrical carrier openings portion；Electric mover is mounted on dynamic flat
The inside of platform, and with the concentric arrangement of inner cylindrical bracket.
As a further improvement of the above technical scheme, the adaptive stress control flange of single-degree-of-freedom active is equipped with dynamic for detecting
The displacement sensor of platform displacement and the pressure sensor that the practical contact force of tool is executed for detecting end；Displacement sensing
Actual measured value is fed back to controller by device and pressure sensor, and controller adjusts the electric current in linear motor and carries out practical contact
Power bias adjustment between power and expected force.
As a further improvement of the above technical scheme, there are three the installations for being spaced 120 ° for the open side tool of outer cylindrical bracket
Bracket, the sliding block in guiding device are connect with mounting bracket；Inner cylindrical bracket is located at there are three the tools of the position in outer cylindrical bracket
It is spaced 120 ° of pin bracket, the guide rail in guiding device is connect with pin bracket.
As a further improvement of the above technical scheme, guiding device is circumferentially spaced 120 ° of uniformly distributed, every guide rail uses
Double-slider structure.
As a further improvement of the above technical scheme, inner cylindrical bracket has engraved structure between pin bracket；Outside
Cylindrical stent has engraved structure between mounting bracket.
As a further improvement of the above technical scheme, the concentric installation of both air spring and linear motor, difference position
In the both ends of inner cylindrical bracket, the heat dissipation of linear motor is not only improved, while avoiding temperature to gas performance in air spring again
It impacts.
As a further improvement of the above technical scheme, motor stator has annular groove, in the inner and outer wall of annular groove
Equipped with interior external radiation permanent-magnetic clamp；The electric mover is inlaid in the annulus formed between the interior external radiation permanent-magnetic clamp,
Electric mover and inside and outside permanent magnetic ring-shaped at bilateral air gap, and interact with permanent-magnetic clamp.
As a further improvement of the above technical scheme, mechanical spring is equipped between moving platform and outer cylindrical bracket.
As a further improvement of the above technical scheme, mechanical spring quantity is more, along moving platform and outer cylindrical bracket
Even circumferential distribution.
As a further improvement of the above technical scheme, displacement sensor is high-precision grating sensor, including patch branch
Frame, lenticular lenses, grating reading head and grating reading head mounting rack；Grating reading head is fixed by grating reading head mounting rack and outer cylindrical bracket
Connection；Lenticular lenses are attached on patch support, and patch support is fixed on moving platform, compliant platform movement.
Compared with existing power control device, actively adaptive stress control flange has the advantage that single-degree-of-freedom of the invention
1, single-degree-of-freedom actively in adaptive stress control flange both air spring and linear motor by it is nested install it is interior
Cylindrical stent and the realization of outer cylindrical bracket are concentric, are spatially installed in a staggered manner up and down, not only improve motor radiating, also effectively avoid
Linear motor fever impacts gas performance in air spring；
2, mechanical spring is increased in single-degree-of-freedom actively adaptive stress control flange, effectively compensates for air spring work
For the slow-footed disadvantage of high-damping element responds, the dynamic response of system is improved；
3, linear motor uses interior external radiation permanent-magnetic clamp structure, not only makes air-gap field intensity more uniform, also helps
Air gap flux density is improved, makes motor that there is bigger thrust density and faster response time；
4, the adaptive stress control flange of single-degree-of-freedom active is by linear motor and air spring parallel connection as driving original part, the two
Learn from other's strong points to offset one's weaknesses, bring out the best in each other, with the power prosecutor formula of " macro+micro- ", power control precision with higher.
Detailed description of the invention
Fig. 1 is the structure chart of the adaptive stress control flange of single-degree-of-freedom active in the present embodiment.
Fig. 2 is the top view of the adaptive stress control flange of single-degree-of-freedom active in the present embodiment.
Fig. 3 is the structure chart of inner cylindrical bracket and outer cylindrical bracket in the present embodiment.
Fig. 4 is the cross-sectional view of linear motor in the present embodiment.
Fig. 5 is that permanent magnet radiates the figure that magnetizes in the present embodiment.
