CN112091940B - Under-actuated super-redundant continuum robot driven by flexible board - Google Patents
Under-actuated super-redundant continuum robot driven by flexible board Download PDFInfo
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- CN112091940B CN112091940B CN202010859988.2A CN202010859988A CN112091940B CN 112091940 B CN112091940 B CN 112091940B CN 202010859988 A CN202010859988 A CN 202010859988A CN 112091940 B CN112091940 B CN 112091940B
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention relates to an underactuated super-redundant continuum robot driven by a flexible plate, which comprises a flexible plate continuous mechanical arm driving part and a lockable passive truss part, wherein the mechanical arm driving part comprises a frame, two driving units consisting of a ball screw sliding table module and a servo motor, two flexible long plates and a rigid platform at the tail end of the flexible long plates, and the movement of the flexible long plates is driven by controlling the rotation of the motor so as to enable the rigid platform at the tail end to reach a designated position. The lockable passive truss part consists of deformable truss joints with identical multi-section structures, the deformable truss joints of the initial section are hinged with the frame, the tail section is hinged with the tail end rigid platform, and the deformable truss joints of each section are hinged through a supporting plate. The invention only uses two drivers to control the super-redundancy degree of freedom of the serial-parallel mechanism, and the passive locking of the deformed truss greatly improves the rigidity of the continuum robot, so that the whole robot can realize bending motion and has stronger bearing capacity.
Description
Technical Field
The invention relates to the field of continuum robots, in particular to an underactuated super-redundant continuum robot driven by a flexible plate.
Background
Along with the development of the bionic technology, a novel bionic robot appears in the field of robot research: a continuum robot. Unlike discrete robots that employ discrete joints and rigid rod structures, continuum robots employ flexible structures similar to octopus tentacles, trunk, and other biological organs, and do not have any discrete joints and rigid links. The novel bionic robot has excellent bending performance, can flexibly and flexibly change the shape of the robot according to the conditions of obstacles and environments, and has strong adaptability to narrow and complex unstructured environments.
The beginning of the 21 st century, continuum robots have made tremendous progress. The continuous robot developed by OC robot company in the United kingdom remotely drives the tail end in a mode of driving a rope by a motor, so that each section of structure can be bent; peirs et al propose an endoscopic robot composed of a superelastic NiTi alloy tube, which can be used for surgical operations; sun Lining, hu Haiyan et al at the national university of Harbin industry propose a line-driven continuum robot that can be used for colonic disease inspection.
In order to realize hierarchical control of each bending joint, the conventional continuum robot needs to arrange a plurality of driving devices, which not only increases the size and weight of the entire continuum robot, but also increases the energy consumption. In addition, conventional continuum robots are limited by their generally elongated configuration, which results in a low load carrying capacity. In the research process of the continuum robot, the bending capability of the continuum robot is ensured, and the continuum robot has larger bearing capacity and fewer driving devices.
Disclosure of Invention
Aiming at solving the problems of low bearing capacity and large driving quantity of the existing continuum robot, the underactuated super-redundant continuum robot driven by the flexible plate is provided.
The technical scheme of the invention is as follows:
an underactuated super-redundant continuum robot driven by a flexible plate comprises a flexible plate continuous mechanical arm driving part and a lockable passive truss part. The lockable passive truss part consists of deformable truss joints with the same multi-section structure, the deformable truss joints at the tail sections of the lockable passive truss parts are hinged with the rigid tail end platform, and the driving part of the mechanical arm is provided with a motor for driving the flexible long plate to move, so that the rigid tail end platform reaches a designated position; the deformable truss joints of the initial section are fixed by hinging with the frame. When the flexible board mechanical arm is driven, the corresponding deformable truss joint is unlocked, so that the robot has the capability of approximating the motion of the continuum robot; when the rigid platform at the tail end reaches a designated position, all the deformable truss joints are locked, so that the robot has stronger bearing capacity and stability. The robot has the capability of controlling the super-redundancy degree of freedom of the serial-parallel mechanism by using only two drivers, and can realize continuous bending and has stronger bearing capacity due to the driving of the flexible board and the passive locking and unlocking of the deformable truss.
