CN114176852A - Mechanical wrist joint based on flexible tether control - Google Patents
Mechanical wrist joint based on flexible tether control Download PDFInfo
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- CN114176852A CN114176852A CN202111590956.8A CN202111590956A CN114176852A CN 114176852 A CN114176852 A CN 114176852A CN 202111590956 A CN202111590956 A CN 202111590956A CN 114176852 A CN114176852 A CN 114176852A
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 37
- 238000006243 chemical reaction Methods 0.000 claims abstract description 42
- 239000000919 ceramic Substances 0.000 claims description 33
- 230000001133 acceleration Effects 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008602 contraction Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 210000002435 tendon Anatomy 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/585—Wrist joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
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- Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Oral & Maxillofacial Surgery (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
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- Manipulator (AREA)
Abstract
本发明公开了一种基于柔性系绳控制的机械手腕关节。机械手的手腕关节与多自由度压电球电机模块相连，多自由度压电球电机模块与球电机驱动模块相连，球电机驱动模块通过信号转换模块与系绳收放模块相连；系绳收放模块的关节驱动信号通过信号转换模块发送给球电机驱动模块，球电机驱动模块根据接收的信号驱动多自由度压电球电机模块，多自由度压电球电机模块进而驱动机械手，球电机驱动模块检测多自由度压电球电机模块的位置信号并反馈回信号转换模块，信号转换模块根据反馈信号对系绳收放模块进行调节，从而实现机械手腕关节的控制。本发明实现腕关节位置、速度和加速度的精确控制，具有结构紧凑、控制性能优良、工程易于实现等优点。
The invention discloses a mechanical wrist joint controlled by a flexible tether. The wrist joint of the manipulator is connected with the multi-degree-of-freedom piezoelectric ball motor module, the multi-degree-of-freedom piezoelectric ball motor module is connected with the ball motor drive module, and the ball motor drive module is connected with the tether retraction module through the signal conversion module; The joint drive signal of the module is sent to the ball motor drive module through the signal conversion module. The ball motor drive module drives the multi-degree-of-freedom piezoelectric ball motor module according to the received signal. The multi-degree-of-freedom piezoelectric ball motor module then drives the manipulator, and the ball motor drive module The position signal of the multi-degree-of-freedom piezoelectric ball motor module is detected and fed back to the signal conversion module. The signal conversion module adjusts the tether retraction and release module according to the feedback signal, thereby realizing the control of the mechanical wrist joint. The present invention realizes precise control of wrist joint position, speed and acceleration, and has the advantages of compact structure, excellent control performance, easy engineering implementation and the like.
Description
Technical Field
The invention relates to a mechanical wrist joint, in particular to a mechanical wrist joint based on flexible tether control.
Background
At present, the number of high-cost-performance artificial limbs provided for the disabled with limbs on the market is small, most artificial limbs are decorative, single-degree-of-freedom motors are combined with mechanical mechanisms to achieve multi-degree-of-freedom rotation of wrists, the size of the whole critical wrist is large due to more mechanical transmission mechanisms, the weight is large, the movement is inconvenient, the use and popularization of the artificial limbs are limited, although the technology of the mechanical wrist artificial limbs is developed towards the directions of multi-degree-of-freedom and high precision from the 20 th century and the 70 th century, overall, the number of mature commercial wrist artificial hands is small, and most of research and design of the artificial limbs tend to be decorative and the functionality is rarely considered.
