CN111113397B - Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm - Google Patents
Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm Download PDFInfo
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- CN111113397B CN111113397B CN202010057449.7A CN202010057449A CN111113397B CN 111113397 B CN111113397 B CN 111113397B CN 202010057449 A CN202010057449 A CN 202010057449A CN 111113397 B CN111113397 B CN 111113397B
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- corrugated pipe
- finger
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- mechanical arm
- control software
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- 210000003205 muscle Anatomy 0.000 claims abstract description 34
- 239000013535 sea water Substances 0.000 claims abstract description 9
- 230000008602 contraction Effects 0.000 claims abstract description 5
- 230000007797 corrosion Effects 0.000 claims description 7
- 238000005260 corrosion Methods 0.000 claims description 7
- 239000007769 metal material Substances 0.000 claims description 5
- 229920002595 Dielectric elastomer Polymers 0.000 claims description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 9
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 22
- 230000004044 response Effects 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000005452 bending Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 239000012528 membrane Substances 0.000 description 3
- 230000003578 releasing effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 241000237852 Mollusca Species 0.000 description 1
- 241000238413 Octopus Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229920003303 ion-exchange polymer Polymers 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000002905 metal composite material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses an underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm, which comprises at least three large corrugated pipes arranged in parallel; at least four small corrugated pipes arranged in parallel are wrapped in each large corrugated pipe, and a plurality of artificial muscles arranged in an array are arranged on the pipe wall of each large corrugated pipe; each artificial muscle is driven by independent voltage to realize the extension and contraction of the artificial muscle; one ends of the large corrugated pipe and the small corrugated pipe are closed and connected together, and the other ends of the large corrugated pipe and the small corrugated pipe are respectively communicated with corresponding seawater pumps; one sealed end of each large corrugated pipe is connected with a mechanical finger; all mechanical fingers are connected to a finger mounting seat through hinged supports. The electromechanical hybrid drive control soft intelligent mechanical arm adopts hydraulic and electric drive artificial muscle hybrid drive, and has the advantages of high response speed, accurate action and the like.
Description
Technical Field
The invention relates to the field of robot design, in particular to an underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm.
Background
Most of traditional arm is made by metal material, and weight is big, and is bulky, and the flexibility is not enough, is difficult to adapt to the operation environment in the narrow and small space. In addition, due to the fact that mechanical transmission is used, under the deep sea environment, corrosion and water leakage of the traditional mechanical arm can accelerate equipment aging, and maintenance cost of the equipment is improved. In addition, in the underwater environment, how to perform rust prevention and sealing on the traditional mechanical arm is also a problem which is troubling.
The research of the soft mechanical arm is mainly inspired by the motion mode of mollusks (such as octopus, elephant nose and the like) in nature, and the soft material is matched with a pneumatic control system to realize super-redundancy and infinite freedom compliant motion. Due to the flexible structure characteristic of the soft mechanical arm, the soft mechanical arm has the advantage that the rigid mechanical arm is difficult to rival in the aspects of complex and unknown environment detection, man-machine friendly interaction and the like.
The research of flexible mechanical arm at present stage mainly is with traditional pneumatic drive as the owner, regards super-elastic silica gel material as the body material, combines the research of latest 3D printing technique, and this type of robot is pneumatic drive mostly, and the pressure-bearing is little, and the deformation is big.
For example, chinese patent publication No. CN104260104A discloses a flexible robot inflatable finger, comprising: an inflatable finger tip located at a front end of the inflatable finger for contacting an object to be grasped: the inflatable finger bending part is positioned in the middle of the inflatable finger and connected with the fingertip of the inflatable finger, and is used for realizing the grabbing or releasing of the inflatable finger; the inflatable finger connecting part is positioned at the rear end of the inflatable finger, is connected with the inflatable finger bending part, is used for fixing the inflatable finger, is used as a passage for external gas to enter the inflatable finger, and is integrally molded and manufactured by the inflatable finger tip, the inflatable finger bending part and the inflatable finger connecting part.