Preferably, the lockable passive truss section is formed by hinging three sections of deformable truss joints with identical structures in series through an intermediate support plate and a support plate in the schematic diagram of the patent, and more than three sections of deformable truss joints can be preferably adopted, wherein each section of deformable truss joint comprises three groups of telescopic and passive lockable truss units which are distributed in parallel. The deformable truss joint of the initial section is hinged with a fixed rigid platform, and the fixed rigid platform is connected with the frame through bolts and nuts. The fixed rigid platform, the supporting plate and the upper and lower parts of the supporting plate are respectively provided with a rectangular through groove for the flexible plate to pass through.
Preferably, the flexible board continuous mechanical arm driving part mainly comprises a frame, two driving units consisting of a ball screw sliding table module and a servo motor, a roller module, two flexible boards and a rigid platform at the tail end of the flexible boards. One end of the flexible plate is connected with the ball screw sliding table module through the clamping and fixing mechanism and sequentially passes through the roller module, the groove on the fixed rigid platform, the supporting plate and the groove on the supporting plate, and finally is connected with the terminal rigid platform through bolts and nuts. The flexible board is pushed by the ball screw sliding table module and is locked and unlocked passively by the deformable truss joint, so that the bending of the whole mechanical arm part and the pose of the terminal rigid platform are controlled.
Preferably, the deformable truss joint comprises three groups of telescopic truss units which are distributed in parallel and can be locked passively, and a plurality of groups of truss units which are distributed in parallel can be preferably adopted, wherein the deformable truss joint comprises three lower truss rods, two middle truss rods, one middle truss rod and three upper truss rods.
Preferably, the lockable passive truss sections and the passive locking and unlocking of the three-section deformable truss joints are in various combinations, so that the whole mechanical arm has different bending capacities and the terminal rigid platform can achieve different postures. In order to more intuitively and effectively analyze the locking and unlocking combination form of each deformable truss joint, three groups of truss units of each section of deformable truss joint are simplified into one group of truss units for analysis and explanation, and the deformation modes of the one group of truss units and the three groups of truss units are consistent.
Preferably, each truss joint is in three degrees of freedom, and the whole robot realizes control of all nine degrees of freedom of the three truss joints through step control.
Preferably, at most two degrees of freedom are driven by the two flexible plates at the same time, when the two flexible plates drive the two sections of truss joints, each section of truss joint is driven by one degree of freedom, and any two telescopic truss rods in the single section of plane truss joint are unlocked to enable the joint to have one degree of freedom.
Preferably, when two flexible plates drive one truss joint, one degree of freedom or two degrees of freedom of a single truss joint can be driven respectively, and any three telescopic truss rods in the single plane truss joint are unlocked to enable the joint to have two degrees of freedom.
When all the telescopic truss rods are completely unlocked, the whole robot is the traditional continuous robot.
Preferably, the lockable passive truss part is unlocked by three lower truss rods and one middle truss rod when the lower flexible plate is driven, and is in a free telescopic state, and can correspondingly stretch and retract along with the bending of the flexible plate; the three upper truss rods and the two middle truss rods are in a locking state, so that the whole joint has certain bearing capacity in the bending process; when the upper flexible plate is driven, the three upper truss rods and the two middle truss rods are unlocked and are in a free telescopic state, and can correspondingly stretch along with the bending of the flexible plate; the three lower truss rods and the middle truss rod are in a locking state, so that the whole joint has certain bearing capacity in the bending process.
Preferably, the lockable passive truss part can perform deformation operation of one section of joint and two sections of joints simultaneously, truss units in each joint also have different unlocking and locking modes, the whole mechanical arm has different bending states due to different operation, the terminal rigid platform reaches different positions, and the hierarchical adjustment of three joints can be realized by using only two driving devices.
Compared with the prior art, the invention has the following outstanding advantages:
1. the invention adopts the lockable passive truss as the supporting piece, and locks or unlocks the corresponding telescopic truss rod while the flexible plate is driven, so that the continuum robot not only can realize continuous bending, but also has stronger bearing capacity in the bending process;
2. the invention adopts the flexible board as the driving piece, realizes the super redundancy degree of freedom of controlling the serial-parallel mechanism by only using two drivers, and successfully reduces the number of the drivers. In addition, the invention successfully realizes the hierarchical adjustment of three deformable truss joints by using two drivers through unlocking and locking different deformable truss units.