Appended drawing reference of the Fig. 1 into Fig. 5 are as follows: moving platform 1, displacement sensor 2, patch support 21, lenticular lenses 22, grating are read
First 23, grating reading head mounting rack 24, mechanical spring 3, linear motor 4, motor stator 41, permanent-magnetic clamp 42, electric mover 43, guiding
Device 5, block 51, guide rail 52, sliding block 53, outer cylindrical bracket 6, inner cylindrical bracket 7, air spring 8, fixed platform 9, gas-tpe fitting
10, connecting flange 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.
The adaptive stress control flange of single-degree-of-freedom active for industrial robot of the invention, mainly includes fixed platform 9, dynamic
Platform 1, linear motor 4, air spring 8 and guiding device 5, and inner cylindrical bracket 7 and outer cylinder with concentric nested installation
Shape bracket 6.Guiding device 5 is arranged between interior 7 lateral wall of cylindrical stent and 6 inner sidewall of outer cylindrical bracket.Outer cylindrical bracket 6
One end has the opening for accommodating inner cylindrical bracket 7, and the other end is fixedly connected with fixed platform 9.
Inner cylindrical bracket 7 is located at the inner end in outer cylindrical bracket 6, and air spring 8 is equipped between fixed platform 9.Inner cylinder
The outer end of shape bracket 7 is fixedly connected with moving platform 1.The motor stator 41 of linear motor 4 is mounted on the opening of outer cylindrical bracket 6
Portion.Electric mover 43 is mounted on the inside of moving platform 1, and with the concentric arrangement of inner cylindrical bracket 7.
8 one end of air spring is connect with fixed platform 9, and the other end is connect with inner cylindrical bracket 7, is made by inner cylindrical bracket 7
For moving platform 1, parallel drive is constituted with linear motor 4.
Actively adaptive stress control flange is equipped with displacement sensor 2, Yi Jiyong for detecting the displacement of moving platform 1 to single-degree-of-freedom
The pressure sensor of the practical contact force of tool is executed in detection end.Displacement sensor 2 and pressure sensor are by actual measured value
Controller is fed back to, controller adjusts the practical contact force of electric current progress in linear motor 4 and the power deviation tune between expected force
Section.
Sliding block 53 and peace of the open side tool of outer cylindrical bracket 6 there are three 120 ° of the mounting bracket in interval, in guiding device 5
Fill bracket connection.Inner cylindrical bracket 7 is located at the tool of the position in outer cylindrical bracket 6, and there are three the pin bracket for being spaced 120 °, guiding
Guide rail 52 in device 5 is connect with pin bracket.
In the present embodiment, 7 shape of inner cylindrical bracket is pushed up using cylindrical, inner hollow for placing linear motor 4
There are three the pin brackets for being spaced 120 ° in portion, for the guide rail 52 in placement guide device 5.6 shape of outer cylindrical bracket is also in round
Cylindricality, lower half is hollow, and for placing air spring 8, the mounting bracket at three 120 ° of intervals is protruded in the upper half, leads for installing
Sliding block 53 into device 5.Inner cylindrical bracket 7 does not require nothing more than concentric nested installation, and outer cylindrical branch with outer cylindrical bracket 6
Three 53 mounting brackets of sliding block of frame 6 and three pin brackets of inner cylindrical bracket 7 also will be to positive installations.
Inner cylindrical bracket 7 has engraved structure between pin bracket.Outer cylindrical bracket 6 has between mounting bracket to be engraved
Hollow structure.The monoblock type engraved structure that inner cylindrical bracket 7 and outer cylindrical bracket 6 use both had facilitated the lightweight of the power control flange
Design, and make that the apparatus structure is compact, stability is good, while being also beneficial to reduce the installation error of part.
The concentric installation of both air spring 8 and linear motor 4, is located at the both ends of inner cylindrical bracket 7.Air spring
8 and the staggered structure of spatially descending of both linear motors 4 not only improve the heat dissipation of linear motor 4, while avoiding temperature pair again
Gas performance impacts in air spring 8.
