CN112571440B - Joint unit, finger-shaped device and gripper - Google Patents

Joint unit, finger-shaped device and gripper Download PDF

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Publication number
CN112571440B
CN112571440B CN202011447814.1A CN202011447814A CN112571440B CN 112571440 B CN112571440 B CN 112571440B CN 202011447814 A CN202011447814 A CN 202011447814A CN 112571440 B CN112571440 B CN 112571440B
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China
Prior art keywords
spring
eap
joint unit
sma
joint
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CN112571440A (en
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王鹏飞
李秉洋
吴怀松
罗斌
焦志伟
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China Academy of Space Technology CAST
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China Academy of Space Technology CAST
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Abstract

The application discloses joint unit, finger-shaped device and tongs, combine cylindrical EAP actuator and SMA actuator through the connecting piece, utilize the sharp drive of cylindrical EAP actuator to realize the removal degree of freedom of joint unit, utilize the SMA actuator to realize the degree of freedom of rotation of joint unit, solved the technical problem that the working space that uses EAP drive and SMA driven mechanical finger is less among the prior art, simultaneously because this application will cylindrical EAP actuator and SMA actuator connect with the form of end to end series connection, will position, motion and mechanics inverse solution when joint unit is used for carrying out the end calculate simply, are favorable to providing reaction rate.

Description

Joint unit, finger-shaped device and gripper
Technical Field
The application relates to the technical field of multi-degree-of-freedom flexible manipulators, in particular to a joint unit, a finger-shaped device and a gripper.
Background
In recent years, while advanced driving techniques have been developed, many smart driving materials are applied to the field of manufacturing of new drivers. According to the different power sources, the driving techniques widely used in the present and electromechanical systems mainly include pneumatic driving, motor/reducer driving, Shape Memory Alloy (SMA) driving, piezoelectric driving, and drivers based on electro-deformable polymer (EAP). As a typical artificial muscle material, EAP can be used as a driver to convert electrical energy into mechanical energy, and can also convert mechanical energy into electrical energy to realize power generation or sensing. Compared with the traditional electromagnetic type and piezoelectric type generators or actuators, the EAP generator or actuator developed by the material has the advantages of high energy density, large electrostriction, flexibility, wearability, integration of driving and sensing, high conversion efficiency, small environmental influence, low cost, light weight and the like, receives more and more attention in recent years, and the research on space weaponry based on the material is rapidly developed and comprises a space flexible capturer, a wing-changeable aircraft, a wave energy power generation system and the like.
There are two modes of operation of EAP:
(1) a driving mode. Flexible electrodes are coated on two sides of the EAP, after voltage is applied, the opposite charges on the two electrodes attract each other, the EAP is thinned and enlarged in area under the action of an electrostatic field, and the conversion of electric energy to mechanical energy is completed (figure 1 a)).
(2) And (4) a power generation mode. The EAP is first stretched by an external force to charge it. When the EAP contracts freely, the voltage between the electrodes will increase, the energy stored by the EAP increases, and the increased electric energy is equal to the work done by an external force to stretch the EAP, converting the mechanical energy into electric energy (FIG. 1 b)).
It can be seen from the deformation mechanism that, without any constraint, the material can only deform in-plane under the electrical stimulation, and the three-dimensional deformation of the structure, i.e. the EAP driver, is realized by performing the corresponding structural design based on the deformation characteristic of the soft EAP material. The EAP driver as a novel electro-driver has the advantages of simple structure, light weight, high energy conversion rate and the like, and the output characteristic of the structure can be further improved by pre-stretching the material on the basis of the original structure. At present, the EAP drivers are of a reel type, a cone type, an extension type, a cylindrical type and the like, wherein the cylindrical EAP drivers are simple to manufacture and process, have high stability and large output displacement and output work in the working process, and therefore have good application prospects.
The EAP cylinder driver deformation mechanism is shown in fig. 2 and 3:
the driving process is as follows:
in FIG. 2 f1(l)、f2(l)、f3(l) Respectively the stiffness curves after the compression spring and the EAP membrane are powered off and on, f3(l) Curve at f2(l) Below the curve. The abscissa l represents the transverse length of the active part of the drive, lpIs its quiescent, non-voltage applied length.
