CN110253562A - 一种基于气动肌肉的四足机器人柔性脊柱 - Google Patents
一种基于气动肌肉的四足机器人柔性脊柱 Download PDFInfo
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- CN110253562A CN110253562A CN201910481453.3A CN201910481453A CN110253562A CN 110253562 A CN110253562 A CN 110253562A CN 201910481453 A CN201910481453 A CN 201910481453A CN 110253562 A CN110253562 A CN 110253562A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Prostheses (AREA)
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Abstract
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111195903A (zh) * | 2020-01-13 | 2020-05-26 | 中南大学 | 欠驱动万向柔性臂及机器人 |
CN112171646A (zh) * | 2020-10-28 | 2021-01-05 | 西北工业大学深圳研究院 | 一种柔性脊柱机构和仿袋鼠跳跃机器人 |
CN113084789A (zh) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | 一种刚柔耦合气动肌肉 |
CN113084829A (zh) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | 一种基于可精准控制骨架的仿生软体消毒机械臂 |
CN113183181A (zh) * | 2021-04-23 | 2021-07-30 | 浙江工业大学 | 一种刚柔耦合机械臂及机器人 |
CN113635289A (zh) * | 2021-08-30 | 2021-11-12 | 何衢 | 一种仿生骨架结构及其应用 |
WO2021228176A1 (zh) * | 2020-05-14 | 2021-11-18 | 苏州思柏凯德科技有限公司 | 弹性脊柱模型及基于其实现的矫形演示和测试系统 |
CN114434424A (zh) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | 一种仿生脊柱机构 |
CN115416776A (zh) * | 2022-11-07 | 2022-12-02 | 西北工业大学 | 月面软体机器人、月面软体机器人的运动方法 |
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US4784042A (en) * | 1986-02-12 | 1988-11-15 | Nathaniel A. Hardin | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements |
DE3918955A1 (de) * | 1989-06-09 | 1989-12-21 | Ringer Michael | Technischer nachbau des biologischen muskelprinzips als technischer muskel. tier- oder menschenaehnlicher roboter mit technischen muskeln. teile dieses roboters als prothesen. weitere anwendungen des muskels: als hub- und zugvorrichtung, als muskelmotor, als objektpositionierung durch mehrere muskeln, als federwegeinsteller. |
CN103744426A (zh) * | 2014-01-02 | 2014-04-23 | 上海大学 | 一种四足机器人仿生柔性机体弯曲控制系统 |
CN204610745U (zh) * | 2015-01-14 | 2015-09-02 | 冯旭明 | 用于动作仿生的动作驱动装置 |
US20160016309A1 (en) * | 2014-07-15 | 2016-01-21 | Soc Robotics Inc. | Motion system with plurality of stewart platform based actuators |
CN205363953U (zh) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | 一种气动绳控负荷型柔性机械臂 |
KR101641204B1 (ko) * | 2016-04-01 | 2016-07-20 | 한국기계연구원 | 변위 측정이 가능한 가변 수동 강성 그리퍼 |
CN105922244A (zh) * | 2016-06-04 | 2016-09-07 | 上海大学 | 一种线驱动的曲率连续变化机器人 |
CN106272531A (zh) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | 一种仿真智能机器人的脊柱关节总成 |
CN206154300U (zh) * | 2016-11-01 | 2017-05-10 | 张帅 | 一种辅助并增强人体力量的装置 |
CN108044613A (zh) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | 柔性气动单元与多单元串联机械臂 |
CN208289885U (zh) * | 2018-05-24 | 2018-12-28 | 枣庄学院 | 一种仿生柔性机械臂 |
US20190117942A1 (en) * | 2017-04-25 | 2019-04-25 | Project Moray, Inc. | Matrix supported balloon articulation systems, devices, and methods for catheters and other uses |
CN210650686U (zh) * | 2019-06-04 | 2020-06-02 | 广东省智能制造研究所 | 一种基于气动肌肉的四足机器人柔性脊柱 |
-
2019
- 2019-06-04 CN CN201910481453.3A patent/CN110253562B/zh active Active
