CN110404157A - A kind of robot sinusoidal elastic force amplifying moment compensation device and method - Google Patents
A kind of robot sinusoidal elastic force amplifying moment compensation device and method Download PDFInfo
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- CN110404157A CN110404157A CN201910714053.2A CN201910714053A CN110404157A CN 110404157 A CN110404157 A CN 110404157A CN 201910714053 A CN201910714053 A CN 201910714053A CN 110404157 A CN110404157 A CN 110404157A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/126—Rotary actuators
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Abstract
The present invention relates to medical instruments fields, specifically a kind of robot sinusoidal elastic force amplifying moment compensation device and method, rack including being used to support mechanical arm, further include: cantilever joint moment transmission mechanism, sinusoidal transformation mechanism, elastic force enlarger, specifically used steps are as follows: S1: connection；S2: rotation；S3: rotation；S4: it swings；S4: horizontal movement；S5: elastic force amplification；It is used using sinusoidal transformation mechanism and the matching of elastic force enlarger, the full remuneration of robot cantilever gravitational moment may be implemented, the fluctuation of driving torque, improves robotically-driven stationarity when reducing power and the robot position deformation of the decelerating motor of driving；Meanwhile by adjusting gear set speed ratio, the spring rate of sinusoidal transformation mechanism, the cantilever of different weight can be flexibly compensated, integral installation is more convenient, compact-sized.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of robot sinusoidal elastic force amplifying moment compensation device and side
Method.
Background technique
For clinical lithotomy position surgical characteristic, cantilever prosthetic robot is suitble to narrow space operation at human body perineum, but
For cantilever articulated configuration when low-speed highly precise operates, it is larger that the gravitational moment of variation will cause motor drive square amplitude fluctuations, from
And deteriorate robot low speed motion stability energy.The sinusoidal elastic force amplifying moment compensation device designed herein is suitable for cantilever joint
Formula targets seeds implanted robot, though cantilever articulated type seeds implanted robot is not belonging to high-speed overload equipment, machine is artificial
Stringent limitation of the working space by patient body size when making, it is desirable that robot architecture's size is as small as possible, and cantilever design is certainly
The gravitational moment generated again is larger portion in load, and the gravitational moment of time-varying will affect the big ups and downs of driving moment, is reduced
The stationarity of joint of robot driving can reduce the output power of motor to reduce the shape ruler of motor if balance
It is very little, and the weight torque balance of cantilever helps to reduce control cost, improves robot low speed traveling comfort and precision.
Lin etc. has studied multiple springs mechanical arm self weight compensation mechanism, balances self gravity using multiple drawing springs are loaded on connecting rod,
The quantificational expression that rigidity is controlled by establishing maximum stable solves suitable spring rate and loading position.The disadvantages of this method
It is that numerical solution process is extremely complex, and there is unbalanced moments always under arm deformation in place.Nakayama has studied
Pulley and the more bar gravity compensations of spring assembly, it is a certain range of by selecting suitable pulley and spring rate may be implemented
Gravity compensation, but steel wire drive will affect the robustness of transmission stiffness and balance.It is real that Koser has studied cam structure adjustment spring
Existing connecting rod gravity compensation can also improve steel wire drive rigidity and balance robustness, but for different connecting rods, must all redesign and
Cam is manufactured, it is relatively difficult.Yamada Y studies the gravity compensation that slider-crank mechanism realizes connecting rod, the robustness and peace of balance
Full property all increases, but connecting rod is dead-weight balanced is limited in scope, mainly by movement interference between rod piece, the shadow of slider stroke
It rings.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of sinusoidal elastic force amplifying moment compensation device of robot and side
Method.
A kind of sinusoidal elastic force amplifying moment compensation device of robot, the rack including being used to support mechanical arm, further includes:
Cantilever joint moment transmission mechanism, is arranged on the rack, for carrying out power transmission to mechanical arm；
Sinusoidal transformation mechanism is arranged on the rack and cooperates with cantilever joint moment transmission mechanism, real by sinusoidal elastic force
The horizontal movement of existing rule；
Elastic force enlarger is arranged on the rack and cooperates with sinusoidal transformation mechanism, realizes elastic force by sinusoidal motion
Amplification compensation.
The cantilever joint moment transmission mechanism includes mechanical arm decelerating motor, is arranged and uses on mechanical arm decelerating motor
In the shaft coupling affixed with mechanical arm, the input shaft for driving shaft coupling to make rotary motion is connect with shaft coupling by round end flat key.
