CN113752295B - Two-degree-of-freedom composite flexible bionic ball socket joint - Google Patents
Two-degree-of-freedom composite flexible bionic ball socket joint Download PDFInfo
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- CN113752295B CN113752295B CN202111159553.8A CN202111159553A CN113752295B CN 113752295 B CN113752295 B CN 113752295B CN 202111159553 A CN202111159553 A CN 202111159553A CN 113752295 B CN113752295 B CN 113752295B
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- rope
- limiting
- pin shaft
- ball
- winch
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Abstract
A two-degree-of-freedom composite flexible bionic ball socket joint belongs to the technical field of robots. The device comprises a ball socket base, a ball socket, a ball head, a first deflection driving structure, a second deflection driving structure, an output shaft, a pneumatic corrugated pipe, a driving motor and an air pump; the bottom of the ball socket is fixedly connected with a ball socket base, the ball head is matched with the ball socket, the ball head can rotate in the ball socket, and the output shaft is fixedly connected with the ball head; the first deflection driving structure and the second deflection driving structure are respectively connected to the ball socket, the ball socket base and the ball head and jointly drive the ball head output shaft to rotate around the two degrees of freedom of the ball socket; the joint is driven to rotate by the rope, the rigidity of the joint is changed by the pneumatic soft body structure, and the rope driving and pneumatic driving combined driving mode enables the joint to be compact in structure and have a large movement range and joint flexibility, so that the movement performance of the ball-and-socket joint is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a two-degree-of-freedom composite flexible bionic ball-and-socket joint.
Background
At present, with the continuous development of robot technology, the robot joint also presents diversified demands. Traditional robot joint adopts the driver to establish ties, and every driver drive a degree of freedom of robot, and the tandem mechanism is big, control is convenient although motion range, but the driver of tandem mechanism installs on every motion member, leads to the holistic inertia of robot big, and rigidity is little, takes place the shake easily when the motion, is difficult to accurate control. Different from an open-loop kinematic chain of a serial mechanism, a closed kinematic chain is formed by kinematic rod pieces of a parallel mechanism, the structure improves the joint rigidity and the kinematic stability of the robot, but the parallel mechanism has large volume, small motion range and not compact enough structure; the traditional mechanical ball-and-socket joint has compact structure, but small motion range and no flexibility.
Disclosure of Invention
In order to overcome the defects of the prior art and avoid the inherent limitations of the serial and parallel mechanisms, the invention provides a two-degree-of-freedom composite flexible bionic ball-and-socket joint, the joint realizes the large motion range and flexible variable rigidity of the joint by bionic design of animal joints and composite drive of rope drive and pneumatic drive, and the joint can be used as a robot joint to improve the motion performance of a robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a two-degree-of-freedom composite flexible bionic ball socket joint comprises a ball socket base, a ball socket, a ball head, a first deflection driving structure, a second deflection driving structure, an output shaft, a pneumatic corrugated pipe, a driving motor and an air pump; the bottom of the ball socket is fixedly connected with a ball socket base, the ball head is matched with the ball socket, and the ball head can rotate in the ball socket; the first deflection driving structure and the second deflection driving structure are respectively connected to the ball socket, the ball socket base and the ball head; the first deflection driving structure and the second deflection driving structure jointly drive the ball head to rotate around the ball socket in three degrees of freedom.
The first deflection driving structure comprises a first limiting part, a second limiting part, a pneumatic corrugated pipe, a first turntable structure, a first connecting piece, a deflection driving rope, a limiting rope, a first winch, a driving motor and an air pump.
The first limiting piece comprises a bottom rope limiting piece, a bottom soft limiting piece, a short pin shaft and a long pin shaft; the bottom rope limiting piece is provided with three shaft holes, the long pin shaft is arranged in a first shaft hole close to the outer side, the first short pin shaft is arranged in a second shaft hole close to the outer side, and the second short pin shaft is arranged in a third shaft hole close to the outer side; the two bottom soft limiting parts are respectively fixedly connected with two ends of the long pin shaft and symmetrically distributed on two sides of the bottom rope limiting part, and the bottom soft limiting parts can rotate around the long pin shaft.
