CN110202728A - Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding - Google Patents
Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding Download PDFInfo
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- CN110202728A CN110202728A CN201910293582.XA CN201910293582A CN110202728A CN 110202728 A CN110202728 A CN 110202728A CN 201910293582 A CN201910293582 A CN 201910293582A CN 110202728 A CN110202728 A CN 110202728A
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- CN
- China
- Prior art keywords
- silica gel
- mechanical arm
- unit
- software
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/002—Methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/38—Moulds or cores; Details thereof or accessories therefor characterised by the material or the manufacturing process
- B29C33/3842—Manufacturing moulds, e.g. shaping the mould surface by machining
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
- B29C39/42—Casting under special conditions, e.g. vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C53/00—Shaping by bending, folding, twisting, straightening or flattening; Apparatus therefor
- B29C53/56—Winding and joining, e.g. winding spirally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/124—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using layers of liquid which are selectively solidified
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
- B29C65/4805—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the type of adhesives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
Abstract
The invention discloses a kind of three cavity outer wall fibers windings to strengthen software mechanical arm and preparation method thereof.The present invention devises a kind of modularization software mechanical arm that the winding of three cavity outer wall fibers is strengthened, it is wound using outer wall fiber, greatly strengthen the intensity of software mechanical arm, and cavity will be limited to be radially expanded, enhance axial elongation, bending efficiency is improved, using modular design method, greatly facilitates handling, the maintenance of software mechanical arm.
Description
Technical field
The present invention relates to a kind of hydraulic driving software mechanical arms more particularly to a kind of winding of outer wall fiber to strengthen software machine
Tool arm and preparation method thereof.
Background technique
Conventional rigid robotic arm is generally formed by connecting by rigid link by cradle head, and such Rigid Robot Manipulator has
The advantages that movement is quickly, TRAJECTORY CONTROL is accurate and large carrying capacity, because the rigidity of structure leads to that its freedom degree is lower, flexibility
It is insufficient, poor to the adaptability of environment, it can only work in the environment of structuring.As society is constantly progressive, science and technology and production
In have more new demands to mechanical arm, in natural environment and operation focusing on people, safety and to it is uncertain because
The adaptability of element is basic job requirement, and the defect of Rigid Robot Manipulator itself causes it to be unable to satisfy above-mentioned requirements, such as army
Thing scouting, disaster assistance and scientific exploration etc.；The soft body structure of software mechanical arm natural imitation circle, such as big trunk arm, the food in one's mouth
Tongue, snake of newborn animal etc. are made of flexible materials such as the rubber, silica gel, polymer that can bear to strain greatly, have freedom degree
It is high, can continuous modification property, the shape and size of itself can be changed in a wide range of.
Certain research and application for being directed to software manipulator existing at present, but structure is complicated for software mechanical arm, and fills
Expandable cavity is big when pressure, easily rupturable, and safety is not high, and expandable cavity is curved inefficient.Most software mechanical arm is whole
Formula, maintenance replacement is difficult after cavity rupture, and mechanical arm lengths can not just change again after completing, and present software is mechanical
Arm mostly uses pneumatically, it is difficult to adapt to underwater working environment.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, devise a kind of mould that the winding of three cavity outer wall fibers is strengthened
Block software mechanical arm is wound using outer wall fiber, greatly strengthens the intensity of software mechanical arm, and will limit cavity diameter
To expansion, axial elongation is enhanced, improves bending efficiency, using modular design method, greatly facilitates software machinery
Handling, the maintenance of arm.
In order to solve the above technical problems, the present invention provides a kind of software that the winding of three cavity outer wall fiber of hydraulic drives is strengthened
Mechanical arm module design and production method, the design and fabrication including silica gel software unit.
This software mechanical arm uses split-type design scheme, is divided into main part and end cap portion.Make software silica gel list
Member is made of the technique of split type casting, and silica gel uses 30 series of products of Dragon Skin of SMOOTH-ON company.Dividing
After not being processed into two parts, two parts are glued using the Silicone Sealant silica gel bonding agent of Dow Corning company
It picks up and.
Outer wall has one group of oppositely oriented, identical spiral yarn shaped groove of circle number, for winding to this silica gel unit in the middle
Reinforcing fiber, such as: Kev bracing wire, and be the cylinder that diameter is less than middle part at the both ends of silica gel unit, and be distributed on cylinder
Uniform step-like groove.The cavity section of silica gel unit is and to have a through-hole to pass through around equally distributed three sectors of axis
Wear silica gel unit, the axis of through-hole and silica gel unit it is axially coincident.
