CN111439320B - Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method - Google Patents
Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method Download PDFInfo
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- CN111439320B CN111439320B CN202010246764.4A CN202010246764A CN111439320B CN 111439320 B CN111439320 B CN 111439320B CN 202010246764 A CN202010246764 A CN 202010246764A CN 111439320 B CN111439320 B CN 111439320B
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- 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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Abstract
The invention provides a bionic crus of a variable-curvature hybrid elastic buffer robot and an adjusting method, wherein the bionic crus of the variable-curvature hybrid elastic buffer robot comprises a crus connecting piece and a vibration damping mechanism connected with the crus connecting piece, wherein: the connection curvature between the shank connecting piece and the vibration damping mechanism is adjustable; the vibration damping mechanism is provided with a mixed elastic buffer mechanism. According to the bionic crus of the variable-curvature hybrid elastic buffer robot, the curvature between the crus connecting piece and the vibration damping mechanism can be adjusted according to the environment requirement through the structural design that the connecting curvature between the crus connecting piece and the vibration damping mechanism is adjustable, so that the large deviation angle formed by the stress direction of the foot end and the linear direction of the crus connecting rod is reduced, and the extra movement moment to be borne by the crus is reduced; in addition, by adopting the mixed elastic buffer mechanism, the problem that the single spring damping mechanism is difficult to adjust the damping effect of the spring according to the self weight is solved, and the supporting and walking task of the rugged road surface can be well completed.
Description
Technical Field
The invention relates to the field of structural design of foot robots, in particular to a bionic shank of a variable-curvature hybrid elastic buffer robot and an adjusting method.
Background
On the wide land where human lives, due to the complexity and changeability of the terrain structure, the occupied area of a hill or a marsh almost reaches more than half of the land area. Wheeled machines alone have certain difficulties to move freely in these complex topographical environments. The foot type robot can flexibly walk in unstructured and uneven ground environments such as uneven mountainous regions, hills, swamps, jungles and other complex terrains, and further complete special tasks such as post-disaster rescue, marching substance transportation, high-risk environment patrol and the like in the environments such as earthquake, nuclear pollution, chemical pollution, field military operation and the like. Therefore, the research of the bionic legged robot is highly enthusiastic in the field of robot research.
Most of the existing four-legged robots are the four-legged bionic robots disclosed in the Chinese patent with the publication number of CN106828654B, and the four-legged bionic robots comprise a control system and a mechanical system, wherein the mechanical system comprises two trunks and waist adjusting motors arranged between the two trunks and used for adjusting the swinging of the two trunks, the two trunks are both connected with two leg mechanisms, each leg mechanism comprises a multi-degree-of-freedom parallel-connection mechanism and a driving motor for driving the parallel-connection mechanism to swing, the swinging axis of the parallel-connection mechanism is parallel to the swinging axis of the two trunks, the control system coordinately controls the waist adjusting motors and the driving motors to realize the continuous swinging of the two trunks and the four leg mechanisms so as to realize the jumping motion, the control system coordinately controls the waist adjusting motors and the driving motors to drive the two trunks and the four leg mechanisms to swing so as to realize the posture change of the whole mechanism through the arrangement of the waist adjusting motors and the four leg, thereby realizing continuous jumping action.
The lower leg mechanism of the legged robot disclosed in the above patent is a simple linear link mechanism that performs a swinging motion by being connected to a knee joint. Although the shank mechanism of the straight-line-shaped connecting rod is simple and convenient in design, the stress direction of the foot end of the shank mechanism has a larger deviation angle with the straight line direction of the shank connecting rod in the process of swinging, landing and walking of the shank, so that the shank needs to bear additional movement moment. In addition, some existing legged robots are also provided with spring damping mechanisms at the legs, but the existing legged robots are often single spring damping mechanisms, but the damping effect of the springs is difficult to adjust according to the self weight. The requirements of vibration damping, buffering and stable walking in rough road conditions cannot be met.
Disclosure of Invention
The problem that the leg needs to bear extra motion moment and a single spring damping mechanism cannot adjust the damping effect of a spring according to the self weight and cannot meet the requirements of damping, buffering and stable walking in rough road conditions is solved. The invention provides a bionic crus of a variable-curvature hybrid elastic buffer robot and an adjusting method, wherein the bionic crus of the variable-curvature hybrid elastic buffer robot comprises a crus connecting piece and a vibration damping mechanism connected with the crus connecting piece, wherein:
the connection curvature between the shank connecting piece and the vibration damping mechanism is adjustable;
the vibration reduction mechanism is provided with a mixed elastic buffer mechanism.