Furthermore, the inner side and the outer side of the bottom rope limiting part are respectively provided with a shaft hole which is matched with the shaft hole on the ball socket and the shaft hole on the corresponding ball socket base through a pin shaft, the shaft passes through the center of the ball socket, and the bottom rope limiting part can rotate around the shaft.
The second limiting part comprises a top rope limiting part, a top soft limiting part, a short pin shaft, a long pin shaft and balls; the top rope limiting part is provided with three shaft holes, the long pin shaft is arranged in a first shaft hole close to the outer side, the first short pin shaft is arranged in a second shaft hole close to the outer side, and the second short pin shaft is arranged in a third shaft hole close to the outer side; the two top soft limiting pieces are respectively fixedly connected with two ends of the long pin shaft and symmetrically distributed on two sides of the bottom rope limiting piece, and the top soft limiting pieces can rotate around the long pin shaft; four balls are installed on the inner side of the top rope limiting part, the top rope limiting part is matched with the ball head through the balls, and the top rope limiting part can slide on the ball head.
The first turntable structure comprises a first turntable, a rotating bearing, a first positioning pin shaft and a second positioning pin shaft; the opposite side of the first rotating disc is provided with a shaft hole, the first positioning pin shaft and the second positioning pin shaft are fixed in the shaft hole respectively, the center of the first rotating disc is fixed with a rotating bearing, the bearing is matched with an output shaft on the ball head, and the first rotating disc can rotate around the output shaft of the ball head.
One end of a deflection driving rope of the first deflection driving structure is connected with a first positioning pin shaft of the first turntable structure, passes through a top rope limiting part of the second limiting part and bypasses a first short pin shaft in the second limiting part, then passes through a bottom rope limiting part of the first limiting part and bypasses a first short pin shaft in the first limiting part, then penetrates out of the ball socket base, and is fixed and wound on a large winch in the first winch; the same as the rope threading mode, the other end of the deflection driving rope is connected with a second positioning pin shaft of the first turntable structure, then sequentially passes through a second limiting part, a first limiting part and a ball socket base on the other side, and is fixed and wound on a large winch in the first winch.
One end of a limiting rope of the first deflection driving structure is connected with a second short pin shaft of a top rope limiting part in a second limiting part, penetrates through a bottom rope limiting part of the first limiting part and bypasses the second short pin shaft in the first limiting part, then penetrates out of a ball socket base, and is fixed and wound on a small winch in the first winch; the same as the above-mentioned rope threading way, the second short hinge pin of top rope locating part in the second locating part of opposite side is connected to the spacing rope other end, passes first locating part and the ball socket base of opposite side in proper order, fixes and twines on the little capstan winch in first capstan winch.
The first deflection driving structure is characterized in that the top rope limiting part is provided with bolt holes, the two first connecting pieces are respectively connected to two sides of the opposite top rope limiting part through bolts, the opposite two second limiting parts are fixedly connected, and the initial positions of the two second limiting parts are enabled to respectively equally divide the included angle between the connecting line of the axle center of the first rotating disc limiting pin shaft and the center of the ball socket and the included angle between the first limiting part and the first limiting part around the rotating axis of the ball socket.
Furthermore, the two first connecting pieces form a sliding groove, and an output shaft of the ball head can slide in the sliding groove.
The first deflection driving structure drives the first winch to rotate through the driving motor, the first winch pulls the deflection driving rope and the limiting rope simultaneously, and on one hand, the deflection driving rope is pulled to drive the ball head to deflect around the ball socket; on the other hand, the limiting rope is pulled to drive the two second limiting parts to deflect around the ball head.
Furthermore, the diameter of the small winch of the first winch is half of that of the large winch, and when the winch pulls the deflection driving rope and the limiting rope to rotate, the second limiting part connected with the limiting rope always bisects an included angle between a connecting line between the axis of the limiting pin shaft of the first rotating disc and the center of the ball socket and the first limiting part around the rotating axis of the ball socket.