The coupling part of this software mechanical arm is made of three mutually isostructural valves, is formed using PLA material 3D printing.Three
Valve coupling part forms a whole, and inner surface is by being uniformly distributed step-like protrusion, for connecting two adjacent silica gel units,
Protrusion is corresponding with the step-like groove at silica gel unit both ends.
When this software mechanical arm assembles, three valves of coupling part form an entirety for connecting phase by screw, nut
The tracheae of adjacent silica gel unit, lower end silica gel unit is pulled out from upper end silica gel cell via, and the tracheae of all silica gel units is integrated
At one end.When the work of software mechanical arm, water pump enters hydraulic pressure in the cavity of silica gel unit, and expandable cavity elongation makes silica gel unit
To back-flexing.
The performance of silica gel unit also relies on the quality of silica gel curing molding other than by self structure.In practical system
During making silica gel unit, by the promotion constantly to the improvement of casting mold and finger manufacture craft, formulate a set of complete
Whole manufacture craft ensure that the processing quality of silica gel unit, comprising the following steps:
Step 1: mold prepares:
A. mold is generated using photosensitive resin material 3D printing；
B. release agent is sprayed in mould inner surface.
Step 2: silica gel is mixed:
A. the silica gel of two kinds of ingredients of A, B is mixed in the ratio of 1:1；
B. mixed silica gel is fitted into progress high speed centrifugation stirring in centrifuge, is uniformly mixed it.
Step 3: silica gel casting:
It a. will be in uniformly mixed silica gel injection mold；
B. mold is put into and carries out vacuumizing bubble removing in vacuum tank；
C. the mold after bubble removing is stood, to silica gel curing molding therein；
D. utilize the Silicone Sealant silica gel bonding agent of Dow Corning company by the main body of silica gel unit and end cap two
Part bonds together.
Step 4: the winding of outer wall reinforcing fiber:
A. the Kev bracing wire being of convenient length under subtracting；
B. Kev bracing wire is wound along outer wall double helix groove；
C. after the completion of winding, by Kev bracing wire both ends knotting blend compounds hydropexis.
Further improvement as software mechanical arm of the invention: the higher silica gel of hardness is selected to carry out software mechanical arm
Production.
Further improvement as software mechanical arm of the invention: step-like knot is devised at software mechanical arm end cap
Structure increases two-part bond area.
Further improvement as software mechanical arm of the invention: by software mechanical arm modular, by several software units
It is assembled into longer software mechanical arm, it is convenient for safeguarding and increase module.
Further improvement as software mechanical arm of the invention: step-like groove, connection are designed at silica gel unit both ends
Part designs step-like protrusion, and connection is even closer, can be convenient for disassembly and assembly by biggish power.
Compared with the background technology, the present invention, it has the advantages that:
One, software mechanical arm of the invention uses Dragon Skin30 silica gel material, has elasticity and high intensity, and hydrolysis adds
Work mouldability is more preferable, is formed using die casting, and cost performance is high.
Two, software mechanical arm of the invention can modularization, be made of several silica gel units, assemble, dismantle, is easy to maintenance.
Three, software mechanical arm of the invention uses hydraulic drives, and noise is small, driving medium under water working environment in taking
, and not will cause environmental pollution.
Four, software mechanical arm of the invention uses modular production method, and mass can be achieved in the production of silica gel unit,
Longer software mechanical arm is formed by connecting by several modules.
Five, software mechanical arm coupling part of the invention uses PLA material, has light weight, and the simple feature of structure is adopted
It is made with 3D printing technique, three valves form a whole, convenient disassembly, and connection is reliable.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 is the flow diagram of the unit-modularized production method of silica gel of software mechanical arm in the present invention.
Fig. 2 is silica gel cell floor plan.
Fig. 3 is the end of silica gel unit.
Fig. 4 is the silica gel unit for removing an end.
Fig. 5 is silica gel unit three-dimensional figure.
Fig. 6 is the connector in the present invention.
Fig. 7 is schematic structural view of the invention.
In Fig. 2: the end cap of 2-1, silica gel unit, the main body of 2-2, silica gel unit.
In Fig. 5: 5-1, water inlet, 5-2, step-like groove, 5-3, outer wall double spiral grooves.
In Fig. 6: 6-1, step-like protrusion, the through-hole of 6-2, mounting screw.