Chinese patent publication No. CN110293581A discloses a bionic soft mechanical arm and a grasping system. The bionic soft mechanical arm comprises: at least two corrugated pipes arranged in parallel; the two end plates are respectively positioned at the end parts of the two ends of the at least two corrugated pipes, and the end part of each corrugated pipe is fixedly connected to the end plate at the corresponding end; and the support plate is arranged between the at least two corrugated pipes, and the minimum diameter part of each pipe body is provided with one support plate.
However, the existing soft mechanical arms are all in a single driving and controlling mode: the pneumatic or hydraulic drive has the defects of slow response speed, large action amplitude, inaccurate action and the like.
Disclosure of Invention
The invention provides an underwater pressure self-adaptive electromechanical hybrid drive control soft intelligent mechanical arm which is driven by hydraulic and electric artificial muscles in a hybrid mode and has the advantages of high response speed, accurate action and the like.
The specific technical scheme is as follows:
an underwater pressure self-adaptive electromechanical hybrid drive control soft intelligent mechanical arm comprises at least three large corrugated pipes which are arranged in parallel;
at least four small corrugated pipes arranged in parallel are wrapped in each large corrugated pipe, and a plurality of artificial muscles arranged in an array are arranged on the pipe wall of each large corrugated pipe; each artificial muscle is driven by independent voltage to realize the extension and contraction of the artificial muscle;
one ends of the large corrugated pipe and the small corrugated pipe are closed and connected together, and the other ends of the large corrugated pipe and the small corrugated pipe are respectively communicated with corresponding seawater pumps;
one sealed end of each large corrugated pipe is connected with a mechanical finger;
all mechanical fingers are connected to a finger mounting seat through hinged supports.
Pressurizing the inside of the large corrugated pipe by using a sea water pump, and driving the large corrugated pipe to complete the stretching action; pressurizing the inside of the small corrugated pipe by a seawater pump to drive the small corrugated pipe, and driving the whole large corrugated pipe to perform stretching and bending actions through different pressure combinations; each artificial muscle is driven by independent voltage to expand or contract, and the artificial muscle groups act together to realize the stretching and bending actions of the large corrugated pipe.
The tail end of each large corrugated pipe is connected with a mechanical finger, all the mechanical fingers are connected to the finger mounting seat through hinged supports, and the mechanical fingers can rotate around the hinged supports. The distance between the big bellows end is adjusted in order to control the action of mechanical finger, and the action of snatching of manipulator can be realized to the distance grow, and the action of releasing of manipulator can be realized to the distance reduction.
According to the needs, big bellows, little bellows, artificial muscle can independently control, also can cooperate the cooperative control to realize required arm action.
The pneumatic or hydraulic driven soft mechanical arm has slow response speed and large action amplitude, and is difficult to accurately finish target action. The electromechanical hybrid drive control soft intelligent mechanical arm adopts hydraulic and electric drive artificial muscle hybrid drive, and has the advantages of high response speed, accurate action and the like.
Preferably, the large corrugated pipe and the small corrugated pipe are made of silica gel.
Preferably, the artificial muscle is made of at least one of a dielectric elastomer, an IPMC (Ion-exchange Polymer Metal Composite), and a shape memory alloy.
A dielectric elastomer membrane sandwiched between two flexible electrodes to form a dielectric elastomer stopper, when a voltage is applied to the two flexible electrodes, charge separation occurs and an electrostatic pressure is induced on the membrane, which deforms the membrane, increasing its area and decreasing its thickness to effect its stretching; when a voltage is applied in the thickness direction of the IPMC, the IPMC is largely deformed and bent toward the anode.
Preferably, the artificial muscles are uniformly arranged in a plurality of rows in the circumferential direction of the large corrugated pipe and are uniformly arranged in a plurality of circles in the axial direction of the large corrugated pipe.