The sinusoidal transformation mechanism includes and the driving gear of input shaft cooperation, the passive tooth that engages with driving gear
Wheel, the transmission shaft one cooperated with driven gear are arranged on transmission shaft one and match with the crank of driven gear cooperation rotation, with crank
Close the rocking bar swung.
The crank and between rocking bar, be respectively arranged on the one end of rocking bar far from crank the shaft of mating connection
One, shaft two.
The elastic force enlarger includes the elastic force enlarger being arranged on the rack, is arranged under elastic force enlarger
The compensation mechanism at end.
The elastic force enlarger includes the spring stop being arranged on rack riser and spring block, setting in spring
Several groups spring guide pin on baffle is arranged on spring block and several groups spring and bullet with the cooperation of spring guide pin
The sliding block that spring guide pin is slidably matched.
The compensation mechanism includes the upper slip teeth item being arranged on sliding block, the gear wheel engaged with upper slip teeth item, setting
Rack frame on rack transverse slat is arranged on rack frame and engages with the downslide rack gear of rocking bar cooperation, with downslide rack gear small
Gear, the pinion gear passes through the transmission shaft two being arranged in pinion gear and gear wheel cooperates.
Using the robot method of sinusoidal elastic force amplifying moment compensation device, the specific steps of which are as follows:
S1: connection: the affixed shaft coupling of mechanical arm, shaft coupling connect input shaft；
S2: rotation: starting mechanical arm is rotated, and shaft coupling is driven to make rotary motion, and shaft coupling passes through round end flat key band
Driven input shaft makees rotary motion；
S3: rotation: input shaft end connects the driving gear of sinusoidal enlarger, when input shaft rotation, drives actively
Gear rotation, driving gear are engaged with driven gear；
S4: swing: driven gear is connect by revolute pair with rocking bar by the affixed crank of shaft, crank, works as driving gear
When being rotated, crank rotation is driven, crank drives rocking bar to swing by revolute pair, and rocking bar end drives upper sliding rack fortune
It is dynamic；
S4: horizontal movement: when downslide carry-over bar horizontal movement, the reversed horizontal movement of sliding rack in drive；
S5: elastic force amplification:
A: the spring block on upper sliding rack compresses multiple groups spring, while the elastic force warp of multiple groups spring while movement
Pinion gear is crossed to be amplified with gear wheel；
B: the elastic force of amplification reacts on sliding rack, and passes through cantilever joint moment transmission mechanism, sinusoidal conversion
The elastic force amplified has been transmitted to what realization multiple groups spring on the mechanical arm of cantilever joint moment transmission mechanism generated by mechanism
The gravity Moment Methods of torque compensation mechanical arm.
The beneficial effects of the present invention are: being used using sinusoidal transformation mechanism and the matching of elastic force enlarger, may be implemented
The full remuneration of robot cantilever gravitational moment, driving is turned round when reducing power and the robot position deformation of the decelerating motor of driving
The fluctuation of square improves robotically-driven stationarity；Meanwhile it is rigid by adjusting the gear set speed ratio of sinusoidal transformation mechanism, spring
Degree, can flexibly compensate the cantilever of different weight, integral installation is more convenient, compact-sized.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is sinusoidal transformation mechanism schematic perspective view of the invention；
Fig. 3 is elastic force enlarger structural schematic diagram of the invention；
Fig. 4 is cantilever joint moment compensation principle structural schematic diagram of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 4, the sinusoidal elastic force amplifying moment compensation device of a kind of robot, including it is used to support machinery
The rack 1 of arm 24, further includes:
Cantilever joint moment transmission mechanism 2 is arranged in rack 1, for carrying out power transmission to mechanical arm 24；
Sinusoidal transformation mechanism 3 is arranged in rack 1 and cooperates with cantilever joint moment transmission mechanism 2, passes through sinusoidal elastic force
Realize the horizontal movement of rule；
Elastic force enlarger 4 is arranged in rack 1 and cooperates with sinusoidal transformation mechanism 3, realizes elastic force by sinusoidal motion
Amplification compensation.
External targeting seeds implanted device is provided on the mechanical arm 24.
