CN113681590B - 一种模块化机器人对接装置及对接方法 - Google Patents
一种模块化机器人对接装置及对接方法 Download PDFInfo
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- CN113681590B CN113681590B CN202110994984.XA CN202110994984A CN113681590B CN 113681590 B CN113681590 B CN 113681590B CN 202110994984 A CN202110994984 A CN 202110994984A CN 113681590 B CN113681590 B CN 113681590B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 35
- 210000001503 joint Anatomy 0.000 claims abstract description 177
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 230000008569 process Effects 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims description 18
- 238000013459 approach Methods 0.000 claims description 17
- 230000009467 reduction Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000009916 joint effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 15
- 230000009471 action Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000013011 mating Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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CN202110994984.XA CN113681590B (zh) | 2021-08-27 | 2021-08-27 | 一种模块化机器人对接装置及对接方法 |
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CN202110994984.XA CN113681590B (zh) | 2021-08-27 | 2021-08-27 | 一种模块化机器人对接装置及对接方法 |
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CN113681590A CN113681590A (zh) | 2021-11-23 |
CN113681590B true CN113681590B (zh) | 2022-09-09 |
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CN202110994984.XA Active CN113681590B (zh) | 2021-08-27 | 2021-08-27 | 一种模块化机器人对接装置及对接方法 |
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Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114166252B (zh) * | 2022-02-10 | 2022-05-10 | 成都飞机工业(集团)有限责任公司 | 一种工业机器人集成系统综合定位精度测试方法 |
CN115056210B (zh) * | 2022-06-28 | 2024-04-12 | 清华大学 | 对接机构和可重构移动机器人 |
CN114918968B (zh) * | 2022-06-28 | 2023-04-25 | 南京信息工程大学 | 一种对接装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102501246B (zh) * | 2011-11-08 | 2014-04-16 | 北京邮电大学 | 三驱动可扩展机械臂 |
GB2531576B (en) * | 2014-10-22 | 2018-04-25 | Q Bot Ltd | Modular Robot |
CN108460804A (zh) * | 2018-03-20 | 2018-08-28 | 重庆大学 | 一种基于机器视觉的转运对接机构及转运对接机构的三自由度位姿检测方法 |
CN211391742U (zh) * | 2019-09-19 | 2020-09-01 | 上海拓璞数控科技股份有限公司 | 一种用于飞机对接装配的新型球头球窝装置 |
CN111015648B (zh) * | 2019-12-13 | 2021-11-23 | 深圳先进技术研究院 | 互锁装置和机器人系统 |
CN111015633B (zh) * | 2019-12-26 | 2022-07-08 | 中国矿业大学 | 可重构柔性连接的跨壁面攀爬机器人及其控制方法 |
CN112873189B (zh) * | 2021-01-21 | 2022-03-25 | 北京邮电大学 | 自组装模块化机器人单元对接系统及对接方法 |
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Inventor after: Tian Lisi Inventor after: Yu Qiang Inventor after: Tang Hongwei Inventor after: Sun Lulu Inventor after: Wu Hao Inventor after: Shu Xin Inventor after: Zhou Gongbo Inventor after: He Zhenzhi Inventor after: Li Menggang Inventor after: Zhou Ping Inventor after: Tang Chaoquan Inventor before: Tang Chaoquan Inventor before: Yu Qiang Inventor before: Tang Hongwei Inventor before: Sun Lulu Inventor before: Wu Hao Inventor before: Shu Xin Inventor before: Zhou Gongbo Inventor before: He Zhenzhi Inventor before: Li Menggang Inventor before: Zhou Ping Inventor before: Tian Lisi |
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