CN112677171B - Double-chute connecting rod linear parallel clamping self-adaptive robot finger device - Google Patents
Double-chute connecting rod linear parallel clamping self-adaptive robot finger device Download PDFInfo
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- CN112677171B CN112677171B CN202011484556.4A CN202011484556A CN112677171B CN 112677171 B CN112677171 B CN 112677171B CN 202011484556 A CN202011484556 A CN 202011484556A CN 112677171 B CN112677171 B CN 112677171B
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Abstract
Double-chute connecting rod linear parallel clamping self-adaptive robot finger device belongs to the technical field of robot hands, and comprises a base, a motor, a transmission mechanism, two finger sections, a plurality of shafts, a connecting rod, a spring piece, a convex block, a belt wheel, a gear, a rack and the like. The device realizes the functions of approximately linear parallel clamping and adapting to composite grabbing of the fingers of the robot; when the device clamps an object linearly and parallelly, the second finger section always keeps a motion track which is similar to a straight line, and the second finger section can be translated to clamp the object so as to realize the grabbing of the sheet-shaped object. The second finger section is driven to realize self-adaptive grabbing through the action of the object on the sliding block in the clamping process; the device has a large grabbing range, only one driver is needed, the driving mode is simple, and a complex sensing and control system is not needed; the device has compact structure, small volume and lower manufacturing and maintenance cost, and is suitable for the robot hand for grabbing.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a double-sliding-groove connecting rod linear parallel clamping self-adaptive robot finger device.
Background
The robot hand is an important end part, and the main function is to grab and operate the target object. The main research results at present are underactuated hands, dexterous hands and soft hands, and industrial holders and the like. The object to be manipulated is various and is different in size, shape, and kind, and thus the position available for clamping is also the same. In a dexterous hand, a driver is arranged on a plurality of finger joints, so that the defects of complex control and small grasping force can occur. The application of dexterous hands may be limited. The underactuated hand controls fingers by using fewer drivers, each finger keeps two or more degrees of freedom, and grabbing is realized on the basis of keeping simple structure and easy control.
The human hand is one of the most flexible parts of the human body, and can realize various functions. When the grabbing function is realized, the multi-finger cooperative holding, the face-to-face parallel clamping of two fingers, the point-to-point holding of two fingers and the like can be divided according to the grabbing postures. Taking the index finger as an example, when the index finger is bent, three joints on the index finger rotate simultaneously, and a coupling relationship is presented between different joint angles. When one of the upper finger section and the lower finger section of the index finger is blocked when contacting an object, the unblocked finger end can continue to rotate around the connected joint until different finger sections of the whole finger are attached to the surface of the object, so that the shape and the size of the object are automatically adapted, and strong grabbing force is formed. At present, the coupling self-adaptive robot hand becomes a research hotspot in the field of humanoid robot hands.
The traditional finger device of an under-actuated two-joint robot (Chinese invention patent CN101234489B) comprises a base, a motor, a middle finger section, a tail end finger section, a near joint shaft, a far joint shaft, a belt wheel transmission mechanism, a spring part and the like. The device realizes the special effect that the double-joint under-actuated fingers grasp objects in a bending way, has self-adaptability, and can adapt to objects with different shapes and sizes. The under-actuated two-joint robot finger device has the following defects: 1) the grabbing mode can only be a holding mode, and the grabbing effect of holding the tail end of the bent far joint is difficult to realize; 2) the device is not anthropomorphic in the process of grabbing an object, and the device always presents a straight state before not touching the object.