The 4 cantilever joint moment transmission mechanism 2 of elastic force enlarger, sinusoidal transformation mechanism 3 and elastic force enlarger 4
Be applied in combination, reduce mechanical arm decelerating motor 21 driving moment fluctuation and power, may be implemented 24 joint of mechanical arm weight
The compensation of torque improves stationarity when robot low-speed motion.
The cantilever joint moment transmission mechanism 2 includes mechanical arm decelerating motor 21, is arranged in mechanical arm decelerating motor
Connecting for the shaft coupling 23 affixed with mechanical arm 24, by round end flat key with shaft coupling 23 on 21 drives shaft coupling 23 to turn round
The input shaft 22 of movement.
When mechanical arm 24 is rotated, shaft coupling 23 is driven to make rotary motion, shaft coupling 23 is driven by round end flat key
Input shaft 22 makees rotary motion, and 22 end of input shaft is connected to the driving gear 31 of sinusoidal enlarger 3, when input shaft 22
When rotation, driving gear 31 is driven to rotate, to transmit motion to sinusoidal transformation mechanism 3, the rotation of mechanical arm 23 is turned
Turn to the swing of rocking bar 37.
The sinusoidal transformation mechanism 3 includes engaging with the driving gear 31 of the cooperation of input shaft 22, with driving gear 31
Driven gear 32, the transmission shaft 1 cooperated with driven gear 32 are arranged on transmission shaft 1 and the cooperation turn of driven gear 32
Dynamic crank 34 and crank 34 cooperate the rocking bar 36 swung.
It is used using sinusoidal transformation mechanism 3 and the matching of elastic force enlarger 4, robot cantilever gravitational moment may be implemented
It is fully compensated, the fluctuation of driving torque when reducing power and the robot position deformation of the decelerating motor 21 of driving, improves machine
The stationarity of device people driving；Meanwhile gear set speed ratio, 410 rigidity of spring by adjusting sinusoidal transformation mechanism, it can be flexible
The cantilever of different weight is compensated, integral installation is more convenient, compact-sized.
The motor plate 21a for being used to support decelerating motor 21 is provided on the transverse slat 1b.
The crank 34 is connect by revolute pair with rocking bar 36, when driving gear 31 is rotated, drives 34 turns of crank
Dynamic, the crank 34 drives rocking bar 36 to swing by revolute pair, and 36 end of rocking bar connects elastic force enlarger by revolute pair
The upper sliding rack 41 of structure 4, to realize the horizontal movement of the sinusoidal rule of upper sliding rack 41.
The crank 34 and between rocking bar 36, on the one end of rocking bar 36 far from crank 34 be respectively arranged with mating connection
Shaft 1, shaft 2 37.
The elastic force enlarger 4 includes the elastic force enlarger being arranged in rack 1, is arranged in elastic force enlarger
The compensation mechanism of lower end.
The elastic force enlarger includes the spring stop 47 being arranged on 1 riser 1a of rack and spring block 48, sets
Set on spring stop 47 several groups spring guide pin 49, be arranged on spring block 48 and with spring guide pin 49 cooperate
Several groups spring 410, the sliding block 491 being slidably matched with spring guide pin 49.
The compensation mechanism includes the upper slip teeth item 46 being arranged on sliding block 491, the canine tooth engaged with upper slip teeth item 46
Wheel 45, the rack frame 42a being arranged on 1 transverse slat 1b of rack, the downslide rack gear for being arranged on rack frame 42a and cooperating with rocking bar 36
41, the pinion gear 43 engaged with downslide rack gear 41, the pinion gear 43 pass through the transmission shaft 2 44 being arranged in pinion gear 43
Cooperate with gear wheel 45.
The downslide rack gear sliding slot 42 cooperated with downslide rack gear 41 is provided on the rack frame 42a.
The decrement Δ x and 24 corner of mechanical arm of multiple groups spring 410 are at sine relation, then by adjusting the first of crank 34
The transmission ratio of beginning corner and driving gear 31, driven gear 32, so that the moment shell of multiple groups spring 410 can just be fully compensated
The gravitational moment of mechanical arm 24, while for control mechanism size, use a pair of of gear small at the transmission of downslide rack gear 41
Gear 44, gear wheel 45, the size of linear regulation moment shell reduce 34 length of crank.