Drawings
Fig. 1 and 2 are schematic views of the overall structure of the present invention.
Fig. 3 is a schematic view of the structure of a single deformable truss joint of the invention.
Fig. 4 is a schematic representation of the deformation of a single deformable truss joint of the invention.
Fig. 5 is a schematic representation of a variation of the lockable passive truss section of the invention.
Fig. 6 is a schematic structural view of the intermediate support plate of the present invention.
Fig. 7 is a schematic structural view of the fixed rigid platform of the present invention.
Fig. 8 is a schematic structural view of the end rigid platform of the present invention.
Detailed Description
For a more detailed description of the specific structure and operation of the present invention, preferred embodiments are explained in detail below with reference to the accompanying drawings.
Embodiment one:
referring to fig. 1-2, an underactuated super-redundant continuum robot driven by a flexible board comprises a flexible board continuous mechanical arm driving part I and a lockable passive truss part II. The lockable passive truss part II consists of deformable truss joints with the same multi-section structure, the deformable truss joints at the tail sections of the lockable passive truss parts II are hinged with the rigid tail end platform, and the mechanical arm driving part I is provided with a motor 1 to drive the flexible long plate to move so that the rigid tail end platform reaches a designated position; the deformable truss joints of the initial section are fixed by hinging with the frame. When the flexible board mechanical arm is driven, the corresponding deformable truss joint is unlocked, so that the robot has the capability of approximating the motion of the continuum robot; when the rigid platform at the tail end reaches a designated position, all the deformable truss joints are locked, so that the robot has stronger bearing capacity. The robot has the capability of controlling the super-redundancy degree of freedom of the serial-parallel mechanism by using only two drivers, and can realize continuous bending and has stronger bearing capacity due to the driving of the flexible board and the passive locking and unlocking of the deformable truss.
The embodiment realizes the super-redundancy degree of freedom of controlling the serial-parallel mechanism by using only two drivers, and the passive locking of the deformation truss greatly improves the rigidity of the continuum robot, so that the whole robot can realize bending motion and has stronger bearing capacity.
Embodiment two:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
in this embodiment, referring to fig. 1-8, the lockable passive truss section ii is formed by hinging three or more sections of deformable truss joints with identical structures in series through an intermediate support plate 7 and a support plate 8, and each section of deformable truss joint comprises three or more groups of telescopic and passive lockable truss units distributed in parallel; the deformable truss joint of the initial section is hinged with a fixed rigid platform 6, and the fixed rigid platform 6 is connected with the frame 3 in the mechanical arm driving part I through bolts and nuts; the fixed rigid platform 6, the supporting plate 7 and the supporting plate 8 are respectively provided with a rectangular through groove for the flexible plate 9 to pass through.
In this embodiment, the flexible board continuous mechanical arm driving part i mainly includes two driving units composed of a frame 3, a ball screw sliding table module 4 and a motor 1, a roller module 5, two flexible boards 9 and a rigid platform 10 at the end of the flexible boards; one end of the flexible board 9 is connected with the ball screw sliding table module 4 through the clamping and fixing mechanism 2, sequentially passes through the roller module 5, the groove on the fixed rigid platform 6, the supporting board 7 and the groove on the supporting board 8, and finally is connected with the terminal rigid platform 10 through bolts and nuts; the flexible board 9 is pushed by the ball screw sliding table module 4 and is locked and unlocked passively by the deformable truss joint, so that the bending of the whole mechanical arm part and the pose of the terminal rigid platform are controlled.
In this embodiment, the deformable truss joint comprises three or more sets of parallel telescopic and passively lockable truss units, including three lower truss rods 11, two middle truss rods 12, one middle truss rod 13 and three upper truss rods 14.