Furthermore, one end of the shank connecting piece is connected with the thigh, and the other end of the shank connecting piece is provided with a plurality of adjusting holes; a plurality of adjusting holes are arranged into a plurality of groups of adjusting hole groups with different included angles with the horizontal direction;
a plurality of positioning holes are formed in the vibration damping mechanism;
the positioning hole is detachably connected with the adjusting hole through a third connecting piece.
Further, the regulation hole includes first regulation hole, second regulation hole and third regulation hole, wherein:
a plurality of first adjusting holes are horizontally arranged; the arrangement direction of the plurality of second adjusting holes forms an included angle of 20 degrees with the horizontal direction; the arrangement direction of the third adjusting holes forms an included angle of 40 degrees with the horizontal direction.
Further, the hybrid elastic buffer mechanism comprises a plurality of damping springs; the elastic coefficients of the plurality of damping springs are the same or different; a plurality of damping springs act together on the shank link.
Further, the damping springs are provided in three numbers.
Further, the bottom of the mixed elastic buffer mechanism is provided with damping rubber.
Further, damping mechanism still includes damping mechanism piston, piston retaining ring, first connecting piece, damping sleeve and second connecting piece, wherein:
one end of the piston of the vibration damping mechanism is provided with a plurality of positioning holes; the positioning holes are connected with the adjusting holes on the shank connecting piece through a third connecting piece;
the opening end of the vibration reduction sleeve is connected with a piston check ring through a first connecting piece;
the bottom of the piston of the vibration damping mechanism is arranged in the vibration damping sleeve; the stroke of the piston of the vibration damping mechanism is limited through a piston check ring;
the damping rubber is connected to the bottom of the damping sleeve through a second connecting piece; the bottom of the piston of the vibration damping mechanism is abutted against the vibration damping rubber through a vibration damping spring.
Further, a pressure sensor is arranged at the tail end of the damping spring.
The invention also provides a curvature adjusting method of the bionic shank of the variable-curvature hybrid elastic buffer robot, which comprises the following steps:
the lower end of the shank connecting piece is provided with an adjusting hole group with different included angles with the horizontal direction; a plurality of positioning holes are formed in the vibration damping mechanism;
the third connecting piece is used for connecting the positioning hole with the adjusting hole groups with different angles, so that the adjustment of the curvature of the crus is realized.
The invention also provides a vibration reduction adjusting method of the bionic shank of the variable-curvature hybrid elastic buffer robot, which comprises the following steps:
a plurality of damping springs are arranged in the mixed elastic buffer mechanism; the elastic coefficients of the vibration reduction springs are set to be k1, k2 and k3... kn, and the comprehensive elastic coefficient is k = k1+ k2+ k3+.. + kn;
according to different use scenes, the combination of springs with different elastic coefficients is selected, so that an ideal comprehensive elastic coefficient is achieved.
According to the bionic crus of the variable-curvature hybrid elastic buffer robot, the curvature between the crus connecting piece and the vibration damping mechanism can be adjusted according to the environment requirement through the structural design that the connecting curvature between the crus connecting piece and the vibration damping mechanism is adjustable, so that the larger deviation angle between the stress direction of the foot end and the linear direction of the crus connecting rod is reduced, and the extra motion moment to be borne by the crus is reduced; in addition, by adopting the mixed elastic buffer mechanism, the problem that a single spring damping mechanism is difficult to adjust the damping effect of the spring according to the self weight is solved. The bionic crus of the variable-curvature hybrid elastic buffer robot can realize vibration reduction, buffering and stable walking in rough road conditions, can well complete supporting and walking tasks on rough roads, and is simple and practical in structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a quadruped robot;
FIG. 2 is a perspective view of a bionic calf of the variable curvature hybrid elastic buffer robot provided by the invention;
FIG. 3 is a sectional view of a bionic shank of a hybrid elastic buffer robot with variable curvature;
FIG. 4 is a schematic side view of a lower leg;
fig. 5 is a schematic sectional view of a piston of the damping mechanism.
Reference numerals:
| 10 |
11 first regulating |
12 second regulating |
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| 13 third regulating |
20 |
21 |
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| 22 first connecting |
23 |
24 |
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| 25 vibration damping | 26Pressure sensor | 27 |
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| 28 |
30 third connecting |
201 locating hole |
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "couple" or "couples" and the like are not restricted to physical or mechanical connections, but may include electrical connections, optical connections, and the like, whether direct or indirect.