Specific embodiment
Referring to figs. 1 to Fig. 5, a kind of three cavity outer wall fibers winding reinforcing software mechanical arm is passed through by several silica gel units
Coupling part composition, outer wall has one group of oppositely oriented, identical spiral yarn shaped groove 5- of circle number to each silica gel unit in the middle
3, for winding reinforcing fiber；It is the cylinder that diameter is less than middle part at the both ends of silica gel unit, and is distributed on cylinder uniformly
Step-like groove 5-2, and be provided with water inlet 5-1；The cavity section of the silica gel unit is equally distributed three around axis
Sector, and have a through-hole through silica gel unit, the axis of through-hole and silica gel unit it is axially coincident.The coupling part by
Three mutually isostructural valve compositions, are formed using PLA material 3D printing.Three valve coupling parts form a whole, inner surface by
It is uniformly distributed step-like protrusion 6-1, for connecting two adjacent silica gel units, protrusion is step-like with silica gel unit both ends
Groove is corresponding.
When this software mechanical arm assembles, three valves of coupling part pass through the through-hole 6-2 of mounting screw and matching
Screw, nut form entirety for connecting adjacent silica gel unit, and the tracheae of lower end silica gel unit is from upper end silica gel unit
Through-hole pulls out, and the tracheae of all silica gel units is integrated at one end.When the work of software mechanical arm, hydraulic pressure is entered silica gel unit by water pump
Cavity in, expandable cavity elongation make silica gel unit to back-flexing.
Software mechanical arm production method in the present invention is described further.
A kind of fiber strengthened software mechanical arm production method of hydraulic drives outer wall, specifically includes the following steps:
Step 1: mold prepares:
A. mold is generated using photosensitive resin material 3D printing: mold being modeled using 3 d modeling software and generates STL
File will carry out slicing treatment in stl file import slices software, carry out beating for mold using SLA Stereolithography 3D printing
Print.
B. release agent: assembly mold is sprayed in mould inner surface, and by release agent even application in Split type die
Surface, and stand 15 minutes.
Step 2: silica gel is mixed:
A. the silica gel of two kinds of components of A, B is mixed in the ratio of 1:1: respectively takes the silicon of two kinds of components of A, B in the ratio of 1:1
Glue 40g is added in plastic test tube and carries out hand operated mixing.
B. mixed silica gel is fitted into progress high speed centrifugation stirring in centrifuge, is uniformly mixed it.
Step 3: silica gel casting:
It a. will be in uniformly mixed silica gel injection mold.
B. mold is put into and carries out vacuumizing bubble removing in vacuum tank: vacuumized using air compressor machine and keep vacuum degree-
0.09MPa15 minutes, escape the bubble in silica gel all.
C. the mold after bubble removing is stood, to silica gel curing molding therein: quiet in 20 degrees Celsius of room temperature of environment
It sets 20 hours, silica gel can curing molding.
D. two parts of the main body of silica gel unit and end cap are bonded together using dedicated silica gel bonding agent: by Dow
The Silicone Sealant silica gel bonding agent of Corning company is applied to the bonding knot of end cap portion 1 and main part 2 respectively
At conjunction, and finger two parts are pressed together, bonding can be completed in standing half an hour.
Step 4: outer wall winds reinforcing fiber
A. the Kev bracing wire being of convenient length under subtracting.
B. Kev bracing wire is wound along outer wall double helix groove.
C. after the completion of winding, by Kev bracing wire both ends knotting blend compounds hydropexis.
Step 5: software unit module connection
A. tracheae is inserted into the stomata of each silica gel unit, and by three tracheaes of next silica gel unit from a upper silica gel
Through-hole among unit goes out to be pierced by.
It b. will be in the step-like groove of the step-like protrusion insertion silica gel unit of each valve of connector.
C. three valves of connector are tightened to an entirety with screw, nut.
Fig. 2~Fig. 5, which is combined, gives a kind of hydraulic drives outer wall fiber winding reinforcing software mechanical arm, including end cap portion
2-1, main part 2-2, using the Silicone Sealant silica gel bonding agent of Dow Corning company by end cap portion and master
Body portion does leakproofness bonding.
The working principle for the modularization software mechanical arm that three cavity outer wall fibers winding of the invention is strengthened is as follows:
This software mechanical arm is designed as three cavity outer wall fibers winding reinforced structure.When water pump leads into this software mechanical arm cavity
When entering highly pressurised liquid, cavity, which can generate, to be radially expanded and axial elongation, empty since outer wall is wrapped reverse double-helix reinforcing fiber
Being radially expanded for chamber can be limited by fiber, to greatly enhance the axial elongation of cavity so that section silica gel unit of filling liquid to
The other end bending.Simultaneously as the effect of outer wall fiber winding, the pressure that cavity is able to bear greatly reinforce.Single software
Unit is a module, and structure and size are completely the same, therefore can be with batch making, several units are connected by connector
The suitable software mechanical arm of length.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (3)
1. software mechanical arm is strengthened in a kind of three cavity outer wall fibers winding, it is made up of several silica gel units coupling part,
Be characterized in that: outer wall has one group of oppositely oriented, identical spiral yarn shaped groove of circle number, for twining to each silica gel unit in the middle
Around reinforcing fiber；It is the cylinder that diameter is less than middle part at the both ends of silica gel unit, and is distributed on cylinder uniform step-like
Groove；The cavity section of the silica gel unit is and to have a through-hole through silica gel list around equally distributed three sectors of axis
Member, the axis of through-hole and silica gel unit it is axially coincident；
The coupling part is made of three mutually isostructural valves, is formed using PLA material 3D printing；The grouping of three valve interconnecting pieces
At an entirety, inner surface is by being uniformly distributed step-like protrusion, for connecting two adjacent silica gel units, protrusion and silica gel list
The step-like groove at first both ends is corresponding.