The top parts of the four pneumatic soft corrugated pipes are fixedly connected with the four top soft limiting parts respectively, the bottom parts of the four pneumatic soft corrugated pipes are fixedly connected with the four bottom soft limiting parts respectively, and the vent pipes at the bottoms of the four pneumatic soft corrugated pipes penetrate through the four bottom soft limiting parts respectively and are connected to the air pump.
The second deflection driving structure is substantially the same as the first deflection driving structure except that:
the second connecting piece, the second turntable structure and the second winch of the second deflection driving structure respectively correspond to the first connecting piece, the first turntable structure and the first winch of the first deflection driving structure;
the second turntable of the second turntable structure corresponds to the first turntable of the first turntable structure;
one end of a deflection driving rope of the second deflection driving structure is connected with a first positioning pin shaft of the second turntable structure, passes through a top rope limiting part of the second limiting part and bypasses a long pin shaft in the second limiting part, then passes through a bottom rope limiting part of the first limiting part and bypasses a long pin shaft in the first limiting part, then penetrates out of the ball socket base, and is fixed and wound on a large winch in the second winch; the other end of the deflection driving rope is connected with a second positioning pin shaft of the second turntable structure, sequentially penetrates through a second limiting part, a first limiting part and a ball socket base on the other side, and is fixed and wound on a large winch in the second winch.
The invention has the advantages that through a bionic design of the animal ball-and-socket joint, the rope is used for driving the two-degree-of-freedom motion of the ball-and-socket joint, the pneumatic soft body structure is used for changing the rigidity of the joint, and the rope driving and pneumatic driving combined driving mode ensures that the joint has compact structure, larger motion range and joint flexibility, and improves the motion performance of the ball-and-socket joint.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of a first deflection driving structure.
Fig. 3 is a schematic view of a second deflection driving structure.
Fig. 4 is a schematic diagram of a first stopper.
FIG. 5 is a diagram illustrating a second position-limiting element
Fig. 6 is a schematic view of the first turntable structure.
In the figure: 1. the pneumatic steering device comprises a ball socket base, 2. A ball socket, 3. A ball head, 4. A first deflection driving structure, 41. A first limiting piece, 411. A bottom soft limiting piece, 412. A short pin shaft, 413. A long pin shaft, 414. A bottom rope limiting piece, 42. A second limiting piece, 421. A top soft limiting piece, 422. A short pin shaft, 423. A long pin shaft, 424. A top rope limiting piece, 425. A ball, 43. A first rotating disc structure, 431. A first rotating disc, 432. A first positioning pin shaft, 433. A second positioning pin shaft, 434. A rotating bearing, 44. A first connecting piece, 45. A first deflection driving rope, 46. A first limiting rope, 47. A first winch, 5. A second deflection driving structure, 51. A first limiting piece, 52. A second limiting piece, 53. A second rotating disc structure, 54. A second connecting piece, 55. A second deflection driving rope, 56. A second limiting rope, 57. A second rotating disc, 6. An output shaft, 7. A pneumatic bellows, 8. A driving motor and 9. An air pump.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The composite flexible bionic ball-and-socket joint with a large motion range of the invention is further described in detail with reference to fig. 1-6 and the specific embodiment.