The embodiment of the invention provides a bionic crus of a variable-curvature hybrid elastic buffer robot and an adjusting method, wherein the bionic crus of the variable-curvature hybrid elastic buffer robot comprises a crus connecting piece 10 and a vibration damping mechanism connected with the crus connecting piece, wherein:
the connection curvature between the shank connecting piece 10 and the vibration damping mechanism is adjustable;
the vibration reduction mechanism is provided with a mixed elastic buffer mechanism.
In specific implementation, as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, where fig. 2 is a detailed enlarged view of a in fig. 1, the curvature-variable hybrid elastic buffer robot biomimetic calf comprises a calf connecting member 10 and a vibration damping mechanism connected thereto, where:
the connection curvature between the shank connecting piece 10 and the vibration damping mechanism is adjustable; the vibration reduction mechanism is provided with a mixed elastic buffer mechanism. The curvature between the shank connecting piece 10 and the vibration damping mechanism can be adjusted according to the environmental requirement through the structural design that the connection curvature between the shank connecting piece 10 and the vibration damping mechanism is adjustable, so that the larger deviation angle between the stress direction of the foot end and the linear direction of the shank connecting rod is reduced, and the extra movement moment of the shank to be born is reduced; in addition, by adopting the mixed elastic buffer mechanism, the problem that a single spring damping mechanism is difficult to adjust the damping effect of the spring according to the self weight is solved.
According to the bionic crus of the variable-curvature hybrid elastic buffer robot, the curvature between the crus connecting piece and the vibration damping mechanism can be adjusted according to the environment requirement through the structural design that the connecting curvature between the crus connecting piece and the vibration damping mechanism is adjustable, so that the larger deviation angle between the stress direction of the foot end and the linear direction of the crus connecting rod is reduced, and the extra motion moment to be borne by the crus is reduced; in addition, by adopting the mixed elastic buffer mechanism, the problem that a single spring damping mechanism is difficult to adjust the damping effect of the spring according to the self weight is solved. The bionic crus of the variable-curvature hybrid elastic buffer robot can realize vibration reduction, buffering and stable walking in rough road conditions, can well complete supporting and walking tasks on rough roads, and is simple and practical in structure.
In specific implementation, one end of the shank connecting piece 10 is provided with a structure connected with the thigh, such as a connecting hole, and the other end is provided with a plurality of adjusting holes; a plurality of adjusting holes are arranged into a plurality of groups of adjusting hole groups with different included angles with the horizontal direction; a plurality of positioning holes 201 are arranged on the vibration damping mechanism; the positioning hole 201 is detachably connected to the adjusting hole through a third connecting member 30, and the third connecting member 30 includes, but is not limited to, a bolt structure. Specifically, the regulation holes include a first regulation hole 11, a second regulation hole 12, and a third regulation hole 13, wherein: a plurality of first adjusting holes 11 are horizontally arranged; the arrangement direction of the plurality of second adjusting holes 12 forms an inclined included angle of 20 degrees with the horizontal direction; the arrangement direction of the third adjusting holes 13 forms an inclined included angle of 40 degrees with the horizontal direction.
During connection, as shown in fig. 3, with the positioning hole 20 at the leftmost end as the center of a circle, the adjustment hole group formed by the first adjustment hole 11, the adjustment hole group formed by the second adjustment hole 12 and the adjustment hole group formed by the third adjustment hole 13 are linearly and sector-shaped distributed along the center of a circle, and the plurality of positioning holes 201 arranged on the vibration damping mechanism are connected with the adjustment hole group with different included angles in the horizontal direction, so that the adjustment of the lower leg curvature is realized. In this embodiment, through the structural design of adjusting hole group and locating hole 201, realized the regulation of shank curvature, simple structure, simple to operate.
In specific implementation, the hybrid elastic buffer mechanism comprises three damping springs 24; the bottom parts of the three damping springs 24 are provided with damping rubber 25; the three damping springs 24 are uniformly distributed and act on the shank connecting piece 10 together; the spring constants of the three damper springs 24 are the same or different.