Disclosure of Invention
The invention provides a mechanical wrist joint based on flexible tether control by taking a mechanical wrist joint as a background and aiming at the defects of large size, large weight and inconvenient movement of the traditional mechanical wrist joint.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention comprises a manipulator, a tether retracting module, a signal conversion module, a ball motor driving module and a multi-degree-of-freedom piezoelectric ball motor module;
the wrist joint of the manipulator is connected with the multi-degree-of-freedom piezoelectric ball motor module, the multi-degree-of-freedom piezoelectric ball motor module is connected with the ball motor driving module, and the ball motor driving module is connected with the tether take-up and pay-off module through the signal conversion module; the joint driving signal of the tether take-up and pay-off module is transmitted to the ball motor driving module after being subjected to signal conversion through the signal conversion module, the ball motor driving module drives the multi-degree-of-freedom piezoelectric ball motor module according to the received signal, the multi-degree-of-freedom piezoelectric ball motor module further drives the wrist joint of the manipulator, the ball motor driving module detects the position signal of the multi-degree-of-freedom piezoelectric ball motor module and feeds the position signal back to the signal conversion module, and the signal conversion module adjusts the tether take-up and pay-off module according to the feedback signal, so that the control of the mechanical wrist joint is realized.
The multi-degree-of-freedom piezoelectric ball motor module comprises a limiting ring, a stator bracket, a pre-tightening plate spring, a traveling wave stator, a ceramic ball, a lower connecting rod and a bent strip;
the lower end face of the lower connecting rod is fixedly connected with the ball motor driving module, the upper end face of the lower connecting rod is fixedly provided with a plurality of stator supports which are arranged at equal intervals along the circumference, the side face, close to the circle center, of each stator support is fixedly connected with a traveling wave stator, a pre-tightening plate spring is arranged between each stator support and the traveling wave stator, a ceramic ball is embedded in a gap between the traveling wave stators, the traveling wave stators are tangent to the outer circumferential face of the ceramic ball, the top of the ceramic ball is provided with a bulge which is used as a motor output shaft and is coaxially connected with a wrist joint of a manipulator, the upper end face of the lower connecting rod is also fixedly connected with one end of a plurality of bent bars, each bent bar is arranged between two adjacent stator supports, the other end of each bent bar extends upwards and then is fixedly connected with a limiting ring, the limiting ring is sleeved on the top of the ceramic ball and used for limiting the axial movement of the ceramic ball, the ball motor driving module is electrically connected with the control end of the traveling wave stator.
The ceramic ball is located between the limiting ring and the lower connecting rod, a preset moving distance is axially arranged on the ceramic ball, and the maximum diameter of the ceramic ball is larger than that of the limiting ring.
The ball motor driving module comprises a connecting shaft and a motor driver;
the two ends of the connecting shaft are respectively and fixedly connected with the signal conversion module and the ball motor driving module, a motor driver is fixedly installed in the connecting shaft, and the motor driver is respectively and electrically connected with the signal conversion module and the ball motor driving module.
The signal conversion module comprises a signal converter, two ends of the signal converter are fixedly connected with the tether take-up and pay-off module and the ball motor driving module respectively, the output end of the signal converter is electrically connected with the motor driving module, and the input end of the signal converter is electrically connected with the tether take-up and pay-off module.
The tether take-up and pay-off module comprises a fixed truss, a tether, a tension wheel, a hub motor, a base and a motor bracket;
the both ends of fixed truss respectively with signal conversion module and base fixed connection, interval ground fixed mounting has a plurality of motor supports on the base, install wheel hub motor on every motor support, still there is the take-up pulley through connecting rod fixed mounting on every motor support, be provided with pressure sensor on the take-up pulley, be used for measuring tether pressure, pressure sensor and wheel hub motor on the take-up pulley all are connected with signal conversion module electricity, be provided with many tethers between signal conversion module and the base, the one end fixed mounting of every tether is at signal conversion module, the other end of every tether is walked around the take-up pulley after-fixing on the wheel hub motor that corresponds, every tether is convoluteed on the wheel hub motor that corresponds, receive and release of tether is realized in wheel hub motor's rotation.
The invention has the beneficial effects that:
1. compared with the traditional mechanical wrist joint, the mechanical wrist joint has the advantages of light weight, small structural size and convenience in installation due to the use of the high-reliability multi-degree-of-freedom spherical hinge type piezoelectric spherical motor.