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US4784042A (en) * | 1986-02-12 | 1988-11-15 | Nathaniel A. Hardin | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements |
DE3918955A1 (de) * | 1989-06-09 | 1989-12-21 | Ringer Michael | Technischer nachbau des biologischen muskelprinzips als technischer muskel. tier- oder menschenaehnlicher roboter mit technischen muskeln. teile dieses roboters als prothesen. weitere anwendungen des muskels: als hub- und zugvorrichtung, als muskelmotor, als objektpositionierung durch mehrere muskeln, als federwegeinsteller. |
CN103744426A (zh) * | 2014-01-02 | 2014-04-23 | 上海大学 | 一种四足机器人仿生柔性机体弯曲控制系统 |
US20160016309A1 (en) * | 2014-07-15 | 2016-01-21 | Soc Robotics Inc. | Motion system with plurality of stewart platform based actuators |
CN204610745U (zh) * | 2015-01-14 | 2015-09-02 | 冯旭明 | 用于动作仿生的动作驱动装置 |
CN205363953U (zh) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | 一种气动绳控负荷型柔性机械臂 |
KR101641204B1 (ko) * | 2016-04-01 | 2016-07-20 | 한국기계연구원 | 변위 측정이 가능한 가변 수동 강성 그리퍼 |
CN105922244A (zh) * | 2016-06-04 | 2016-09-07 | 上海大学 | 一种线驱动的曲率连续变化机器人 |
CN106272531A (zh) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | 一种仿真智能机器人的脊柱关节总成 |
CN206154300U (zh) * | 2016-11-01 | 2017-05-10 | 张帅 | 一种辅助并增强人体力量的装置 |
US20190117942A1 (en) * | 2017-04-25 | 2019-04-25 | Project Moray, Inc. | Matrix supported balloon articulation systems, devices, and methods for catheters and other uses |
CN108044613A (zh) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | 柔性气动单元与多单元串联机械臂 |
CN208289885U (zh) * | 2018-05-24 | 2018-12-28 | 枣庄学院 | 一种仿生柔性机械臂 |
CN210650686U (zh) * | 2019-06-04 | 2020-06-02 | 广东省智能制造研究所 | 一种基于气动肌肉的四足机器人柔性脊柱 |
Non-Patent Citations (1)
Title |
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隋立明;席作岩;刘亭羽;: "多腔体式仿生气动软体驱动器的设计与制作", 工程设计学报, no. 05, 28 October 2017 (2017-10-28), pages 511 - 517 * |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111195903B (zh) * | 2020-01-13 | 2022-04-05 | 中南大学 | 欠驱动万向柔性臂及机器人 |
CN111195903A (zh) * | 2020-01-13 | 2020-05-26 | 中南大学 | 欠驱动万向柔性臂及机器人 |
WO2021228176A1 (zh) * | 2020-05-14 | 2021-11-18 | 苏州思柏凯德科技有限公司 | 弹性脊柱模型及基于其实现的矫形演示和测试系统 |
CN112171646A (zh) * | 2020-10-28 | 2021-01-05 | 西北工业大学深圳研究院 | 一种柔性脊柱机构和仿袋鼠跳跃机器人 |
CN113084829A (zh) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | 一种基于可精准控制骨架的仿生软体消毒机械臂 |
CN113084789A (zh) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | 一种刚柔耦合气动肌肉 |
CN113084789B (zh) * | 2021-04-02 | 2023-03-14 | 浙江工业大学 | 一种刚柔耦合气动肌肉 |
CN113183181A (zh) * | 2021-04-23 | 2021-07-30 | 浙江工业大学 | 一种刚柔耦合机械臂及机器人 |
CN113635289A (zh) * | 2021-08-30 | 2021-11-12 | 何衢 | 一种仿生骨架结构及其应用 |
CN113635289B (zh) * | 2021-08-30 | 2023-09-19 | 何衢 | 一种仿生骨架结构及其应用 |
CN114434424A (zh) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | 一种仿生脊柱机构 |
CN114434424B (zh) * | 2022-01-25 | 2024-01-09 | 南京信息工程大学 | 一种仿生脊柱机构 |
CN115416776A (zh) * | 2022-11-07 | 2022-12-02 | 西北工业大学 | 月面软体机器人、月面软体机器人的运动方法 |
CN115416776B (zh) * | 2022-11-07 | 2023-01-24 | 西北工业大学 | 月面软体机器人、月面软体机器人的运动方法 |
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