In this embodiment, the lockable passive truss portion and the passive locking and unlocking of the three-section deformable truss joint have various different combinations, so that the whole mechanical arm has different bending capacities and the rigid platform at the tail end can reach different positions; in order to more intuitively and effectively analyze the locking and unlocking combination form of each deformable truss joint, three groups of truss units of each section of deformable truss joint are simplified into one group of truss units for analysis and explanation, and the deformation modes of the one group of truss units and the three groups of truss units are consistent;
each section of truss joint is in three degrees of freedom of a plane, and the whole robot realizes the control of all nine degrees of freedom of the three truss joints through step control;
the two flexible boards drive two degrees of freedom at most simultaneously, when the two flexible boards drive two sections of truss joints, each section of truss joint is driven with one degree of freedom, and any two telescopic truss rods in a single section of plane truss joint are unlocked to enable the joint to have one degree of freedom;
when two flexible plates drive one section of truss joint, one degree of freedom or two degrees of freedom of a single section of truss joint can be respectively driven, and any three telescopic truss rods in the single section of plane truss joint are unlocked to enable the joint to have two degrees of freedom;
when all the telescopic truss rods are completely unlocked, the whole robot is the traditional continuous robot.
In this embodiment, the lockable passive truss section, the upper truss arm 14 and the middle truss arm 12 of each section of joint are unlocked, and the lower truss arm 11 and the middle truss arm 13 are locked, so that the mechanical arm can be ensured to bend downwards and have a certain bearing capacity; the lower truss rod 11 and the middle truss rod 13 of each section of joint are unlocked, and the upper truss rod 14 and the middle truss rod 12 are locked, so that the mechanical arm can be ensured to bend upwards and have certain bearing capacity.
In this embodiment, the lockable passive truss portion may perform a deformation operation of one section of joint and two sections of joint at the same time, and truss units in each joint also have different unlocking and locking modes, so that the whole mechanical arm has different bending states and the end rigid platform reaches different positions by different operations, and the hierarchical adjustment of three joints can be realized by only using two driving devices.
The under-actuated super-redundant continuum robot driven by the flexible board is applied to the technical field of robots. The robot comprises a flexible board continuous mechanical arm driving part I and a lockable passive truss part II, wherein the mechanical arm driving part comprises a frame, two driving units consisting of a ball screw sliding table module and a servo motor, two flexible long boards and a rigid platform at the tail end of the flexible long boards, and the movement of the flexible long boards is driven by controlling the rotation of the motor, so that the rigid platform at the tail end reaches a designated position. The lockable passive truss part consists of deformable truss joints with identical multi-section structures, the deformable truss joints of the initial section are hinged with the frame, the tail section is hinged with the tail end rigid platform, and the deformable truss joints of each section are hinged through a supporting plate. Compared with the traditional continuum robot, the embodiment realizes the super-redundancy degree of freedom of controlling the series-parallel mechanism by using only two drivers, and the passive locking of the deformation truss greatly improves the rigidity of the continuum robot, so that the whole robot can realize bending motion and has stronger bearing capacity.
Embodiment III:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
in this embodiment, as shown in fig. 3, the structure diagram of a single deformable truss joint is shown, and the single deformable truss joint comprises three lower truss rods 11, two middle truss rods 12, one middle truss rod 13, three upper truss rods 14, a lower flexible plate 15 and an upper flexible plate 16, wherein each truss rod is connected with a supporting plate through a hinge, and the whole robot achieves different bending effects through driving of the flexible plates and locking and unlocking of different truss joints, and is formed by connecting three sections of identical joints in series from end to end.
As shown in fig. 4, a deformation schematic of the single deformable truss joint of this embodiment is one of numerous deformation situations, and when the upper flexible board 16 is driven, the three upper truss rods 14 and the two middle truss rods 12 are unlocked and can correspondingly stretch and retract along with the driving of the flexible board; the three lower truss rods 11 and one middle truss rod 13 are locked, so that the joint has a certain bearing capacity in the bending process. When the lower flexible plate 15 is driven, the three lower truss rods 11 and one middle truss rod 13 are unlocked, and can correspondingly stretch and retract along with the driving of the flexible plate; the three upper truss arms 14 and the two middle truss arms 12 are locked, so that the joint has a certain bearing capacity in the bending process.