2. Compared with the traditional mechanical wrist joint, the back end of the mechanical wrist joint adopts the tether to simulate the human tendon signal, the coupling degree is high, and the mechanical wrist joint can be flexibly controlled well.
3. Compared with the traditional traveling wave type piezoelectric ball motor, the invention provides a novel structure of a ball hinge type flexible piezoelectric ball motor, and solves the problems of poor compression/tension resistance and difficulty in accurate control of a ball rotor of the traditional motor.
4. The invention has the advantages of ingenious structural design, convenient manufacture and easy engineering realization.
5. The multi-degree-of-freedom piezoelectric ball motor has stable mass center, uniform stress of the rotor and easy driving
Drawings
FIG. 1 is one of three-dimensional views of a robotic wrist joint of the present invention;
FIG. 2 is a second three-dimensional view of a robotic wrist joint of the present invention;
FIG. 3 is a schematic diagram of a multiple degree of freedom piezoelectric ball motor module of the present invention;
FIG. 4 is a schematic view of the motor drive module of the present invention;
FIG. 5 is a schematic view of a tether retraction module of the present invention;
in the figure: 1. the device comprises a limiting ring, 2, a stator support, 3, a pre-tightening plate spring, 4, a traveling wave stator, 5, a ceramic ball, 6, a motor output shaft, 7, a lower connecting rod, 8, a bent bar, 9, a mechanical arm, 10, a connecting shaft, 11, a motor driver, 12, a signal converter, 13, a fixed truss, 14, a tether sleeve, 15, a hub motor shell, 16, a tether, 17, a tensioning wheel, 18, a hub motor, 19, a base, 20, a motor support, 21 and a tether take-up and pay-off module shell.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1 and 2, the present invention includes a manipulator 9, a tether retracting module, a signal conversion module, a ball motor driving module, and a multi-degree-of-freedom piezoelectric ball motor module;
the wrist joint of the manipulator 9 is connected with a multi-degree-of-freedom piezoelectric ball motor module, the multi-degree-of-freedom piezoelectric ball motor module is connected with a ball motor driving module, and the ball motor driving module is connected with a tether take-up and pay-off module through a signal conversion module; the joint driving signal of the tether take-up and pay-off module is transmitted to the ball motor driving module after being subjected to signal conversion through the signal conversion module, the ball motor driving module drives the multi-degree-of-freedom piezoelectric ball motor module according to the received signal, the multi-degree-of-freedom piezoelectric ball motor module further drives the wrist joint of the manipulator 9, the ball motor driving module detects the position signal of the multi-degree-of-freedom piezoelectric ball motor module and feeds the position signal back to the signal conversion module, and the signal conversion module adjusts the tether take-up and pay-off module according to the feedback signal, so that the control of the mechanical wrist joint is realized.
As shown in fig. 3, the multi-degree-of-freedom piezoelectric ball motor module comprises a limiting ring 1, a stator support 2, a pre-tightening plate spring 3, a traveling wave stator 4, a ceramic ball 5, a lower connecting rod 7 and a bent strip 8;
the lower terminal surface and the ball motor drive module fixed connection of lower connecting rod 7, the up end fixed mounting of lower connecting rod 7 has a plurality of stator support 2 of arranging along the circumference equidistant, and in the concrete implementation, stator support 2 is 3, and the contained angle between two adjacent stator support 2 is 120 promptly. The side surface of each stator support 2 close to the circle center is fixedly connected with a traveling wave stator 4, a pre-tightening plate spring 3 is further arranged between each stator support 2 and the traveling wave stator 4, the pre-tightening plate spring 3 is used for providing a spring pre-tightening force to enable the traveling wave stator to be in close contact with a ceramic ball rotor, a ceramic ball 5 is embedded in a gap between a plurality of traveling wave stators 4, the traveling wave stators 4 are tangent to the outer circumferential surface of the ceramic ball 5, a bulge is arranged at the top of the ceramic ball 5, the bulge serves as a motor output shaft 6 and is coaxially connected with a wrist joint of a manipulator 9, the upper end surface of a lower connecting rod 7 is further fixedly connected with one end of a plurality of bent bars 8, each bent bar 8 is arranged between two adjacent stator supports 2, the other end of each bent bar 8 extends upwards and then is fixedly connected with a limiting ring 1, the limiting ring 1 is sleeved at the top of the ceramic ball 5 and used for limiting the axial movement of the ceramic ball 5, the motor driver 11 of the ball motor driving module is electrically connected with the control end of the traveling wave stator 4, and the ball motor driving module drives the ceramic balls 5 through the traveling wave stator 4, so that the motor output shaft 6 rotates. Specifically, the principle of motor driving is as follows: when the motor normally works, the traveling wave stator 4 is fully contacted with the ceramic ball rotor 5 through the spring pretightening force provided by the pretightening plate spring 3, the traveling wave stator generates high-frequency vibration under the condition of power-on, the three traveling wave stators are mutually matched to generate driving torque, and the ceramic ball rotates under the action of the torque.