During the concrete implementation, damping mechanism still includes damping mechanism piston 20, piston retaining ring 21, first connecting piece 22, damping sleeve 23 and second connecting piece 27, wherein: the first and second connectors 22 and 27 include, but are not limited to, bolt structures;
as shown in fig. 5, one end of the damping mechanism piston 20 is provided with a plurality of positioning holes 201; the positions of the positioning holes 201 are respectively matched with the positions of the corresponding adjusting holes; the positioning holes 201 are connected with the adjusting holes on the shank connecting piece 10 through the third connecting piece 30; the third connector 30 includes, but is not limited to, a bolt and nut structure; the opening end of the damping sleeve 23 is transversely extended outwards to form a convex edge; the upper surface of the convex edge is provided with a piston retainer ring 21; through holes are formed in the convex edge and the corresponding positions of the piston retainer ring 21; the first connecting piece 22 passes through the through hole and is fastened with the nut, so that the piston check ring 21 is connected to the damping sleeve 23; the bottom of the damping mechanism piston 20 is arranged in the damping sleeve 23 and is connected with damping rubber 25 at the bottom of the damping sleeve 23 through a damping spring 24; the inner diameter of the piston retainer ring 21 is smaller than the diameter of the middle part of the stroke of the piston 20 of the vibration reduction mechanism, and the stroke of the piston 20 of the vibration reduction mechanism is limited through the piston retainer ring 21; the hemispherical damper rubber 25 is connected to the bottom of the damper sleeve 23 by a second connecting member 27. In the embodiment, the purpose of adjusting the curvature of the lower leg is achieved through the structural design, and an ideal comprehensive vibration damping effect is achieved through the structural design of combining the plurality of vibration damping springs 24 and the vibration damping rubber 25.
Preferably, as shown in fig. 3 and 5, the bottom of the damping mechanism piston 20 is provided with a plurality of cylindrical grooves; the fixed damping spring 24 is arranged in the cylindrical groove; the depth of the cylindrical recess is less than the length of the inner cavity of the damping sleeve 23. The damping spring 24 is fixed through the cylindrical groove, so that the problem of unbalanced elastic force caused by deviation of the damping spring 24 in the movement process can be avoided.
Preferably, the damping spring 24 is provided with a pressure sensor 26 at the end.
In specific implementation, as shown in fig. 3, the end of the damping spring 24 is attached to one side of the pressure sensor 26, and the other side of the pressure sensor 26 is attached to the damping rubber 25. In the embodiment, the information of the pressure sensors 26 is transmitted through the signal line 28, and if the force measured by the three pressure sensors 26 is F1, F2 and F3, the pressure borne by the bionic calf is F = F1+ F2+ F3. In this embodiment, through set up pressure sensor 26 at a plurality of damping spring 24 end, when being in different effort and rugged road surface operating mode, detect ground buffer power size when making the robot realize the shank buffering, realize supporting with better completion ground and the walking ability to the curvature that can change the shank to different environmental demands. The pressure sensor 26 may be of a commercially available type and will not be described in detail.
The invention also provides a curvature adjusting method of the bionic shank of the variable-curvature hybrid elastic buffer robot, which comprises the following steps:
the lower end of the shank connecting piece 10 is provided with an adjusting hole group with different included angles with the horizontal direction; a plurality of positioning holes 201 are formed in the vibration damping mechanism;
the positioning hole 201 is connected with the adjusting hole groups with different angles through the third connecting piece 30, so that the adjustment of the lower leg curvature is realized.
Specifically, as shown in fig. 3, the lower end of the shank link 10 is provided with an adjusting hole having an inclination angle of 20 ° or 40 ° with the horizontal direction, the damping mechanism piston 20 can be fixed to the shank link 10 by the third link 30, and the damping mechanism piston 20 can be connected in the vertical direction or in the direction having a difference of 20 ° or 40 ° with the vertical direction by being fixed to the adjusting hole having a different inclination angle, thereby achieving the capability of changing the curvature of the shank; wherein the third connecting member 30 includes, but is not limited to, a bolt and nut structure.
The invention also provides a vibration reduction adjusting method of the bionic shank of the variable-curvature hybrid elastic buffer robot, which comprises the following steps:
a plurality of damping springs 24 are arranged in the mixed elastic buffer mechanism; the elastic coefficients of the vibration reduction springs 24 are set to be k1, k2 and k3... kn, and the comprehensive elastic coefficient is k = k1+ k2+ k3+. + kn;
according to different use scenes, the combination of springs with different elastic coefficients is selected, so that an ideal comprehensive elastic coefficient is achieved.