The prior double-joint parallel under-actuated robot finger device (Chinese patent CN101633171B) mainly comprises a base, a motor, a speed reducer, a near joint shaft, a far joint shaft, a tail end finger section, a coupling transmission mechanism, an under-actuated transmission mechanism and a plurality of spring pieces, and the integration of coupling grabbing and self-adaptive under-actuated grabbing effects is comprehensively realized. The finger device of the double-joint parallel under-actuated robot has the following defects: 1) the spring pieces are too many to be used, so that the coupling balance among the spring pieces cannot be well realized in the grabbing process, and the grabbing force is too small; 2) in the process of coupling and grabbing of the robot fingers, the tail ends of the second finger sections are circular arcs relative to the motion track of the base, when flat and thin small objects exist on the table top, the grabbing process can be realized by pinching by moving the mechanical arm, and extra control complexity is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a double-sliding-groove connecting rod parallel clamping self-adaptive robot finger device. The device can realize holding and holding two modes of grabbing: when the object is held, the characteristic that the tail end finger section moves approximately linearly and parallelly is utilized. Is suitable for thin objects in the case of a desktop, and can avoid interference. Meanwhile, the force and the stability in the grabbing process of the object can be increased by utilizing the characteristic of self-adaptive envelope grabbing.
The technical scheme of the invention is as follows:
a double-sliding-groove connecting rod linear parallel clamping self-adaptive robot finger device comprises a base, a motor, a transmission mechanism, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first joint shaft, a second joint shaft, a third joint shaft, a fourth joint shaft, a fifth joint shaft, a first connecting rod, a second connecting rod, a third connecting rod, a first sliding groove, a second sliding groove, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a sliding block, a rack, a gear, a first spring piece and a lug; the motor is fixedly connected to the base; the input end of the transmission mechanism is connected with the output shaft of the motor; the first sliding groove and the second sliding groove are fixed on the base and are parallel to each other; the proximal joint shaft is movably embedded in the first sliding groove; one end of the first finger section is sleeved on the proximal joint shaft; the other end is sleeved on the far joint shaft; the second finger section is sleeved on the far joint shaft; the central lines of the far joint shaft and the near joint shaft are in a mutually parallel relationship; the central lines of the first joint shaft, the second joint shaft, the third joint shaft, the fourth joint shaft and the fifth joint shaft are parallel to the central line of the proximal joint shaft; the first joint shaft is sleeved in the base; the second driving wheel is sleeved on the first joint shaft, and the first driving wheel is connected with the second driving wheel; the first driving wheel is connected with the output end of the driving mechanism; the first driving wheel and the second driving wheel rotate in the same direction; the second joint shaft is fixed on one side of the first transmission wheel; one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is sleeved on the third joint shaft; the third joint shaft is movably embedded in the second sliding groove; one end of the second connecting rod is sleeved on the third joint shaft, and the other end of the second connecting rod is sleeved on the fourth joint shaft; the second joint shaft is movably sleeved in the middle of the second connecting rod; one end of the third connecting rod is sleeved on the fourth joint shaft, and the other end of the third connecting rod is movably sleeved on the far joint shaft; setting a center point of a first joint shaft as A, a center point of a second joint shaft as B, a center point of a third joint shaft as C, a center point of a fourth joint shaft as D, a center point of a near joint shaft as E, a center point of a far joint shaft as F, a line segment CE as long as a line segment DF, a line segment CD as long as a line segment EF, and a line segment BC as long as 2 times of a line segment AB; the sliding block is movably embedded in the first finger section; the rack is fixedly connected to the sliding block; the fifth joint shaft is sleeved on the first finger section; the gear is sleeved on the fifth joint shaft and meshed with the rack; the third driving wheel is sleeved on the fifth joint shaft and is fixedly connected with the first gear; the fourth driving wheel is sleeved on the far joint shaft and fixedly connected with the far joint shaft; one end of the first spring piece is fixedly connected to the third connecting rod, and the other end of the first spring piece is fixedly connected to the second finger section; the convex block is fixedly connected to the third connecting rod.
The invention relates to a double-sliding-groove connecting rod linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first transmission mechanism comprises a speed reducer, a worm wheel, a worm and a first transition shaft; the input shaft of the speed reducer is connected with the output shaft of the motor; the worm is fixedly sleeved on an output shaft of the speed reducer and meshed with a worm wheel, the worm wheel is sleeved on a first transition shaft, and the first transition shaft is sleeved in the base.
The invention relates to a double-sliding-groove connecting rod linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first finger section contact object mechanism comprises a sliding block, a gear, a rack, a third transmission wheel and a fourth transmission wheel; wherein, the gear is meshed with the rack, the gear is parallel to the central line of the third driving wheel and is fixedly connected on the fifth joint shaft; the fourth driving wheel is fixedly connected to the fourth joint shaft.