The longitudinal section of the pipe wall of the large corrugated pipe is a corrugated strip belt. The artificial muscle is adhered to the surface of the large corrugated pipe and is corrugated together with the large corrugated pipe in the contraction state of the large corrugated pipe; when the large corrugated pipe is stretched to the state that the corrugations disappear, the artificial muscles can restore the smooth state, and the stretching or stretching of the artificial muscle group can be controlled by voltage to realize the stretching and bending of the single large corrugated pipe.
Preferably, the mechanical finger is made of a corrosion-resistant metal material.
Further preferably, the mechanical finger is in the shape of an elongated bent cylinder.
Preferably, the finger mounting seat is made of corrosion-resistant metal material.
Preferably, the finger mounting seat is hollow and hemispherical; the outer surface of the finger mounting seat is provided with a plurality of inclined planes, and through holes are formed in the inclined planes; the mechanical finger penetrates through the through hole and is installed on the finger installation seat through the hinged support.
Preferably, the through hole is a waist-shaped hole, and a cylinder is arranged in the waist-shaped hole; the mechanical finger is provided with a round hole matched with the cylinder, and the cylinder penetrates through the round hole to form a hinged support structure.
Furthermore, a rolling bearing is installed in the round hole.
Compared with the prior art, the invention has the beneficial effects that:
the pneumatic or hydraulic driven soft mechanical arm has slow response speed and large action amplitude, and is difficult to accurately finish target action. The electromechanical hybrid drive control soft intelligent mechanical arm adopts hydraulic and electric drive artificial muscle hybrid drive, and has the advantages of high response speed, accurate action and the like.
Drawings
Fig. 1 is a schematic structural diagram of an electromechanical hybrid drive-control soft-body smart manipulator, wherein (a) is a schematic cross-sectional view and (b) is a side view;
FIG. 2 is a schematic longitudinal cross-section of a large bellows;
FIG. 3 is a schematic cross-sectional view of a large bellows;
FIG. 4 is a partial schematic view of an electromechanical hybrid drive-control soft smart manipulator;
FIG. 5 is a schematic structural view of the finger mount, wherein (a) is a bottom surface and (b) is a side view of (a);
fig. 6 is a schematic structural diagram of the mechanical finger.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples, which are intended to facilitate the understanding of the invention without limiting it in any way.
As shown in fig. 1 (a) and (b), the underwater self-adaptive electromechanical hybrid drive-control soft intelligent mechanical arm comprises a large corrugated pipe 1, a small corrugated pipe 2, a mechanical finger 3, a mechanical finger mounting seat 4 and an electrically driven artificial muscle 5.
The cross sections and the lengths of the three large corrugated pipes 1 which are arranged in parallel are equal and are arranged in a regular triangle. The large bellows 1 is made of a silicone material. Each large corrugated pipe 1 is wrapped by four small corrugated pipes 2 which are arranged in parallel. The small corrugated pipe 2 is made of silica gel material, and the cross section and the length of the small corrugated pipe are equal and are distributed in a square shape. One end of the large corrugated pipe 1 and one end of the small corrugated pipe 2 inside the large corrugated pipe are respectively connected with corresponding sea water pumps, and the other ends of the large corrugated pipe and the small corrugated pipe are respectively sealed and connected together.
A plurality of electrically driven artificial muscles 5 are adhered to the surface of the large corrugated pipe 1, and the electrically driven artificial muscles 5 are arranged on the surface of the large corrugated pipe 1 in an array manner. In the embodiment, 60 rectangular artificial muscles with the size of 4 multiplied by 15 are distributed on the surface of each large corrugated pipe 1, wherein 4 rows are uniformly distributed in the circumferential direction, and 15 circles are uniformly distributed in the axial direction.