When no constant preload is applied, as shown in fig. 2, the restoring force of the compression spring and the elastic tension of the dielectric type EAP film are balanced, and the actuator is in a balanced state. Curve f of stiffness by electrostatic pressure after voltage application2(l)、f3(l) A force difference Δ F is generated therebetween(1)The restoring force of the spring is greater than the pulling force of the membrane, so that the driver generates axial extension movement. When moving to the point b, the restoring force of the spring is reduced and the tension f of the electrified film is reduced3(l) Equilibrium is reached again and the actuator stops elongating. Also after a power failure, a power failure force difference Δ F is generated between the stiffness curves(0)Returning the actuator to the equilibrium position. And the projection of the intersection point of the three stiffness curves on the displacement axis is the extension displacement delta l of the driver. According to the analysis, the driver can drive the load to do work outwards in the axial extension process, and the load driven by the driver is gradually reduced along with the extension of the driver until the load reaches 0.
Shape Memory Alloy (SMA) as an intelligent material can generate reversible phase change between low-temperature martensite and high-temperature austenite under moderate stimulation, the internal microstructure of the SMA changes, and the SMA exhibits Shape Memory effect in the phase change process. The shape memory effect refers to the characteristic of the alloy that after being shaped at high temperature, the alloy is cooled to low temperature, deformed and reheated to a certain temperature, the alloy can recover to the shape before deformation, and the process can be repeatedly realized. The essence of the shape memory effect of the shape memory alloy is martensite phase transformation and inverse transformation thereof, and the specific phase transformation process is as follows: the shape of the martensite phase is transformed to a certain shape, and the shape of the original parent phase is recovered when the external temperature is increased to be higher than the austenite transformation starting point As, As shown in fig. 4.
The patent document No. CN101585188A discloses a multidimensional active joint based on dielectric EAP, the active joint is sequentially and coaxially provided with an upper frame and a lower frame from top to bottom, an inner frame is disposed in the upper frame, the inner frame is hinged to the upper frame by a hinge mechanism, the upper end of a shaft is fixed to the inner frame, the lower end of the shaft passes through a guide sleeve, the guide sleeve and the lower frame are both fixedly connected to a substrate, 2n dielectric EAP drivers are coaxially and symmetrically disposed between the upper frame and the lower frame, the dielectric EAP drivers are connected to frameworks of the upper frame and the lower frame by a connecting rod, where n is a natural number. The invention has simple structure, low cost, light weight and flexible work, but as a parallel mechanism, the invention has the defects of difficult inverse solution and smaller working room.
The patent document with the reference number of CN101053956A discloses a cross-axle type robot driving joint based on shape memory alloy, the main structure body is a hooke hinge mechanism and consists of a fixed hinge frame 1, a cross axle 6 and a movable hinge frame 7, four pulleys 5 are respectively and fixedly connected to four shaft shoulders of the cross axle 6, the four shaft shoulders of the cross axle 6 are respectively sleeved on side wall round holes of the fixed hinge frame 1 and the movable hinge frame 7, four ropes 4 are respectively wound on the four pulleys 5, two ends of each rope 4 are respectively connected with an SMA spring 3, and the other end of the SMA spring 3 is connected to the hinge frame on the side where the SMA spring is located. The invention simplifies the structure and the control link, reduces the error, improves the joint freedom degree and the rigidity, but is limited to the rotational freedom degree, and has the defect of smaller working room in the practical application.
Disclosure of Invention
The embodiment of the application provides a joint unit, a finger-shaped device and a gripper, and at least solves the technical problem that in the prior art, the working space of mechanical fingers driven by EAP and SMA is small.