The invention relates to a double-sliding-groove connecting rod linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring or a compression spring.
The device comprehensively realizes the functions of linear parallel clamping and self-adaptive composite grabbing of the fingers of the double-joint robot by using the connecting rod, the sliding chute and the sliding block wind. When the device clamps an object by the second translational finger section, the tail end of the device keeps an approximately linear track to move, so that the effect that the second translational finger section translates along the approximate straight line is achieved, and the device is suitable for grabbing a thin plate object on a workbench; the device adopts slider mechanism part can drive the second finger section through rack and pinion transmission and rotate after first finger section contacts the object and realize that the self-adaptation envelope snatchs the object. The device can realize two composite grabbing modes of straight-line parallel clamping and self-adaptive envelope holding. The device has the advantages of accurate and stable transmission and stable and reliable grabbing; only one motor is used for driving two joints, and a complex sensing and real-time control system is not needed; simple structure, small volume, low cost and suitability for general grabbing robots.
Drawings
Fig. 1 is a perspective external view of a practical example of the double-chute connecting rod linear parallel clamping adaptive robot finger device designed by the invention.
Fig. 2 is a perspective external view of the embodiment shown in fig. 1.
Fig. 3 is a perspective view (showing a part of the parts) of the embodiment shown in fig. 1.
Fig. 4 is a perspective view (showing a part of the parts) of the embodiment shown in fig. 1.
Fig. 5 is a perspective view (showing a part of the parts) of the embodiment shown in fig. 1.
Fig. 6 to 8 are schematic views illustrating the operation process of the embodiment of fig. 1 for clamping objects in parallel in a straight line.
FIG. 9 is a comparison of the front and rear postures of the parallel clamping object shown in FIG. 1
Fig. 10 to 12 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 for holding an object in an adaptive envelope grabbing manner.
Fig. 13 is a schematic view of the linear mechanism of the embodiment of fig. 1.
In fig. 1 to 13:
1-base 21-motor 22-speed reducer 31-worm wheel
32-worm 33-first transition shaft 41-first transmission wheel 42-second transmission wheel
43-third driving wheel 44-fourth driving wheel 51-first finger section 52-second finger section
61-proximal joint axis 62-distal joint axis 63-first joint axis 64-second joint axis
65-third joint axis 66-fourth joint axis 67-fifth joint axis 71-first connecting rod
72-second link 73-third link 81-slider 82-rack
83-gear 91-first sliding chute 92-second sliding chute 93-lug
94-first spring member 95-second spring member 100-thin plate object 110-spherical object
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
An embodiment of a sliding chute connecting rod linear flat clamping self-adaptive robot finger device comprises a base 1, a motor 21, a transmission mechanism, a first finger section 51, a second finger section 52, a near joint shaft 61, a far joint shaft 62, a first joint shaft 63, a second joint shaft 64, a third joint shaft 65, a fourth joint shaft 66, a fifth joint shaft 67, a first connecting rod 71, a second connecting rod 72, a third connecting rod 73, a fourth connecting rod 74, a first sliding chute 91, a second sliding chute 92, a first transmission wheel 41, a second transmission wheel 42, a third transmission wheel 43, a fourth transmission wheel 44, a sliding block 81, a rack 82, a gear 83, a first spring element 94 and a lug 93; the motor 21 is fixedly connected to the base 1; the input end of the transmission mechanism is connected with the output shaft of the motor 21; the first sliding groove 91 and the second sliding groove 92 are fixed on the base 1 and are parallel to each other; the proximal joint shaft 61 is movably embedded in the first sliding groove 91; one end of the first finger section 51 is sleeved on the proximal joint shaft 61; the other end is sleeved on a far joint shaft 62; the distal joint shaft 62 is sleeved in the first finger section 51; the second finger section 52 is sleeved on the distal joint shaft 62; the center lines of the distal joint axis 62 and the proximal joint axis 61 are in parallel relation to each other; the central lines of the first joint shaft 63, the second joint shaft 64, the third joint shaft 65, the fourth joint shaft 66 and the fifth joint shaft 67 are parallel to the central line of the proximal joint shaft 61; the first joint shaft 63 is sleeved in the base 1; the first transmission wheel 41 is sleeved on the first joint shaft 63, and the first transmission wheel 41 is connected with the second transmission wheel 42; the second