Fig. 5 is a schematic diagram showing a deformation of the lockable passive truss section according to this embodiment, where the deformation includes two-segment joint deformation and one-segment joint locking and one-segment joint deformation and two-segment joint locking. Through the two conditions, the robot can realize the adjustment of any one section of joints in the three sections of deformable truss joints, and can also realize the adjustment of any two sections of joints at the same time. The control of nine degrees of freedom of the three-section joint can be realized through stepwise adjustment. In the bending process, as the locked deformable truss units of each section of joint perform a stabilizing function, the bearing capacity of the mechanical arm can be greatly improved.
The embodiment adopts the lockable passive truss as the supporting piece, and locks or unlocks the corresponding telescopic truss rod while the flexible plate is driven, so that the continuum robot not only can realize continuous bending, but also has stronger bearing capacity in the bending process; the embodiment adopts the flexible board as the driving piece, realizes the super redundancy degree of freedom of controlling the serial-parallel mechanism by using only two drivers, and successfully reduces the number of the drivers. In addition, the embodiment successfully realizes the hierarchical adjustment of three deformable truss joints by using two drivers through unlocking and locking different deformable truss units.
The foregoing is illustrative of the present invention in connection with specific embodiments, and the scope of the invention is not limited to the foregoing, but includes alternatives and derivatives thereof.
Claims (7)
1. An underactuated super-redundant continuum robot driven by a flexible plate comprises a flexible plate continuous mechanical arm driving part (I) and a lockable passive truss part (II); the method is characterized in that: the lockable passive truss part (II) consists of deformable truss joints with the same multi-section structure, the deformable truss joints at the tail sections of the lockable passive truss part are hinged with the tail end rigid platform, and the mechanical arm driving part (I) is provided with a motor (1) to drive the flexible plate to move so that the tail end rigid platform reaches a designated position; the deformable truss joint of the initial section is fixed by hinging with the frame; when the flexible board mechanical arm is driven, the corresponding deformable truss joint is unlocked, so that the robot has the capability of approximating the motion of the continuum robot; when the rigid platform at the tail end reaches a designated position, all the deformable truss joints are locked, so that the robot has stronger bearing capacity; the robot has the capability of controlling the super-redundancy degree of freedom of the serial-parallel mechanism by using only two drivers, and can realize continuous bending and has stronger bearing capacity due to the driving of the flexible board and the passive locking and unlocking of the deformable truss.
2. The flexible board driven underactuated super redundant continuum robot of claim 1, wherein: the lockable passive truss part (II) is formed by hinging three or more sections of deformable truss joints with identical structures in series through middle support plates (7, 8), and each section of deformable truss joint comprises three or more groups of telescopic and passive lockable truss units which are distributed in parallel; the deformable truss joint of the initial section is hinged with a fixed rigid platform (6), and the fixed rigid platform (6) is connected with a frame (3) in a mechanical arm driving part (I) through bolts and nuts; the upper and lower parts of the fixed rigid platform (6) and the supporting plates (7, 8) are respectively provided with a rectangular through groove for the flexible plate (9) to pass through.
3. The flexible board driven underactuated super redundant continuum robot of claim 1, wherein: the flexible board continuous mechanical arm driving part (I) mainly comprises a frame (3), two driving units consisting of a ball screw sliding table module (4) and a motor (1), a roller module (5), two flexible boards (9) and a rigid platform (10) at the tail end of each flexible board; one end of the flexible board (9) is connected with the ball screw sliding table module (4) through the clamping and fixing mechanism (2), and sequentially passes through the roller module (5), the rectangular through groove on the fixed rigid platform (6) and the rectangular through grooves on the support plates (7, 8), and finally is connected with the terminal rigid platform (10) through bolts and nuts; the flexible board (9) is pushed by the ball screw sliding table module (4) and is locked and unlocked passively by the deformable truss joint, so that the bending of the whole mechanical arm part and the pose of the terminal rigid platform are controlled.
4. The flexible-sheet-driven underactuated super-redundant continuum robot of claim 2, wherein: the deformable truss joint comprises three or more groups of telescopic truss units which are distributed in parallel and can be locked passively, and comprises three lower truss rods (11), two first middle truss rods (12), one second middle truss rod (13) and three upper truss rods (14).