In specific implementation, as shown in fig. 2 and 3, three damping springs 24 are installed in the damping sleeve 23; the damping spring 24 is fixed at its upper end in a cylindrical recess of the damping means piston 20, at its lower end through a circular through hole of the damping bush 23 and presses against the damping rubber 25 at the foot end, which damping rubber 25 and damping bush 23 are fixedly fitted by means of a second connecting piece 27. In this embodiment, if the spring constants of the three damper springs are k1, k2, and k3, respectively, the overall spring constant is k1= k1+ k2+ k3, and thus a desired overall spring constant can be achieved by selecting a combination of springs with different spring constants. Meanwhile, the damping rubber 25 at the foot end is combined for secondary damping, so that an ideal comprehensive damping effect is realized. Wherein the second connector 27 includes, but is not limited to, a bolt and nut structure. Although terms such as shank link, adjustment bore, damping mechanism piston, piston collar, link, damping sleeve, damping spring, damping rubber, pressure sensor, locating bore, etc. are used more often herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a bionic shank of mixed elasticity buffering robot of variable curvature which characterized in that: comprises a shank connecting piece (10) and a vibration damping mechanism connected with the shank connecting piece, wherein:
the connection curvature between the shank connecting piece (10) and the vibration damping mechanism is adjustable; one end of the shank connecting piece (10) is connected with the thigh, and the other end of the shank connecting piece is provided with a plurality of adjusting holes; a plurality of adjusting holes are arranged into a plurality of groups of adjusting hole groups with different included angles with the horizontal direction;
a plurality of positioning holes (201) are formed in the vibration damping mechanism;
the positioning hole (201) is detachably connected with the adjusting hole through a third connecting piece (30);
the vibration reduction mechanism is provided with a mixed elastic buffer mechanism; the hybrid elastic buffer mechanism comprises a plurality of damping springs (24); the elastic coefficients of the plurality of damping springs (24) are the same or different; a plurality of damping springs (24) act together on the shank link (10).
2. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 1, wherein: the regulation hole includes first regulation hole (11), second regulation hole (12) and third regulation hole (13), wherein:
a plurality of first adjusting holes (11) are horizontally arranged; the arrangement direction of the plurality of second adjusting holes (12) forms an included angle of 20 degrees with the horizontal direction; the arrangement direction of the third adjusting holes (13) forms an included angle of 40 degrees with the horizontal direction.
3. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 1, wherein: the damping springs (24) are three.
4. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 2, wherein: and the bottom of the mixed elastic buffer mechanism is provided with damping rubber (25).
5. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 4, wherein: damping mechanism still includes damping mechanism piston (20), piston retaining ring (21), first connecting piece (22), damping sleeve (23) and second connecting piece (27), wherein:
one end of the damping mechanism piston (20) is provided with a plurality of positioning holes (201); the positioning holes (201) are connected with the adjusting holes on the shank connecting piece (10) through the third connecting piece (30);
the open end of the damping sleeve (23) is connected with a piston retainer ring (21) through a first connecting piece (22);
the bottom of the damping mechanism piston (20) is arranged in the damping sleeve (23); the stroke of a piston (20) of the vibration reduction mechanism is limited through a piston retainer ring (21);
the damping rubber (25) is connected to the bottom of the damping sleeve (23) through a second connecting piece (27); the bottom of the damping mechanism piston (20) is abutted against the damping rubber (25) through a damping spring (24).
6. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 5, wherein: and a pressure sensor (26) is arranged at the tail end of the damping spring (24).
7. The curvature adjusting method of the bionic calf of the variable-curvature hybrid elastic buffer robot according to any one of claims 2 to 6, characterized by comprising the following steps of: the method comprises the following steps:
the lower end of the shank connecting piece (10) is provided with an adjusting hole group with different included angles with the horizontal direction; a plurality of positioning holes (201) are formed in the vibration damping mechanism;
the positioning hole (201) is connected with the adjusting hole groups with different angles through the third connecting piece (30), so that the adjustment of the lower leg curvature is realized.
8. The method for adjusting the vibration attenuation of the bionic calf of the variable-curvature hybrid elastic buffer robot according to any one of claims 4 to 6, is characterized in that: the method comprises the following steps:
a plurality of damping springs (24) are arranged in the mixed elastic buffer mechanism; the elastic coefficients of the vibration reduction springs (24) are set as k1, k2 and k3... kn, and then the comprehensive elastic coefficient is k = k1+ k2+ k3+. + kn; according to different use scenes, the combination of springs with different elastic coefficients is selected, so that an ideal comprehensive elastic coefficient is achieved.
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| CN112660264B (en) * | 2020-12-30 | 2023-06-20 | 厦门大学 | U-shaped foot end sensing robot leg structure and output torque detection control method |
| CN113175491A (en) * | 2021-05-20 | 2021-07-27 | 南京驭逡通信科技有限公司 | Active damping device for joints of industrial robot and damping method thereof |
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