transmission wheel 42 is connected with the output end of the first transmission mechanism; the first transmission wheel 41 and the second transmission wheel 42 rotate in the same direction; the second joint shaft 64 is sleeved on the first transmission wheel 41; one end of the first connecting rod 71 is sleeved on the proximal joint shaft 61, and the other end is sleeved on the third joint shaft 65; the third joint shaft 65 is movably embedded in the second sliding groove 92; one end of the second connecting rod 72 is sleeved on the third joint shaft 65, and the other end is sleeved on the fourth joint shaft 66; the second joint shaft 64 is movably sleeved in the middle of the second connecting rod 73; one end of the third connecting rod 73 is sleeved on the fourth joint shaft 66, and the other end is movably sleeved on the far joint shaft 62; setting the central point of a first joint shaft 63 as A, the central point of a second joint shaft 64 as B, the central point of a third joint shaft 65 as C, the central point of a fourth joint shaft 66 as D, the central point of a near joint shaft 61 as E, the central point of a far joint shaft 62 as F, a line segment CE as same as a line segment DF in length, a line segment CD as same as a line segment EF in length, and a line segment BC as 2 times as long as a line segment AB in length; the sliding block 81 is movably embedded in the first finger section 51; the rack 82 is fixedly connected to the sliding block 81; the fifth joint shaft 67 is sleeved on the first finger section 51; the first transmission gear 83 is sleeved on the fifth joint shaft 67, and the first gear 83 is meshed with the first rack 82; the second spring 95 is sleeved on the fifth joint shaft 67, one end of the second spring is fixedly connected to the first gear 83, and the other end of the second spring is fixedly connected with the fifth joint shaft 67; the third driving wheel 43 is sleeved on the fifth joint shaft 67, and the third driving wheel 43 is fixedly connected with the first gear 83; the fourth driving wheel 44 is sleeved on the far joint shaft 62, and the fourth driving wheel 44 is fixedly connected with the far joint shaft 62; one end of the first spring 94 is fixedly connected to the third connecting rod 73, and the other end is fixedly connected to the second finger section 52; the projection 93 is fixed to the third link 73.
In this example, the first transmission mechanism includes a speed reducer 22, a worm wheel 31, a worm 32 and a first transition shaft 33; the input shaft of the speed reducer 22 is connected with the output shaft of the motor 21; the worm 32 is fixedly sleeved on an output shaft of the speed reducer 22, the worm 32 is meshed with the worm wheel 31, the worm wheel 31 is sleeved on a first transition shaft 33, and the first transition shaft 33 is connected in the base 1.
In this embodiment, the first finger section contact object mechanism comprises a sliding block 81, a gear 83, a rack 82, a third transmission wheel 43 and a fourth transmission wheel 44; wherein, the gear 83 is meshed with the rack 82, the central line of the gear 83 is parallel to the central line of the third driving wheel 43, and the gear 83 is fixedly connected to the fifth joint shaft 67; the fourth transmission wheel 44 is fixed to the fourth joint shaft 66.
The working principle of this embodiment is described below with reference to fig. 6 to 13:
the motor 21 rotates forward to drive the first transmission mechanism to rotate forward, so as to drive the second transmission wheel 42 to rotate, the power is transmitted to the first transmission wheel 41 through the transmission belt, and the first transmission wheel 41 and the second transmission wheel 42 transmit in the same direction. Since the mechanism including the first joint shaft 63, the second joint shaft 64, the third joint shaft 65, the fourth joint shaft 66, the first transmission wheel 41, the second link 72, and the second slide groove 92 satisfies the illustrated linear mechanism principle, the movement locus of the fourth joint shaft 66 is approximately linear. The length of the line DF is the same as that of the line CE, the length between the center lines of the first chute 91 and the second chute 92 is equal to that of the line CE, and the distance between the line EF and the line CD is the same. Under this condition, point C, D, E, F forms a parallelogram so that the motion trajectory of distal joint axis 62 is also a straight line. The second finger section is sleeved on the far joint shaft 62, and due to the combined action of the first spring 94 and the bump 93, the second finger section 52 always keeps a vertical upward posture, and meanwhile, the second finger section 52 translates along a straight line, and the motion track of the tail end of the second finger section is approximately a straight line, so that the linear parallel clamping function of the device is realized. As shown in the figure.