As shown in FIG. 2, the longitudinal section of the wall of the large corrugated pipe 1 is a corrugated strip-shaped strip. The electrically driven artificial muscle is adhered to the surface of the pipe wall of the large corrugated pipe 1, is corrugated along with the corrugated pipe in a contraction state, and can be restored to a flat state when the large corrugated pipe 1 extends to the state that the corrugations disappear, and the artificial muscle group can be controlled to contract or expand by voltage so as to realize the expansion and the bending of the single large corrugated pipe. The longitudinal section of the pipe wall of the small corrugated pipe 2 is also in a corrugated strip shape.
The large bellows 1 is driven by a sea water pump to pressurize the inside of the large bellows 1, thereby completing the elongation operation.
The small corrugated pipe 2 is driven by a seawater pump to pressurize the inside of the small corrugated pipe 2, and the whole large corrugated pipe 1 is driven to do stretching and bending actions through different pressure combinations. As shown in fig. 3, when the small corrugated pipes 11 or 13 are pressurized, the whole large corrugated pipe 1 is bent in the up-down direction; if the small corrugated pipe 12 or 14 is pressurized, the whole large corrugated pipe 1 is bent in the left and right directions; if the same pressure is applied to the small corrugated pipes 11, 12, 13 and 14 at the same time, the whole large corrugated pipe 1 can be uniformly extended; if different pressures are applied to the small corrugated pipes 11, 12, 13 and 14 according to needs, the whole large corrugated pipe 1 is stretched and bent towards a certain desired direction.
Each artificial muscle 5 is driven by independent voltage, and the artificial muscle groups act together to realize the stretching and bending actions of the large corrugated pipe 1. The driving effect of the electrically driven artificial muscle group is similar to that of a sea water pump driving small corrugated pipe, but the artificial muscle can be deformed in a large range in two directions, and the response speed is higher.
According to the needs, the large corrugated pipe 1, the small corrugated pipe 2 and the artificial muscle 5 can be controlled independently or cooperatively to realize the required mechanical arm action.
As shown in fig. 4, the ends of three large corrugated pipes 1 are respectively connected with a mechanical finger 3, all the mechanical fingers 3 are connected to a mechanical finger mounting seat 4 through hinged supports, and the mechanical fingers 3 can rotate around the hinged supports. The distance between the tail ends of the large corrugated pipes 1 is adjusted to control the action of the mechanical fingers 3, the grabbing action of the mechanical arm can be realized by increasing the distance, and the releasing action of the mechanical arm can be realized by reducing the distance.
As shown in fig. 5, the mechanical finger mounting seat 4 is formed by hollowing out a solid body which is less than half of a sphere and has a section of a cylinder, and the material is corrosion-resistant metal. And three inclined planes are processed on the outer side of the hemisphere to facilitate the installation and movement of the mechanical finger 3. A waist-shaped hole is drilled at each of the three inclined planes, and a cylindrical column is installed in each waist-shaped hole to form a hinged support structure. Rolling bearings can also be installed here, if flexibility of rotation is taken into account.
As shown in fig. 6, the robot finger 3 has an elongated curved cylindrical shape and is made of a corrosion-resistant metal. A round through hole is drilled at the root of the mechanical finger 3, and a cylindrical post in a waist-shaped hole on the mechanical finger mounting seat 4 penetrates through the hole to form a hinged support structure.
The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. An underwater pressure self-adaptive electromechanical hybrid drive control soft intelligent mechanical arm is characterized by comprising at least three large corrugated pipes which are arranged in parallel;
at least four small corrugated pipes arranged in parallel are wrapped in each large corrugated pipe, and a plurality of artificial muscles arranged in an array are arranged on the pipe wall of each large corrugated pipe; each artificial muscle is driven by independent voltage to realize the extension and contraction of the artificial muscle;
one ends of the large corrugated pipe and the small corrugated pipe are closed and connected together, and the other ends of the large corrugated pipe and the small corrugated pipe are respectively communicated with corresponding seawater pumps;
one sealed end of each large corrugated pipe is connected with a mechanical finger;
all mechanical fingers are connected to a finger mounting seat through hinged supports.