2. software mechanical arm is strengthened in a kind of three cavities outer wall fiber winding according to claim 1, it is characterised in that: this is soft
When body mechanical arm assembles, three valves of coupling part form an entirety by screw, nut and are used to connect adjacent silica gel unit,
The tracheae of lower end silica gel unit is pulled out from upper end silica gel cell via, and the tracheae of all silica gel units is integrated at one end；Work as software
When mechanical arm works, water pump enters hydraulic pressure in the cavity of silica gel unit, and expandable cavity elongation makes silica gel unit to back-flexing.
3. the method for preparing silica gel unit described in claim 1, it is characterised in that the following steps are included:
Step 1: mold prepares:
A. mold is generated using photosensitive resin material 3D printing；
B. release agent is sprayed in mould inner surface；
Step 2: silica gel is mixed:
A. the silica gel of two kinds of ingredients of A, B is mixed in the ratio of 1:1；
B. mixed silica gel is fitted into progress high speed centrifugation stirring in centrifuge, is uniformly mixed it；
Step 3: silica gel casting:
It a. will be in uniformly mixed silica gel injection mold；
B. mold is put into and carries out vacuumizing bubble removing in vacuum tank；
C. the mold after bubble removing is stood, to silica gel curing molding therein；
D. utilize the Silicone Sealant silica gel bonding agent of Dow Corning company by the main body of silica gel unit and end cap two
Part bonds together, and forms silica gel unit；
Step 4: the winding of outer wall reinforcing fiber:
A. the Kev bracing wire being of convenient length under subtracting；
B. Kev bracing wire is wound along outer wall double helix groove；
C. after the completion of winding, by Kev bracing wire both ends knotting blend compounds hydropexis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293582.XA CN110202728A (en) | 2019-04-12 | 2019-04-12 | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293582.XA CN110202728A (en) | 2019-04-12 | 2019-04-12 | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202728A true CN110202728A (en) | 2019-09-06 |
Family
ID=67785125
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910293582.XA Pending CN110202728A (en) | 2019-04-12 | 2019-04-12 | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203527A (en) * | 2020-01-09 | 2020-05-29 | 鹏城实验室 | Internal demolding device and method for fluid pressure driven long-soft-body mechanical arm casting mold |
| CN111267137A (en) * | 2020-03-23 | 2020-06-12 | 北京软体机器人科技有限公司 | Novel flexible finger and preparation method thereof |
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| CN107398916A (en) * | 2017-09-09 | 2017-11-28 | 北京工业大学 | A kind of flexible mechanical paw of hydraulic drives |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
| CN108927791A (en) * | 2018-08-16 | 2018-12-04 | 大连海事大学 | A kind of variation rigidity software mechanical arm of ER fluid control |
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| CN1342860A (en) * | 2001-10-08 | 2002-04-03 | 罗荣尧 | Method for connecting large-diameter composite metal-plastic pipes |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| CN107398916A (en) * | 2017-09-09 | 2017-11-28 | 北京工业大学 | A kind of flexible mechanical paw of hydraulic drives |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203527A (en) * | 2020-01-09 | 2020-05-29 | 鹏城实验室 | Internal demolding device and method for fluid pressure driven long-soft-body mechanical arm casting mold |
| CN111203527B (en) * | 2020-01-09 | 2021-06-25 | 鹏城实验室 | Internal demolding device and method for fluid pressure driven long-soft-body mechanical arm casting mold |
| CN111267137A (en) * | 2020-03-23 | 2020-06-12 | 北京软体机器人科技有限公司 | Novel flexible finger and preparation method thereof |
| CN111267137B (en) * | 2020-03-23 | 2021-07-20 | 北京软体机器人科技有限公司 | Novel flexible finger and preparation method thereof |
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Application publication date: 20190906 |
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