If the first finger segment 51 first touches the object 110, the present example employs a compact adaptive grab mode. When a finger approaches an object, the object 110 presses the sliding block 81, so that the sliding block 81 slides in the finger section 51, thereby driving the rack 82. The rack 82 is in meshed transmission with the gear 83, meanwhile, the gear 83 drives the third transmission wheel 43 fixedly connected with the gear 83, through transmission, the third transmission wheel 43 and the fourth transmission wheel 44 rotate in the same direction, the second finger section 52 fixedly connected with the fourth transmission wheel 44 approaches to the object until the second finger section 52 contacts the object 110, and the indirect self-adaptive grabbing process is finished.
The release process is the reverse of the above process and is not described in detail.
The device realizes the functions of approximately linear parallel clamping and indirect self-adaptive grabbing of the fingers of the robot by utilizing a single motor, a plurality of connecting rods, a plurality of driving wheels, a transmission mechanism, a sliding block, a spring and other components; the device can not only linearly translate the second finger section to pinch and hold objects, but also envelop objects with different shapes and sizes; the device has a large grabbing range; an under-actuated mode is adopted, one motor is used for driving two finger sections, and a complex sensing and control system is not needed; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Claims (4)
1. A double-sliding-groove connecting rod linear parallel clamping self-adaptive robot finger device comprises a base, a motor, a transmission mechanism, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first joint shaft, a second joint shaft, a third joint shaft, a fourth joint shaft, a fifth joint shaft, a first connecting rod, a second connecting rod, a third connecting rod, a first sliding groove, a second sliding groove, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a sliding block, a rack, a gear, a first spring piece and a lug; the motor is fixedly connected to the base; the input end of the transmission mechanism is connected with the output shaft of the motor; the first sliding groove and the second sliding groove are fixed on the base and are parallel to each other; the proximal joint shaft is movably embedded in the first sliding groove; one end of the first finger section is sleeved on the proximal joint shaft, and the other end of the first finger section is sleeved on the distal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is sleeved on the far joint shaft; the central lines of the far joint shaft and the near joint shaft are in a mutually parallel relationship; the central lines of the first joint shaft, the second joint shaft, the third joint shaft, the fourth joint shaft and the fifth joint shaft are parallel to the central line of the proximal joint shaft; the first joint shaft is sleeved in the base; the first driving wheel is sleeved on the first shaft and connected with the second driving wheel; the first driving wheel is connected with the output end of the driving mechanism; the first driving wheel and the second driving wheel rotate in the same direction; the second joint shaft is fixed on one side of the second transmission wheel; one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is sleeved on the third joint shaft; the third joint shaft is movably embedded in the second sliding groove; one end of the second connecting rod is sleeved on the third joint shaft, and the other end of the second connecting rod is sleeved on the fourth joint shaft; the second joint shaft is movably sleeved in the middle of the second connecting rod; one end of the third connecting rod is sleeved on the fourth joint shaft, and the other end of the third connecting rod is movably sleeved on the far joint shaft; setting a center point of a first joint shaft as A, a center point of a second joint shaft as B, a center point of a third joint shaft as C, a center point of a fourth joint shaft as D, a center point of a near joint shaft as E, a center point of a far joint shaft as F, a line segment CE as long as a line segment DF, a line segment CD as long as a line segment EF, and a line segment BC as long as 2 times of a line segment AB; the sliding block is movably embedded in the first finger section; the rack is fixedly connected to the sliding block; the fifth joint shaft is sleeved on the first finger section; the gear is sleeved on the fifth joint shaft and meshed with the rack; the third driving wheel is sleeved on the fifth joint shaft and is fixedly connected with the gear; the fourth driving wheel is sleeved on the far joint shaft and fixedly connected with the far joint shaft; one end of the first spring piece is fixedly connected to the third connecting rod, and the other end of the first spring piece is fixedly connected to the second finger section; the convex block is fixedly connected to the third connecting rod; the method is characterized in that: the first driving wheel and the second driving wheel can adopt belt wheels, rope wheels and chain wheels, and the transmission between the first driving wheel and the second driving wheel can adopt a driving belt, a rope, a chain or a plurality of gears; the third driving wheel and the fourth driving wheel can adopt belt wheels, rope wheels and chain wheels, and the transmission between the third driving wheel and the fourth driving wheel can adopt a driving belt, a rope, a chain or a plurality of gears.