2. The underwater pressure adaptive electromechanical hybrid drive and control software smart mechanical arm according to claim 1, wherein the large bellows and the small bellows are made of silica gel.
3. The underwater pressure adaptive electromechanical hybrid control software smart robotic arm of claim 1, wherein said artificial muscle is made of at least one of dielectric elastomer, IPMC and shape memory alloy.
4. The underwater pressure adaptive electromechanical hybrid drive and control software intelligent mechanical arm according to claim 1 or 3, wherein the artificial muscles are uniformly arranged in a plurality of rows in the circumferential direction of the large corrugated pipe and in a plurality of circles in the axial direction of the large corrugated pipe.
5. The underwater pressure adaptive electromechanical hybrid control software smart robotic arm of claim 1, wherein the robotic finger is made of a corrosion resistant metallic material.
6. The underwater pressure adaptive electromechanical hybrid drive and control software smart mechanical arm according to claim 1 or 5, wherein the mechanical finger is in the shape of an elongated curved cylinder.
7. The underwater pressure adaptive electromechanical hybrid control software smart robotic arm of claim 1, wherein the finger mount is made of a corrosion resistant metallic material.
8. The underwater pressure adaptive electromechanical hybrid drive and control software smart mechanical arm according to claim 1 or 7, wherein the finger mount is hollow hemispherical; the outer surface of the finger mounting seat is provided with a plurality of inclined planes, and through holes are formed in the inclined planes; the mechanical finger penetrates through the through hole and is installed on the finger installation seat through the hinged support.
9. The underwater pressure adaptive electromechanical hybrid drive and control software intelligent mechanical arm according to claim 8, wherein the through hole is a kidney-shaped hole, and a cylinder is arranged in the kidney-shaped hole; the mechanical finger is provided with a round hole matched with the cylinder, and the cylinder penetrates through the round hole to form a hinged support structure.
10. The underwater pressure adaptive electromechanical hybrid drive and control software smart mechanical arm according to claim 9, wherein a rolling bearing is installed in the circular hole.
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| CN202010057449.7A CN111113397B (en) | 2020-01-17 | 2020-01-17 | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm |
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| CN202010057449.7A CN111113397B (en) | 2020-01-17 | 2020-01-17 | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm |
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| CN111113397B true CN111113397B (en) | 2021-02-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111775177B (en) * | 2020-06-30 | 2022-07-08 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN114367960B (en) * | 2021-12-08 | 2023-10-13 | 中国人民解放军军事科学院国防科技创新研究院 | Multi-beam software driver and space software mechanical arm |
| CN114986534B (en) * | 2022-06-28 | 2024-06-25 | 北京工业大学 | Integrated rigid-flexible coupling manipulator |
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| US3631551A (en) * | 1969-09-03 | 1972-01-04 | Us Navy | Prepackaged monopropellant gas generator buoyancy system |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
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| CN110293581A (en) * | 2019-07-18 | 2019-10-01 | 北京航空航天大学 | A kind of bionic soft mechanical arm and grasping system |
-
2020
- 2020-01-17 CN CN202010057449.7A patent/CN111113397B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3631551A (en) * | 1969-09-03 | 1972-01-04 | Us Navy | Prepackaged monopropellant gas generator buoyancy system |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN202540314U (en) * | 2011-10-25 | 2012-11-21 | 兰州交通大学 | Flexible pneumatic snake-shaped robot joint module |
| CN104041235A (en) * | 2014-04-23 | 2014-09-17 | 唐晓群 | Full-hydrodynamic automatically-controlled supercharged fertilizer apparatus |
| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN108621148A (en) * | 2018-05-07 | 2018-10-09 | 中国人民解放军国防科技大学 | Modularized pneumatic control type flexible mechanical arm |
| CN110293581A (en) * | 2019-07-18 | 2019-10-01 | 北京航空航天大学 | A kind of bionic soft mechanical arm and grasping system |
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| CN111113397A (en) | 2020-05-08 |
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