According to the drawings of fig. 1-6, a large-motion-range composite flexible bionic ball-and-socket joint mainly comprises a ball-and-socket base (1), a ball socket (2), a ball head (3), a first deflection driving structure (4), a second deflection driving structure (5), an output shaft (6), a pneumatic corrugated pipe (7), a driving motor (8) and an air pump (9), wherein the first deflection driving structure (4) comprises a first limiting piece (41), a second limiting piece (42), the pneumatic corrugated pipe (7), a first rotating disc structure (43), a first connecting piece (44), a first deflection driving rope (45), a first limiting rope (46), a first winch (47), the driving motor (8) and the air pump (9), the first limiting piece (41) comprises a bottom soft body (411), a short pin shaft (412), a long pin shaft (413) and a bottom rope limiting piece (414), the second limiting piece (42) comprises a top limiting piece (421), a short pin shaft (422), a long pin shaft (423), a top limiting piece (424) and a ball (425), the first rotating disc structure (43) comprises a second rotating pin shaft (434), the first rotating disc structure (433) and a second rotating shaft (51), the second rotating disc structure (425) comprises a first rotating pin shaft (433), and a second rotating shaft (51), and a second rotating disc structure (425), the pneumatic steering mechanism comprises a second limiting piece (52), a pneumatic corrugated pipe (7), a second turntable structure (53), a second connecting piece (54), a second deflection driving rope (55), a second limiting rope (56), a second winch (57), a driving motor (8) and an air pump (9).
The first and second deflection driving structures (4, 5) drive two degrees of freedom of deflection of the ball head around the ball socket. For the first deflection driving structure (4), the driving motor (8) drives the first winch (47) to rotate, the first winch (47) pulls the first driving rope (45) and the first limiting rope (46) simultaneously, and on one hand, the first driving rope (45) is pulled to drive the ball head (3) to deflect around the ball socket (2); on the other hand, the first limiting rope (46) is pulled to drive the two second limiting pieces (42) to deflect around the ball head (3). The diameter of a small winch of the first winch (47) is half of that of a large winch, when the first winch (47) pulls the first driving rope (45) and the first limiting rope (46) to rotate, the second limiting piece (42) connected with the first limiting rope (46) always bisects an included angle between a connecting line of the axle centers of two positioning pin shafts (432 and 433) of the first turntable structure and the center of the ball socket (2) and the first limiting piece (41) around the rotation axis of the ball socket (2), so that the length of the first driving rope (45) between the first turntable structure (43) and the second limiting piece (42) is always equal to the length between the second limiting piece (42) and the first limiting piece (41), and the design can realize accurate control of the driving motor (8) on the deflection angle of the first deflection driving structure (4). The driving principle of the second deflection driving structure (5) is the same as that of the first deflection driving structure (4).
During articulation, the top soft limiting piece (421) and the bottom soft limiting piece (411) which are connected with the pneumatic bellows (7) passively rotate around the top rope limiting piece (422) and the bottom rope limiting piece (414), the top soft limiting piece (424) and the bottom soft limiting piece (411) are always kept parallel, and the pneumatic bellows (7) is always perpendicular to the top soft limiting piece (424) and the bottom soft limiting piece (411) and does not bend.
When an output shaft on the ball head (3) is subjected to external force in any direction, the force is transmitted between the ball socket (2) and the ball head (3) along the radial component of the output shaft; the component force of the force vertical to the output shaft is transmitted to the first winch (47) and the second winch (57) through the deflection driving rope (45, 55), a torque is given to the first winch (47) and the second winch (57), the component force is called deflection force, and the torque is called deflection torque; the eight pneumatic corrugated pipes (7) of the first deflection driving structure and the second deflection driving structure (4 and 5) are divided into two groups by the plane, the air pump (9) pressurizes the interiors of the four pneumatic corrugated pipes (7) with the deflection force direction pointing to the side, and simultaneously depressurizes the interiors of the other four pneumatic corrugated pipes (7), at the moment, the pressure in the pneumatic corrugated pipes (7) is transmitted to the first limiting rope and the second limiting rope (46 and 56) through the top soft limiting piece (421), and is transmitted to the first winch and the second winch (47 and 57) through the first limiting rope and the second limiting rope (46 and 56), and the first winch and the second winch (47 and 57) are given torque opposite to the deflection torque, so that the driving motor (8) can bear larger deflection torque, namely, the joint can bear larger external force; the rigidity of the pneumatic corrugated pipe (7) is changed by changing the pressure in the pneumatic corrugated pipe, so that the integral rigidity of the joint is changed, and the variable rigidity control is realized.