The ceramic ball 5 is positioned between the limiting ring 1 and the lower connecting rod 7, and the ceramic ball 5 is provided with a preset moving distance in the axial direction, namely the ceramic ball 5 can move for one end distance along the direction of the output shaft of the motor; the maximum diameter of the ceramic balls 5 is larger than the diameter of the confinement rings 1.
As shown in fig. 4, the ball motor driving module includes a connecting shaft 10 and a motor driver 11;
two ends of a connecting shaft 10 are respectively fixedly connected with the signal conversion module and the ball motor driving module, a motor driver 11 is fixedly installed in the connecting shaft 10, and the output end and the input end of the motor driver 11 are respectively and electrically connected with the traveling wave stator 4 control end of the signal conversion module and the signal converter 12 output end of the ball motor driving module.
The signal conversion module comprises a signal converter 12, two ends of the signal converter 12 are respectively and fixedly connected with a tether 16 of the tether take-up and pay-off module, a sleeve 14 and a connecting shaft 10 of the ball motor driving module, an output end of the signal converter 12 is also electrically connected with an input end of a motor driver 11 of the motor driving module, and an input end of the signal converter 12 is also electrically connected with the tether 16 of the tether take-up and pay-off module, a tension wheel 17 and a hub motor 18. The input end and the output end of the signal converter are respectively provided with four input ports and four output ports, and signals from the four pressure sensors can be converted into electric signals of a motor driver in the ball motor driving module to be output. The motor driver can transmit the output signal of the signal converter to the multi-degree-of-freedom piezoelectric ball motor after comprehensive processing.
As shown in fig. 5, the tether retraction module includes a fixed truss 13, a tether 16, a sleeve 14, a tension pulley 17, a hub motor 18, a hub motor housing 15, a tether retraction module housing 21, a base 19 and a motor bracket 20;
the fixed truss 13, the tether 16, the sleeve 14, the tension pulley 17, the hub motor 18, the hub motor shell 15, the tether take-up and pay-off module shell 21, the base 19 and the motor support 20 are all arranged in the tether take-up and pay-off module shell 21; the two ends of the fixed truss 13 are respectively fixedly connected with the input end of the signal conversion module and the base 19, the base is divided into two semicircles, the two semicircles are connected through a pin, each semicircle is at least fixedly connected with one fixed truss 13, a plurality of motor supports 20 are fixedly mounted on the base 19 at intervals, a hub motor 18 is mounted on each motor support 20, a hub motor shell 15 is mounted outside each hub motor 18, a tension pulley 17 is further fixedly mounted on each motor support 20 through a connecting rod, a pressure sensor is arranged on each tension pulley 17 and used for measuring the pressure of the tether 16, the pressure sensor on each tension pulley 17 and the hub motor 18 are electrically connected with the signal conversion module, a plurality of tethers 16 are arranged between the signal conversion module and the base 19, the tether 16 is the same as the hub motor 18 in number, and in specific implementation, the tether 16 and the hub motor 18 are 4. One end of each tether 16 is fixedly arranged at the input end of the signal conversion module, a sleeve 14 is arranged outside one end of each tether 16, one end of each sleeve 14 is fixedly arranged at the input end of the signal conversion module, and a gap is formed between each sleeve 14 and each tether 16; the other end of each tether 16 bypasses a tension pulley 17 and then is fixed on a corresponding hub motor 18, each tether 16 is wound on the corresponding hub motor 18, the rotation of the hub motor 18 realizes the retraction and release of the tether 16, the retraction and release process of the tether 16 is similar to the tendon contraction and relaxation process of a human body, a pressure sensor arranged on the tension pulley 17 has signal output, a signal converter 12 receives and converts collected pressure signals into input electric signals output by a motor driver 11, the motor driver 11 processes and receives the electric signals from the signal converter 12, and controls the rotation of a multi-degree-of-freedom piezoelectric ball motor to realize the multi-pose of a motor output shaft 6 of the ball hinge type piezoelectric ball motor.