2. The double-chute connecting rod linear parallel clamping self-adaptive robot finger device as claimed in claim 1, wherein: the transmission mechanism comprises a speed reducer, a worm wheel, a worm and a first transition shaft; the input shaft of the speed reducer is connected with the output shaft of the motor; the worm is fixedly sleeved on an output shaft of the speed reducer and meshed with a worm wheel, the worm wheel is sleeved on a first transition shaft, and the first transition shaft is sleeved in the base.
3. The double-chute connecting rod linear parallel clamping self-adaptive robot finger device as claimed in claim 1, wherein: the first finger section contact object mechanism comprises a sliding block, a gear, a rack, a third transmission wheel and a fourth transmission wheel; wherein, the gear is meshed with the rack, the gear is parallel to the central line of the third driving wheel and is fixedly connected on the fifth joint shaft; the fourth driving wheel is fixedly connected to the fourth joint shaft.
4. The double-chute connecting rod linear parallel clamping self-adaptive robot finger device as claimed in claim 1, wherein: the first spring piece adopts a tension spring or a compression spring.
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| CN202011484556.4A CN112677171B (en) | 2020-12-16 | 2020-12-16 | Double-chute connecting rod linear parallel clamping self-adaptive robot finger device |
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| CN202011484556.4A CN112677171B (en) | 2020-12-16 | 2020-12-16 | Double-chute connecting rod linear parallel clamping self-adaptive robot finger device |
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| CN112677171B true CN112677171B (en) | 2022-04-19 |
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| KR101559695B1 (en) * | 2015-01-15 | 2015-10-27 | 성균관대학교산학협력단 | Finger mechanism for robot |
| CN107984484A (en) * | 2017-11-22 | 2018-05-04 | 清华大学 | The accurate compensating line in end puts down folder adaptive robot finger apparatus |
| CN207983375U (en) * | 2017-11-29 | 2018-10-19 | 清华大学 | Limit the flat folder adaptive robot finger apparatus of leverage speedup compensating line |
| CN108927817A (en) * | 2018-03-23 | 2018-12-04 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of brace double-slider straight line |
| CN109605404A (en) * | 2018-11-27 | 2019-04-12 | 安徽工业大学 | The flat folder adaptive robot finger apparatus of sliding slot parallel connection link linear |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100030879A (en) * | 2008-09-11 | 2010-03-19 | 삼성전자주식회사 | Robot hand and humanoid robot having the same |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101559695B1 (en) * | 2015-01-15 | 2015-10-27 | 성균관대학교산학협력단 | Finger mechanism for robot |
| CN107984484A (en) * | 2017-11-22 | 2018-05-04 | 清华大学 | The accurate compensating line in end puts down folder adaptive robot finger apparatus |
| CN207983375U (en) * | 2017-11-29 | 2018-10-19 | 清华大学 | Limit the flat folder adaptive robot finger apparatus of leverage speedup compensating line |
| CN108927817A (en) * | 2018-03-23 | 2018-12-04 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of brace double-slider straight line |
| CN109605404A (en) * | 2018-11-27 | 2019-04-12 | 安徽工业大学 | The flat folder adaptive robot finger apparatus of sliding slot parallel connection link linear |
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