The present application provides a joint unit comprising:
a cylindrical EAP driver, the cylindrical EAP driver comprising:
a first spring comprising a first end and a second end;
the guide rod and the first spring are arranged in the same axial direction;
the EAP film is wound on the first spring by a plurality of layers, wherein a plurality of flexible conductive units are configured on the EAP film, each flexible conductive unit comprises an electrode outgoing line, and the electrode outgoing lines are connected with a first power supply;
an SMA actuator comprising:
a second spring comprising a first end and a second end;
the SMA wires are arranged along the axial direction of the second spring but are not coaxial, and the SMA wires are connected with a second power supply;
and the number of the first and second groups,
a connecting member including a first end and a second end, wherein the first end of the connecting member is connected to the second end of the first spring and the second end of the connecting member is connected to the first end of the second spring;
wherein, set up on the connecting piece:
the guide rod penetrates through the connecting piece.
Preferably, the cylindrical EAP driver further comprises:
the first limiting part is connected with the guide rod.
Preferably, the flexible conductive unit comprises a first portion, a second portion and a connecting portion;
the first part, the second part and the connecting part are arranged in an H shape, wherein the first part and the second part are arranged at intervals and are connected through the connecting part; the first and second portions each extend from a first end to a second end of the first spring;
the first part and the second part are respectively positioned at two opposite sides of the cylinder where the first spring is positioned;
and each layer of the coiled EAP film is provided with one flexible conductive unit.
Preferably, a conductive coating liquid or carbon paste is coated on the EAP film as the flexible conductive unit.
Preferably, the EAP film wound on the first spring is stretched and deformed by 300-500% in two directions perpendicular to each other.
Preferably, the EAP film is wound in 1 to 2 layers on the first spring.
Preferably, the SMA actuator further comprises:
a second limiting member connected with a second end of the second spring;
and the second limiting part and the connecting piece are used for fixing two ends of the SMA wire.
Preferably, a number of said SMA wires are distributed with respect to the centre of said second spring.
The present application also provides a finger device comprising a plurality of the above-described articulated units, where the articulated units are connected: the first end of the first spring of one joint unit is connected with the second end of the second spring of the other joint unit.
The application also provides a tongs, contains above joint unit and palm board, the first end of each joint unit's first spring with the palm board is connected.
In the embodiment of the application, the cylindrical EAP driver and the SMA driver are combined through the connecting piece, the movement freedom degree of the joint unit is realized by utilizing the linear driving of the cylindrical EAP driver, the rotation freedom degree of the joint unit is realized by utilizing the SMA driver, the technical problem that the working space of a mechanical finger using EAP driving and SMA driving is small in the prior art is solved, and meanwhile, the cylindrical EAP driver and the SMA driver are connected in series end to end, so that the position, the movement and the mechanical inverse solution operation are simple when the joint unit is used for executing the tail end, and the reaction speed is favorably provided.
More importantly, the motion direction of the connecting piece is limited to move along the guide rod through the matching between the guide rod and the connecting piece, and the radial degree of freedom of the connecting piece is limited in such a way, so that the motion track of the second end of the second spring of the SMA actuator is stable, and the output torque is more stable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1a) is a schematic illustration of an EAP actuating mechanism;
FIG. 1b) is a schematic illustration of an EAP power generation mechanism;
FIG. 2 is a graph of the mechanical change of the operating principle of the EAP cylinder driver;
FIG. 3 is a schematic diagram of the structural variation of the operating principle of the EAP cylinder driver;
FIG. 4 is a schematic illustration of the shape memory effect of an SMA actuator;
fig. 5 is a schematic structural view of a joint unit provided in embodiment 1 of the present application;
FIG. 6 is a schematic structural diagram of an EAP cylinder driver in the joint unit provided in embodiment 1 of the present application;
FIG. 7 is a schematic structural diagram of an SMA actuator in a joint unit provided in embodiment 1 of the present application;
FIG. 8a) is a schematic view of a flexible conductive unit of an EAP cylindrical driver in a joint unit as provided in embodiment 1 of the application;
FIG. 8b) is a schematic view of the winding process of the EAP cylindrical driver in the joint unit provided in embodiment 1 of the present application;
FIG. 8c) is a schematic structural diagram of a plurality of flexible conductive units of the EAP cylindrical driver in the joint unit provided by the embodiment 1 of the present application after being wound;
fig. 9 is a schematic view of the flexible conductive unit 11 provided in embodiment 1 of the present application.