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself. For ease of description, spatially relative terms such as "over 8230," "upper surface," "above," and the like may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A two-degree-of-freedom composite flexible bionic ball-and-socket joint is characterized in that: the device comprises a ball socket base, a ball socket, a ball head, a first deflection driving structure, a second deflection driving structure, an output shaft, a driving motor and an air pump; the bottom of the ball socket is fixedly connected with a ball socket base, the ball head is matched with the ball socket, the ball head can rotate in the ball socket, the output shaft is fixedly connected with the ball head, and the first deflection driving structure and the second deflection driving structure are connected to the ball socket, the ball socket base and the ball head;
the first deflection driving structure comprises a first limiting piece, a second limiting piece, a pneumatic corrugated pipe, a first turntable structure, a first connecting piece, a deflection driving rope, a limiting rope and a first winch; the first limiting piece comprises a bottom rope limiting piece, a bottom soft limiting piece, a short pin shaft and a long pin shaft; the bottom rope limiting part is provided with three shaft holes, the long pin shaft is arranged in a first shaft hole close to the outer side, the first short pin shaft is arranged in a second shaft hole close to the outer side, and the second short pin shaft is arranged in a third shaft hole close to the outer side; the two bottom soft limiting pieces are respectively fixedly connected with two ends of the long pin shaft and symmetrically distributed on two sides of the bottom rope limiting piece; the inner side and the outer side of the bottom rope limiting part are respectively provided with a shaft hole, the shaft holes are respectively matched with the shaft holes on the ball sockets and the shaft holes on the corresponding ball socket bases through pin shafts, and the shaft line penetrates through the centers of the ball sockets; the second limiting part comprises a top rope limiting part, a top soft limiting part, a short pin shaft, a long pin shaft and a ball; the top rope limiting piece is provided with three shaft holes, the long pin shaft is arranged in a first shaft hole close to the outer side, the first short pin shaft is arranged in a second shaft hole close to the outer side, and the second short pin shaft is arranged in a third shaft hole close to the outer side; the two top soft limiting pieces are respectively fixedly connected with two ends of the long pin shaft and symmetrically distributed on two sides of the bottom rope limiting piece; the inner side of the top rope limiting piece is provided with four balls, and the top rope limiting piece is matched with the ball head through the balls; the first turntable structure comprises a first turntable, a rotating bearing, a first positioning pin shaft and a second positioning pin shaft; a shaft hole is respectively formed in the opposite sides of the first rotating disc, the first positioning pin shaft and the second positioning pin shaft are respectively fixed in the shaft holes, a rotating bearing is fixed in the center of the first rotating disc, and the rotating bearing is matched with an output shaft on the ball head; one end of the deflection driving rope is connected with a first positioning pin shaft of the first turntable structure, passes through the top rope limiting part of the second limiting part and bypasses a first short pin shaft in the second limiting part, then passes through the bottom rope limiting part of the first limiting part and bypasses a first short pin shaft in the first limiting part, then penetrates out of the ball socket base, and is fixed and wound on a large winch in the first winch; the other end of the deflection driving rope is connected with a second positioning pin shaft of the first turntable structure, then sequentially penetrates through a second limiting piece, a first limiting piece and a ball socket base at the other side, and is fixed and wound on a large winch in the first winch; one end of the limiting rope is connected with a second short pin shaft of a top rope limiting part in the second limiting part, penetrates through a bottom rope limiting part of the first limiting part, bypasses a second short pin shaft in the first limiting part, then penetrates out of the ball socket base, and is fixed and wound on a small winch in the first winch; the other end of the limiting rope is connected with a third short