As shown in figure 4, mechanical arm 24 is connected with driving gear 31, the rotation of mechanical arm 24 drives driving gear 31 to rotate,
The angle of mechanical arm 24 and vertical direction is 2 times of the angle of crank 34 and vertical direction, when mechanical arm 24 rotates counterclockwise the angle θ
When, it can obtain referring to fig. 4:
The displacement of downslide carry-over bar 41 are as follows: xUnder=2lsin (θ/2), i.e. 34 length of crank=36 length of rocking bar=L, pass through
The transmission of pinion gear 43 and gear wheel 45, i.e. 43 radius r1 of pinion gear, 45 radius r2 of gear wheel, upper sliding rack 42 compress multiple groups
Spring 410, at this time on the decrement x of multiple groups spring 410 are as follows: xOn=2lsin (θ/2) r2/r1；
At this point, the generation elastic potential energy of multiple groups spring 410 are as follows: E=2l2(r2/r1) 2sin2(θ/2),
Since the generation elastic potential energy of multiple groups spring 410 can be expressed as E=τ θ again, τ is the production of multiple groups spring 4-10
Raw elastic force is to the equivalent moment of mechanical arm 24, thenKsin2(θ/2)cos2(θ/
2), the spring rate K of multiple groups spring 410, if the spring rate K of multiple groups spring 410 meets, K=mglg(r2/r1l) 2, mechanical arm
24 weight arm lg；
The moment of elasticity that multiple groups spring 410 generates at this time can compensate gravitational moment caused by 24 gravity of mechanical arm just,
The length L for adjusting crank 34 and rocking bar 36 by adjusting the radius scale of pinion gear 43 and gear wheel 45 simultaneously, to avoid machine
The excessive problem of structure specification.
Using the robot method of sinusoidal elastic force amplifying moment compensation device, the specific steps of which are as follows:
S1: connection: the affixed shaft coupling 23 of mechanical arm 24, shaft coupling 23 connect input shaft 22；
S2: rotation: starting mechanical arm 24 is rotated, and drives shaft coupling 23 to make rotary motion, shaft coupling 23 passes through round end
Flat key band driven input shaft 22 makees rotary motion；
S3: rotation: 22 end of input shaft connects the driving gear 31 of sinusoidal enlarger 3, when input shaft 22 rotates, band
Dynamic driving gear 31 rotates, and driving gear 31 is engaged with driven gear 32；
S4: swing: driven gear 32 is connect by revolute pair with rocking bar 36 by the affixed crank 34 of shaft 32, crank 34,
When driving gear 31 is rotated, crank 34 is driven to rotate, crank 34 drives rocking bar 36 to swing by revolute pair, 36 end of rocking bar
End drives upper sliding rack 46 to move；
S4: horizontal movement: when downslide 41 horizontal movement of carry-over bar, the reversed horizontal movement of sliding rack 46 in drive；
S5: elastic force amplification:
A: the spring block 47 on upper sliding rack 46 compresses multiple groups spring 410, while multiple groups spring while movement
410 elastic force is amplified by pinion gear 43 with gear wheel 45；
B: the elastic force of amplification reacts on sliding rack 42, and passes through cantilever joint moment transmission mechanism 2, sinusoidal turn
Change mechanism 3, the elastic force amplified has been transmitted to realization multiple groups spring on the mechanical arm 24 of cantilever joint moment transmission mechanism 2
The gravity Moment Methods of the 410 torque compensation mechanical arms 24 generated.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (8)
1. a kind of robot is with sinusoidal elastic force amplifying moment compensation device, the rack (1) including being used to support mechanical arm (24),
It is characterized in that: further include:
Cantilever joint moment transmission mechanism (2) is arranged on rack (1), for carrying out power transmission to mechanical arm (24)；
Sinusoidal transformation mechanism (3) is arranged on rack (1) and cooperates with cantilever joint moment transmission mechanism (2), passes through sinusoidal bullet
Power realizes the horizontal movement of rule；
Elastic force enlarger (4) is arranged on rack (1) and cooperates with sinusoidal transformation mechanism (3), realizes bullet by sinusoidal motion
The amplification of power compensates.
2. a kind of sinusoidal elastic force amplifying moment compensation device of robot according to claim 1, it is characterised in that: it is described
Cantilever joint moment transmission mechanism (2) include mechanical arm decelerating motor (21), setting used on mechanical arm decelerating motor (21)
In the shaft coupling (23) affixed with mechanical arm (24), drive shaft coupling (23) is connect with shaft coupling (23) by round end flat key returns
The dynamic input shaft (22) of transhipment.