Reference numbers of the drawings: the flexible electrode assembly comprises a guide rod 1, a first spring 2, a first SMA wire 3, a second SMA wire 4, a second limiting part 5, a second spring 6, a connecting piece 7, an EAP film 8, a first limiting part 9, a screw 10, a flexible conductive unit 11, a first part 1101, a second part 1102, a connecting part 1103 and an electrode leading-out wire 1104.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application.
Example 1
The embodiment provides a joint unit, which utilizes the linear drive of a cylindrical EAP driver to realize the degree of freedom of movement of the joint unit, utilizes an SMA driver to realize the degree of freedom of rotation of the joint unit, and solves the technical problem in the prior art that the working space of a mechanical finger driven by EAP and SMA is small.
The joint unit shown in fig. 5 to 7 includes:
a cylindrical EAP driver, the cylindrical EAP driver comprising:
the first spring 2, the first spring 2 includes the first end and second end;
the guide rod 1 is coaxially arranged with the first spring 2;
the flexible conductive unit 11 comprises an electrode outgoing line 1104, the electrode outgoing line 1104 is connected with a first power supply, and the EAP film 8 is electrified through the first power supply and the electrode outgoing line 1104;
the first limiting piece 9 is connected with the guide rod 1 through a screw 10;
the first spring 2 is initially, i.e. in a compressed state, for providing an initial preload stress. The first stopper 9 may be one end of the joint unit to which the other member is connected.
Specifically, referring to fig. 8a), the flexible conductive unit 11 includes a first portion 1101, a second portion 1102, and a connection portion 1103, the first portion 1101 being connected to a positive electrode of the first power source through an electrode lead 1104 connected thereto, and the second portion 1102 being connected to a negative electrode of the first power source through an electrode lead 1104 connected thereto. The first portion 1101, the second portion 1102 and the connecting portion 1103 are arranged in an H shape, and the first portion 1101 and the second portion 1102 are arranged at intervals and connected through the connecting portion 1103; the first portion 1101 and the second portion 1102 each extend from a first end to a second end of the first spring 2. The first portion and the second portion are respectively located on two opposite sides of a cylinder where the first spring is located.
One flexible conductive element 11 is provided on each layer of EAP film 8 that is rolled, the width of the flexible conductive element 11 shown in fig. 8a) being about L, L being the circumference of the first spring. After being wound on the first spring 11, as shown in fig. 8b), the first portion 1101 is located at the same position on each of the wound EAP films 8, the second portion 1102 is located at the same position on each of the wound EAP films 8, and the central angles of the first portion 1101 and the second portion 1102 are symmetric with respect to the center of the axis of the first spring 11, so that the EAP films 8 are uniformly deformed and the internal force is uniform when power is supplied from the first power source. As shown in FIG. 9 for the flexible conductive elements 11 on the EAP film 8, there is one flexible conductive element 11 on each coil of EAP film 8.
As shown in fig. 8c), when the EAP film 8 is wound around the first spring 2, a layer of conductive coating liquid, which is carbon paste in this embodiment, is coated on each wound layer as the flexible conductive unit.
Specifically, when the EAP film 8 is wound around the first spring 2 in a state of tensile deformation, the amount of tensile deformation of the EAP film 8 wound around the first spring 2 in two mutually perpendicular directions is 300-500%, which improves the electromechanical stability and the expansion range of the cylindrical EAP actuator, thereby improving the stability of the actuator.
In this embodiment, the EAP film 8 is wound 2 layers on the first spring 2, corresponding to 2 times the internal stress of the EAP film 8 counterbalances the tension of the second spring 8, and the number of layers of the second spring 8 and the EAP film 8 wound on the first spring 2 is determined according to the output characteristics of the cylindrical EAP driver.