pin shaft of a top rope limiting part in a second limiting part on the other side, sequentially penetrates through a first limiting part and a ball socket base on the other side, and is fixed and wound on a small winch in a first winch; the top rope limiting piece is provided with a bolt hole, and the two first connecting pieces are respectively connected to two sides of the opposite top rope limiting piece through bolts to fixedly connect the opposite two second limiting pieces; the two first connecting pieces form a sliding chute, and the output shaft can slide in the sliding chute; the driving motor drives the first winch to rotate, the first winch pulls the deflection driving rope and the limiting rope simultaneously, and on one hand, the large winch on the first winch pulls the deflection driving rope to drive the ball head to deflect around the ball socket; on the other hand, the small winch on the first winch pulls the limiting rope to drive the two second limiting pieces to deflect around the ball heads; the tops of the four pneumatic corrugated pipes are fixedly connected with the four top soft limiting pieces respectively, the bottoms of the four pneumatic corrugated pipes are fixedly connected with the four bottom soft limiting pieces respectively, and the vent pipes at the bottoms of the four pneumatic corrugated pipes penetrate through the four bottom soft limiting pieces respectively and are connected to the air pump; the second deflection driving structure is substantially the same as the first deflection driving structure except that: the second connecting piece, the second turntable structure and the second winch of the second deflection driving structure respectively correspond to the first connecting piece, the first turntable structure and the first winch of the first deflection driving structure; the second turntable of the second turntable structure corresponds to the first turntable of the first turntable structure; one end of a deflection driving rope of the second deflection driving structure is connected with a first positioning pin shaft of the second turntable structure, passes through a top rope limiting part of the second limiting part and bypasses a long pin shaft in the second limiting part, then passes through a bottom rope limiting part of the first limiting part and bypasses a long pin shaft in the first limiting part, then penetrates out of the ball socket base, and is fixed and wound on a large winch in the second winch; the other end of the deflection driving rope is connected with a second positioning pin shaft of the second turntable structure, sequentially penetrates through a second limiting part, a first limiting part and a ball socket base on the other side, and is fixed and wound on a large winch in the second winch.
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| CN202111159553.8A CN113752295B (en) | 2021-09-30 | 2021-09-30 | Two-degree-of-freedom composite flexible bionic ball socket joint |
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| CN202111159553.8A CN113752295B (en) | 2021-09-30 | 2021-09-30 | Two-degree-of-freedom composite flexible bionic ball socket joint |
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| CN113752295B true CN113752295B (en) | 2022-10-14 |
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|---|---|---|---|---|
| JP2006226458A (en) * | 2005-02-18 | 2006-08-31 | Kagoshima Univ | Three-degree-of-freedom active rotation joint |
| CN111070238A (en) * | 2020-01-14 | 2020-04-28 | 北京精密机电控制设备研究所 | Combined weak torsion continuous mechanical arm connecting joint |
| CN111604935A (en) * | 2020-06-01 | 2020-09-01 | 大连理工大学 | Electromagnetically-driven spherical robot wrist with two degrees of freedom and control method thereof |
| CN111660321A (en) * | 2020-06-11 | 2020-09-15 | 广东工业大学 | Three-degree-of-freedom bionic neck movement mechanism |
| CN112192607A (en) * | 2020-11-12 | 2021-01-08 | 北京交通大学 | Rope-driven large-motion-range flexible bionic ball-and-socket joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016101812B4 (en) * | 2016-02-02 | 2022-12-08 | Festo Se & Co. Kg | deflection element |
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2021
- 2021-09-30 CN CN202111159553.8A patent/CN113752295B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006226458A (en) * | 2005-02-18 | 2006-08-31 | Kagoshima Univ | Three-degree-of-freedom active rotation joint |
| CN111070238A (en) * | 2020-01-14 | 2020-04-28 | 北京精密机电控制设备研究所 | Combined weak torsion continuous mechanical arm connecting joint |
| CN111604935A (en) * | 2020-06-01 | 2020-09-01 | 大连理工大学 | Electromagnetically-driven spherical robot wrist with two degrees of freedom and control method thereof |
| CN111660321A (en) * | 2020-06-11 | 2020-09-15 | 广东工业大学 | Three-degree-of-freedom bionic neck movement mechanism |
| CN112192607A (en) * | 2020-11-12 | 2021-01-08 | 北京交通大学 | Rope-driven large-motion-range flexible bionic ball-and-socket joint |
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| CN113752295A (en) | 2021-12-07 |
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