Linear motor 4 includes motor stator 41, permanent-magnetic clamp 42 and electric mover 43, and motor stator 41 is installed on outer cylindrical branch
On frame 6, electric mover 43 is connected with moving platform 1.It is provided with groove on outer cylindrical bracket 6 and moving platform 1, is used for motor stator 41
With the positioning of electric mover 43, both to guarantee concentric installation.Motor stator 41 have annular groove, annular groove inner wall and
Outer wall is equipped with interior external radiation permanent-magnetic clamp 42；The electric mover 43 is inlaid between the interior external radiation permanent-magnetic clamp 42 and is formed
Annulus in, electric mover 43 and inside and outside permanent-magnetic clamp 42 form bilateral air gap, and interact with permanent-magnetic clamp 42.Using inside and outside spoke
It penetrates permanent-magnetic clamp 42 and not only increases air gap number of edges, and also advantageously improve air gap flux density, motor is made to have bigger thrust close
Degree and faster response time.
Mechanical spring 3 is equipped between moving platform 1 and outer cylindrical bracket 6.3 quantity of mechanical spring is more, along 1 He of moving platform
The even circumferential of outer cylindrical bracket 6 is distributed.
In the present embodiment, three mechanical springs 3 are uniformly distributed between moving platform 1 and outer cylindrical bracket 6 along the circumference.It is at this
Air spring 8 belongs to high-damping element in system, and response speed is slower, and addition mechanical spring 3 helps to increase system stiffness, improves
The dynamic response characteristic of system.
Guiding device 5 is circumferentially spaced 120 ° and is evenly distributed with, and every guide rail 52 uses 53 structure of double-slider.In the present embodiment,
Guiding device 5 includes block 51, guide rail 52 and sliding block 53.Wherein guide rail 52 is installed on inner cylindrical bracket 7, and sliding block 53 is installed on
On outer cylindrical bracket 6, block 51 is for limiting the displacement of sliding block 53, to prevent the derailing of limited slip block 53.Three guiding devices 5 circumferentially between
It is uniformly distributed every 120 °, and 53 structure of double-slider is used, effectively increase the bearing capacity of guiding device 5.
The displacement sensor 2 of the adaptive stress control flange of single-degree-of-freedom active uses high-precision grating sensor, including patch
Plate rack 21, lenticular lenses 22, grating reading head 23 and grating reading head mounting rack 24, for detecting the displacement of moving platform 1, with realization pair
The elaborate position of system controls.Wherein, grating reading head 23 is fixedly connected by grating reading head mounting rack 24 with outer cylindrical bracket 6,
Lenticular lenses 22 are attached on patch support 21, and patch support 21 is fixed on moving platform 1, and compliant platform 1 moves.
Although the guiding device 5 and mechanical spring 3 that use in the present embodiment, which are 3, is circumferentially spaced 120 ° uniformly,
But those skilled in the art can be understanding, can also use the guiding device 5 and mechanical spring 3 of other numbers, and adopt
With nonuniform mutation operator mode.
In addition, those skilled in the art are appreciated that the pneumatic elements such as cylinder, artificial-muscle also can be used as this implementation
The alternative solution of air spring in example, the pneumatic elements such as cylinder, artificial-muscle also should be within the protection scope of this patent.
Technical solution of the present invention is described in detail in above embodiments, it should be understood that the above is only of the invention
Specific embodiment is not intended to restrict the invention, all any modifications made in spirit of the invention, supplement or similar
Mode substitutes, and should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot, mainly includes fixed platform (9), moving platform
(1), linear motor (4), air spring (8) and guiding device (5)；It is characterized in that: the inner cylindrical with concentric nested installation
Bracket (7) and outer cylindrical bracket (6), the guiding device (5) are arranged in interior cylindrical stent (7) lateral wall and outer cylindrical bracket
(6) between inner sidewall；One end of the outer cylindrical bracket (6) have accommodate inner cylindrical bracket (7) opening, the other end with allocate
Platform (9) is fixedly connected；Inner cylindrical bracket (7) is located at the inner end in outer cylindrical bracket (6), and institute is equipped between fixed platform (9)
The air spring (8) stated；The outer end of inner cylindrical bracket (7) is fixedly connected with moving platform (1)；The electricity of the linear motor (4)
Machine stator (41) is mounted on outer cylindrical bracket (6) opening portion；Electric mover (43) is mounted on the inside of the moving platform (1), and
And with inner cylindrical bracket (7) concentric arrangement.