In the de-energized state, the internal stress of the EAP film 8 balances the tension of the first spring 2. After power is applied, the EAP film 8 is acted by coulomb force, the upper surface and the lower surface of the EAP film 8 are extruded and then thinned, the surface is relaxed, the internal stress is reduced due to rigidity reduction, the first end of the first spring 2 moves upwards (by taking the position of the joint unit in figure 5 as reference), displacement is output until the two acting forces reach new balance, and the first spring 2 finishes extension; after power is cut off, coulomb force on the upper and lower surfaces of the EAP film 8 disappears, the stiffness of the EAP film 8 increases, and the first end of the first spring 2 moves downward (with the orientation of the joint unit in FIG. 5 as a reference), completing the contraction. The cylinder EAP driver can be extended or shortened for a long time by inputting a constant signal.
The present embodiment implements a negative stiffness preload structure with the first spring 2 in a compressed state, greatly improving the output characteristics of the cylindrical EAP driver, and the output force increases with increasing displacement.
An SMA actuator, as shown with reference to fig. 7, comprising:
a second spring 6, the second spring 6 comprising a first end and a second end;
the first SMA wire 3 and the second SMA wire 4 are arranged along the axial direction of the second spring 6 but are not coaxial, and the first SMA wire 3 and the second SMA wire 4 are connected with a second power supply;
the second limiting piece 5 is connected with the second end of the second spring 6;
the second limiting part 5 and the connecting part 7 fix two ends of the first SMA wire 3 and the second SMA wire 4.
Specifically, the first SMA wire 3 and the second SMA wire 4 are distributed relative to the center of the second spring 5, and both the first SMA wire 3 and the second SMA wire 4 are responsible for bending deformation in two different directions, and when one of the first SMA wire 3 and the second SMA wire 4 is deformed due to temperature rise, the other SMA wire is driven to bend.
And the number of the first and second groups,
the connecting piece 7 comprises a first end and a second end, the first end of the connecting piece 7 is connected with the second end of the first spring 2, and the second end of the connecting piece 7 is connected with the first end of the second spring 6;
the connecting piece 7 is provided with:
the guide rod 1 penetrates through the connecting piece 7;
the counter bores are formed in the non-center position of the end face of the second end of the connecting piece 7, the number of the counter bores is 2, and the 2 counter bores are used for fixing the first SMA wire 3 and the second SMA wire 4 respectively.
Similarly, the second limiting member 5 is also provided with another counter bore for fixing the first SMA wire 3 and the second SMA wire 4.
When not electrified, the second spring 6 is in a normal state, the first end of the second spring 6 is fixed with the connecting piece 7, the second end of the second spring 6 is fixed with the second limiting piece 5, and the second limiting piece 5 is in a balanced state under the interaction of the second spring 6 and the first SMA wire 3 and the second SMA wire 4. After the electric heating reaches the phase transition temperature of the first SMA wire 3 and the second SMA wire 4, the first SMA wire 3 and the second SMA wire 4 generate bending deformation and are bent to a preset shape, so that the second limiting part 5 is driven to generate displacement, and the bending of the second spring 6 is realized.
Since the cylindrical EAP actuator and the SMA actuator are connected in series end to end, the joint unit is simple in position, movement and inverse mechanical solution operation when used for executing tail end, and reaction speed is favorably improved.
More importantly, the present embodiment limits the movement direction of the connecting piece to the movement along the guide rod 1 through the matching between the guide rod 1 and the connecting piece 7, and limits the radial degree of freedom of the connecting piece 7 in such a way, so that the movement track of the second end of the second spring 6 of the SMA actuator is stable, and the output torque is more stable.
In the present embodiment, the guide rod 1 is coaxial with the first spring 2, in other embodiments, the guide rod 1 may be provided in plurality, and the plurality of guide rods 1 are symmetrically distributed with respect to the axis of the first spring 2, which may further increase the stability of the connecting member 7 in the axial direction, and improve the stability of the second end of the second spring 6.
In this embodiment, a first SMA wire 3 and a second SMA wire 4 are provided, and in other embodiments, a plurality of SMA wires may be provided, and the shape of the preset bending deformation of the plurality of SMA wires is different, so that the movement space of the SMA actuator is increased, and the movement locus of the second limiting member 5 is enriched.