In specific implementation, the tension of each tether 16 is used as a joint driving signal of the tether retracting module, the tension of each tether 16 is obtained by calculating the measured pressure applied to the corresponding pressure sensor by the tether 16 and the included angle between the tension pulley 17 and the motor bracket 17, wherein the included angle between the tension pulley 17 and the motor bracket 17 is specifically the included angle between the connecting rod of the motor bracket 20 and the central axis of the motor bracket 20.
The working process of the invention is as follows:
firstly, a tether in a tether module is wound on a hub motor in a tether take-up and pay-off module through a tension wheel in a tension measurement module, the tether is always kept in a tension state, a pressure sensor on the tension wheel measures pressure and outputs signals, four hub motors can respectively and independently rotate without being influenced, contraction and relaxation of the tether are realized through rotation of the hub motors, contraction and relaxation processes of human body tendons are simulated, meanwhile, the four hub motors respectively and independently move without being influenced, the pressure sensors arranged on the tension wheel respectively measure different pressure values from the tether, obtained pressure signals are input into a signal converter, the pressure sensors and the hub motors form closed loop control, numerical values of the pressure sensors can be fed back to the hub motors, and tension of the tether is changed through rotation of the hub motors.
Then, the signal converter receives the signals from the four pressure sensors, processes and converts the signals of the pressure sensors into electric signals of the motor driver and outputs the electric signals to the motor driver, the motor driver receives the electric signals from the signal converter and drives the multi-degree-of-freedom spherical hinge type piezoelectric ball motor to rotate, a motor output shaft of the multi-degree-of-freedom spherical hinge type piezoelectric ball motor can output a plurality of different poses, and the poses specifically refer to circumferential rotation and axial displacement of the multi-degree-of-freedom spherical hinge type piezoelectric ball motor, so as to achieve the purpose of flexibly driving the mechanical wrist joint, meanwhile, the electric signal of the multi-degree-of-freedom piezoelectric ball motor can be fed back to the motor driver through a closed loop, the motor driver can transmit the signal back to the signal converter, the signal converter can convert the signal fed back by the motor driver into the signal of the pressure sensor for output, and the contraction and the relaxation of the tether are realized through the closed loop control of the pressure sensor and the hub motor.
And finally, continuously repeating the steps to realize the flexible control of the mechanical wrist joint and meet the requirements of high-precision pose control, reliable performance, dexterity and light weight.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111590956.8A CN114176852B (en) | 2021-12-23 | 2021-12-23 | A mechanical wrist joint based on flexible tether control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111590956.8A CN114176852B (en) | 2021-12-23 | 2021-12-23 | A mechanical wrist joint based on flexible tether control |
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| CN114176852A true CN114176852A (en) | 2022-03-15 |
| CN114176852B CN114176852B (en) | 2025-01-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083566A (en) * | 2021-12-23 | 2022-02-25 | 杭州电子科技大学 | A rigid-flexible coupling robot wrist joint |
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