3. a kind of sinusoidal elastic force amplifying moment compensation device of robot according to claim 2, it is characterised in that: it is described
Sinusoidal transformation mechanism (3) include with the driving gear (31) of input shaft (22) cooperation, engage with driving gear (31) it is passive
Gear (32), with the transmission shaft one (33) of driven gear (32) cooperation, be arranged on transmission shaft one (33) and driven gear (32)
Cooperate the crank (34) of rotation, cooperate the rocking bar (36) swung with crank (34).
4. a kind of sinusoidal elastic force amplifying moment compensation device of robot according to claim 3, it is characterised in that: it is described
Crank (34) and between rocking bar (36), rocking bar (36) far from crank (34) one end on be respectively arranged with mating connection turn
Axis one (35), shaft two (37).
5. a kind of sinusoidal elastic force amplifying moment compensation device of robot according to claim 1, it is characterised in that: it is described
Elastic force enlarger (4) include the benefit that elastic force enlarger on rack (1) is set, elastic force enlarger lower end is set
Repay mechanism.
6. a kind of sinusoidal elastic force amplifying moment compensation device of robot according to claim 5, it is characterised in that: it is described
Elastic force enlarger include that spring stop (47) on rack (1) riser (1a) and spring block (48) are set, is arranged and exists
Several groups spring guide pin (49), setting on spring stop (47) are matched on spring block (48) and with spring guide pin (49)
The several groups spring (410) of conjunction, the sliding block (491) being slidably matched with spring guide pin (49).
7. a kind of sinusoidal elastic force amplifying moment compensation device of robot according to claim 6, it is characterised in that: it is described
Compensation mechanism include upper slip teeth item (46) on sliding block (491) is set, the gear wheel (45) that is engaged with upper slip teeth item (46),
Be arranged on rack (1) transverse slat (1b) rack frame (42a), be arranged on rack frame (42a) and with rocking bar (36) cooperation under
Slip teeth item (41), the pinion gear (43) engaged with downslide rack gear (41), the pinion gear (43) is by being arranged in pinion gear
(43) transmission shaft two (44) and gear wheel (45) on cooperate.
8. utilizing a kind of side of sinusoidal elastic force amplifying moment compensation device, robot described in any one of any one of claims 1 to 77
Method, it is characterised in that: the specific steps of which are as follows:
S1: connection: mechanical arm (24) affixed shaft coupling (23), shaft coupling (23) connect input shaft (22)；
S2: rotation: starting mechanical arm (24) is rotated, and drives shaft coupling (23) to make rotary motion, shaft coupling (23) passes through circle
Head flat key band driven input shaft (22) makees rotary motion；
S3: rotation: input shaft (22) end connects the driving gear (31) of sinusoidal enlarger (3), when input shaft (22) rotate
When, driving gear (31) rotation is driven, driving gear (31) is engaged with driven gear (32)；
S4: swing: driven gear (32) passes through revolute pair and rocking bar (36) by shaft (32) affixed crank (34), crank (34)
Connection drives crank (34) rotation when driving gear (31) is rotated, and crank (34) drives rocking bar (36) by revolute pair
It swings, rocking bar (36) end drives upper sliding rack (46) movement；
S4: horizontal movement: when downslide carry-over bar (41) horizontal movement, sliding rack (46) reversed horizontal movement in drive；
S5: elastic force amplification:
A: the spring block (47) on upper sliding rack (46) compresses multiple groups spring (410) while movement, while multiple groups bullet
The elastic force of spring (410) is amplified by pinion gear (43) with gear wheel (45)；
B: the elastic force of amplification reacts on sliding rack (42), and passes through cantilever joint moment transmission mechanism (2), sinusoidal turn
Change mechanism (3), the elastic force amplified has been transmitted on the mechanical arm (24) of cantilever joint moment transmission mechanism (2) and has been realized with more
The gravity Moment Methods for the torque compensation mechanical arm (24) that group spring (410) generates.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021022971A1 (en) * | 2019-08-03 | 2021-02-11 | 安徽工程大学 | Targeted particle implanting robot suitable for clinical human lithotomy positions |
| CN112914725A (en) * | 2019-12-05 | 2021-06-08 | 株式会社卓越牵引力 | Passive joint device, cable guide, and power transmission mechanism |
| CN115973768A (en) * | 2023-03-07 | 2023-04-18 | 广东工业大学 | Synchronous material taking and placing device with adjustable output sine speed and stroke |
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