Example 2
This embodiment provides a finger device comprising 2 joint units of embodiment 1, where the joint units are connected: the first end of the first spring of one joint unit is connected with the second end of the second spring of the other joint unit.
The same or different bending deformation directions of the SMA actuators of the two joint units are beneficial to increasing the working space of the finger-shaped device.
Example 3
This embodiment provides a gripper, which includes 3 joint units and a palm plate according to embodiment 1, wherein a first end of a first spring of each joint unit is rotatably connected to the palm plate, and the 3 joint units are evenly distributed with respect to the center of the palm plate.
When the grabbing action is carried out, the 3 joint units contact with the target object from different directions and cooperate with each other to complete grabbing.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (10)

1. A joint unit, comprising:
a cylindrical EAP driver, the cylindrical EAP driver comprising:
a first spring comprising a first end and a second end;
the guide rod and the first spring are arranged in the same axial direction;
the EAP film is wound on the first spring by a plurality of layers, wherein a plurality of flexible conductive units are configured on the EAP film, each flexible conductive unit comprises an electrode outgoing line, and the electrode outgoing lines are connected with a first power supply;
an SMA actuator comprising:
a second spring comprising a first end and a second end;
the SMA wires are arranged along the axial direction of the second spring but are not coaxial, and the SMA wires are connected with a second power supply;
and the number of the first and second groups,
a connecting member including a first end and a second end, wherein the first end of the connecting member is connected to the second end of the first spring and the second end of the connecting member is connected to the first end of the second spring;
wherein, set up on the connecting piece:
the guide rod penetrates through the connecting piece.
2. The joint unit of claim 1, wherein the cylindrical EAP driver further comprises:
the first limiting part is connected with the guide rod.
3. The joint unit of claim 1, wherein the flexible conductive unit comprises a first portion, a second portion, and a connecting portion;
the first part, the second part and the connecting part are arranged in an H shape, wherein the first part and the second part are arranged at intervals and are connected through the connecting part; the first and second portions each extend from a first end to a second end of the first spring;
the first part and the second part are respectively positioned at two opposite sides of the cylinder where the first spring is positioned;
and each layer of the coiled EAP film is provided with one flexible conductive unit.
4. The joint unit of claim 1, wherein the flexible conductive unit is coated with a conductive coating liquid or carbon paste on the EAP film.
5. The joint unit as claimed in claim 1, wherein the EAP film wound around the first spring is stretched and deformed by 300-500% in two directions perpendicular to each other.
6. The joint unit of claim 1, wherein the EAP film is wrapped 1 to 2 layers over the first spring.
7. The joint unit of claim 1, wherein the SMA actuator further comprises:
a second limiting member connected with a second end of the second spring;
and the second limiting part and the connecting piece are used for fixing two ends of the SMA wire.
8. The joint unit of claim 1, wherein a number of the SMA wires are distributed about a center of the second spring.
9. Finger device, characterised in that it comprises several articulated units according to any one of claims 1 to 8, where said articulated units are connected: the first end of the first spring of one joint unit is connected with the second end of the second spring of the other joint unit.
10. The hand grip, characterized by comprising the joint units according to any one of claims 1 to 8 and a palm plate, the first end of the first spring of each of said joint units being connected to said palm plate.
CN202011447814.1A 2020-12-09 2020-12-09 Joint unit, finger-shaped device and gripper Active CN112571440B (en)

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CN101252325A (en) * 2008-03-31 2008-08-27 哈尔滨工业大学 Roll-shaped driver
CN102551918B (en) * 2012-02-21 2014-11-19 上海海事大学 Electroshock extension artificial muscle movement device
KR102209508B1 (en) * 2015-01-15 2021-02-01 한국전자통신연구원 Artificial muscle
CN108000552A (en) * 2017-11-30 2018-05-08 哈尔滨工业大学 A kind of Modular Flexible artificial-muscle joint
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