2. the adaptive stress control flange of single-degree-of-freedom active according to claim 1, it is characterised in that: equipped with dynamic for detecting
The displacement sensor (2) of platform (1) displacement and the pressure sensor that the practical contact force of tool is executed for detecting end；Institute
Actual measured value is fed back to controller by the displacement sensor (2) and pressure sensor stated, and the controller adjusts straight-line electric
Electric current in machine (4) carries out the power bias adjustment between practical contact force and expected force.
3. the adaptive stress control flange of single-degree-of-freedom active according to claim 1, it is characterised in that: the outer cylindrical bracket
(6) sliding block (53) and the installation of the open side tool there are three 120 ° of the mounting bracket in interval, in the guiding device (5)
Bracket connection；The inner cylindrical bracket (7) is located at the tool of the position in outer cylindrical bracket (6), and there are three the pin branch for being spaced 120 °
Frame, the guide rail (52) in the guiding device (5) are connect with pin bracket.
4. the adaptive stress control flange of single-degree-of-freedom active according to claim 3, it is characterised in that: the guiding device
(5) it is circumferentially spaced 120 ° to be evenly distributed with, every guide rail (52) uses double-slider (53) structure.
5. the adaptive stress control flange of single-degree-of-freedom active according to claim 3, it is characterised in that: the inner cylindrical branch
Frame (7) has engraved structure between pin bracket；The outer cylindrical bracket (6) has hollow out knot between mounting bracket
Structure.
6. the adaptive stress control flange of single-degree-of-freedom active according to claim 1, it is characterised in that: the air spring
(8) and the concentric installation of both linear motors (4) both ends of inner cylindrical bracket (7), are located at.
7. the adaptive stress control flange of single-degree-of-freedom active according to claim 1, it is characterised in that: the motor stator
(41) there is annular groove, be equipped with interior external radiation permanent-magnetic clamp (42) in the inner and outer wall of annular groove；The electric mover (43)
It is inlaid in the annulus formed between the interior external radiation permanent-magnetic clamp (42), electric mover (43) and inside and outside permanent-magnetic clamp (42) shape
It interacts at bilateral air gap, and with permanent-magnetic clamp (42).
8. the adaptive stress control flange of single-degree-of-freedom active according to claim 1, it is characterised in that: the moving platform
(1) mechanical spring (3) are equipped between outer cylindrical bracket (6).
9. the adaptive stress control flange of single-degree-of-freedom active according to claim 8, it is characterised in that: the mechanical spring
(3) quantity is more, is distributed along the even circumferential of moving platform (1) and outer cylindrical bracket (6).
10. the adaptive stress control flange of single-degree-of-freedom active according to claim 2, it is characterised in that: the displacement passes
Sensor (2) is high-precision grating sensor, including patch support (21), lenticular lenses (22), grating reading head (23) and grating reading head
Mounting rack (24)；The grating reading head (23) is fixedly connected by grating reading head mounting rack (24) with outer cylindrical bracket (6)；Institute
The lenticular lenses (22) stated are attached on patch support (21), and the patch support (21) is fixed on moving platform (1), compliant platform
(1) it moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910459421.3A CN110193817A (en) | 2019-05-29 | 2019-05-29 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910459421.3A CN110193817A (en) | 2019-05-29 | 2019-05-29 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110193817A true CN110193817A (en) | 2019-09-03 |
Family
ID=67753267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910459421.3A Pending CN110193817A (en) | 2019-05-29 | 2019-05-29 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110193817A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111843766A (en) * | 2020-07-17 | 2020-10-30 | 大连理工大学 | High-precision force and position hybrid control device for grinding and polishing of robot |
| 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 |
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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 |
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