5. The flexible-sheet-driven underactuated super-redundant continuum robot of claim 2, wherein: the lockable passive truss part and the passive locking and unlocking of the three-section deformable truss joint have various different combination forms, so that the whole mechanical arm has different bending capacities and the terminal rigid platform can achieve different postures; in order to more intuitively and effectively analyze the locking and unlocking combination form of each deformable truss joint, three groups of truss units of each section of deformable truss joint are simplified into one group of truss units for analysis and explanation, and the deformation modes of the one group of truss units and the three groups of truss units are consistent;
each section of truss joint is in three degrees of freedom of a plane, and the whole robot realizes the control of all nine degrees of freedom of the three truss joints through step control;
the two flexible boards drive two degrees of freedom at most simultaneously, when the two flexible boards drive two sections of truss joints, each section of truss joint is driven with one degree of freedom, and any two telescopic truss rods in a single section of plane truss joint are unlocked to enable the joint to have one degree of freedom;
when two flexible plates drive one section of truss joint, one degree of freedom or two degrees of freedom of a single section of truss joint can be respectively driven, and any three telescopic truss rods in the single section of plane truss joint are unlocked to enable the joint to have two degrees of freedom;
when all the telescopic truss rods are completely unlocked, the whole robot is the traditional continuous robot.
6. The flexible-sheet-driven underactuated super-redundant continuum robot of claim 5, wherein: the lockable passive truss part is characterized in that an upper truss rod (14) and a first middle truss rod (12) of each section of joint are unlocked, and a lower truss rod (11) and a second middle truss rod (13) are locked, so that the mechanical arm can be ensured to bend downwards and have a certain bearing capacity; the lower truss rod (11) and the second middle truss rod (13) of each section of joint are unlocked, and the upper truss rod (14) and the first middle truss rod (12) are locked, so that the mechanical arm can be ensured to bend upwards and have a certain bearing capacity.
7. The flexible-sheet-driven underactuated super-redundant continuum robot of claim 5, wherein: the lockable passive truss part can perform one-section joint and two-section joint simultaneous deformation operation, truss units in each joint also have different unlocking and locking modes, the whole mechanical arm has different bending states due to different operation, the terminal rigid platform reaches different positions, and the hierarchical adjustment of three joints can be realized by using only two driving devices.
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| CN202010859988.2A CN112091940B (en) | 2020-08-24 | 2020-08-24 | Under-actuated super-redundant continuum robot driven by flexible board |
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| CN202010859988.2A CN112091940B (en) | 2020-08-24 | 2020-08-24 | Under-actuated super-redundant continuum robot driven by flexible board |
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| CN112091940B true CN112091940B (en) | 2023-07-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4587777A (en) * | 1981-10-09 | 1986-05-13 | General Dynamics Corporation/Convair Div. | Deployable space truss beam |
| GB2104610B (en) * | 1982-06-15 | 1985-01-03 | British Aerospace | Extendable structures |
| AU2001265832A1 (en) * | 2000-06-20 | 2002-01-02 | Meganic Aps | Parallel manipulator provided with a truss structure |
| CN103786162B (en) * | 2014-02-19 | 2015-12-09 | 哈尔滨工业大学 | Easily extensible drive lacking rope bar truss-like mechanical paw |
| CN106313033A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Truss-type flexible manipulator |
| CN106346464B (en) * | 2016-11-10 | 2018-09-04 | 燕山大学 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
| CN108356797B (en) * | 2018-02-02 | 2020-06-09 | 西安电子科技大学 | Spring-rope underactuated spatial manipulator device |
| CN108422411B (en) * | 2018-03-19 | 2019-08-16 | 哈尔滨工业大学（深圳） | The curved space truss arresting agency of telescopic |
| CN209999186U (en) * | 2019-06-10 | 2020-01-31 | 广东博智林机器人有限公司 | Robot |
| CN110977943B (en) * | 2019-12-09 | 2020-12-29 | 西安交通大学 | Driving/transmission integrated multistage variant structure |
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