CN114193503B - Manipulator finger joint and underactuated manipulator - Google Patents
Manipulator finger joint and underactuated manipulator Download PDFInfo
- Publication number
- CN114193503B CN114193503B CN202111659251.7A CN202111659251A CN114193503B CN 114193503 B CN114193503 B CN 114193503B CN 202111659251 A CN202111659251 A CN 202111659251A CN 114193503 B CN114193503 B CN 114193503B
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- knuckle
- finger
- joint
- manipulator
- connecting rod
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- 210000001145 finger joint Anatomy 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 230000008859 change Effects 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 15
- 210000003811 finger Anatomy 0.000 description 36
- 210000001503 joint Anatomy 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 210000004932 little finger Anatomy 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000466 volar plate Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator finger joint and an underactuated manipulator, which belong to the technical field of manipulators, and comprise a near knuckle and a far knuckle, wherein working surfaces of the near knuckle and the far knuckle are rotationally connected, and the manipulator finger joint comprises a joint adjusting mechanism connected between the near knuckle and the far knuckle, wherein the joint adjusting mechanism comprises a connecting rod mechanism and a sliding module; the fixed end of the connecting rod mechanism is rotationally connected with the inner matching surface of the far knuckle, and the sliding end of the connecting rod mechanism is connected with the inner matching surface of the near knuckle through the sliding table module; the sliding table module can change the distance between the sliding end and the fixed end of the connecting rod mechanism so as to correspond to different opening and closing angles. The invention can control the opening and closing angles of all the finger joints, thereby controlling the termination gesture of the operation of the manipulator and increasing the flexibility; and the driving source is less, and the structure is simple.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator finger joint and an underactuated manipulator.
Background
In order to improve the grabbing reliability and flexibility of the manipulator, the manipulator structure is continuously updated. The prior art discloses an underactuated manipulator with fingers as a link mechanism, wherein a first knuckle (a proximal knuckle) is controlled by a crank rocker mechanism, a second knuckle (a middle knuckle) is controlled by a six-rod mechanism, two knuckle driving rods are coaxial, are controlled by the same motor and are connected by a torsion spring. The prior art also discloses a rope-driven underactuated mechanical finger, wherein the near-end joint and the middle-end joint are independently controlled by two pairs of ropes which are arranged in the front and back directions respectively; the distal joint is controlled by a double rocker mechanism connected in series with the middle joint and moves along with the movement of the middle joint. The prior art also discloses a rope-driven underactuated mechanical finger, which has only two knuckles and two joints, and is driven by a single rope arranged on the inner side to complete the grabbing action, and the reset function is realized by torsion springs arranged at the two joints.
Although the manipulator can improve the firmness of the grabbing function, the scheme of independently controlling the near-end joint and the middle-end joint through the ropes has more driving sources and complex control, and all tendon rope drivers are required to be planned and cooperated in advance, but only the function of grabbing objects can be realized. The scheme controlled by the crank rocker mechanism and the scheme driven by only a single rope can only realize the grabbing of the cam profile object, and the flexibility is low; and the two joints are driven by a single rope, and if the two joints run in idle load, one rope cannot control the degrees of freedom of the two joints.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a finger joint of a manipulator and an underactuated manipulator, which can control the opening and closing angles of the finger joints, thereby controlling the termination gesture of the manipulator operation and increasing the flexibility; and the driving source is less, and the structure is simple.
In order to achieve the above object, the present invention is realized by the following technical scheme:
in a first aspect, embodiments of the present invention provide a manipulator knuckle, including a proximal knuckle and a distal knuckle, the working surfaces of the proximal knuckle and the distal knuckle being rotationally coupled, and further including a knuckle adjustment mechanism coupled between the proximal knuckle and the distal knuckle, the knuckle adjustment mechanism including a linkage mechanism and a sliding module;
the fixed end of the connecting rod mechanism is rotationally connected with the inner matching surface of the far knuckle, and the sliding end of the connecting rod mechanism is connected with the inner matching surface of the near knuckle through the sliding table module; the sliding table module can change the distance between the sliding end and the fixed end of the connecting rod mechanism so as to correspond to different opening and closing angles.
As a further implementation manner, the link mechanism comprises a first rod group and a second rod group which are connected through rotation, and a reset part is arranged at the joint of the first rod group and the second rod group.
As a further implementation, the first rod group and the second rod group each comprise two connecting rods which are parallel to each other and symmetrically arranged relative to the direction of the vertical working surface.
As a further implementation mode, the sliding end of the connecting rod mechanism is rotationally connected with the sliding block of the sliding table module.
In a second aspect, an embodiment of the present invention further provides an under-actuated manipulator, including a palm portion and a plurality of fingers mounted on the palm portion, each finger having a plurality of finger joints, and a motion control mechanism being further disposed in the finger.
As a further implementation manner, the motion control mechanism comprises two groups of guide parts symmetrically arranged at the joint adjusting mechanism, wherein the guide parts are formed by bearing groups; the bearing group is connected with the winding mechanism through the traction mechanism.
As a further implementation manner, the joint ends of the near knuckle and the far knuckle are respectively provided with a pair of knuckle bearings, and the connecting ends of the first rod group and the second rod group are provided with a pair of connecting rod bearings; the knuckle bearing of the distal knuckle is coaxial with the fixed end of the second rod set.
As a further implementation mode, the knuckle bending device further comprises a traction mechanism, wherein the traction mechanism comprises a driving rope and a traction wheel positioned on the palm portion, and the driving rope forms a closed loop structure through the traction wheel and the two groups of guide portions, so that the driving rope tightens up to drive the knuckle to bend.
As a further implementation manner, the driving rope sequentially circumferentially bypasses the knuckle bearing and the connecting rod bearing on one side of each joint to the other side; the traction wheel is close to the finger side and is provided with a guide piece, and the driving rope is matched with the traction wheel through the guide piece.
As a further implementation mode, the winding mechanism comprises a winding wheel, a traction rope is wound on the winding wheel, and one end of the traction rope is connected with the traction wheel.
The beneficial effects of the invention are as follows:
(1) According to the finger joint adjusting mechanism, the sliding end of the connecting rod mechanism can move to the set position through the matching of the sliding mechanism and the sliding table module, so that the finger joint adjusting mechanism corresponds to different opening and closing angles, the movement of the finger joint adjusting mechanism can be controlled through the movement control mechanism, various gestures can be made by the manipulator so as to grasp objects with more complex outlines, more functions outside the object grabbing function can be realized, such as mouse operation, and the flexibility is higher.
(2) The motion control mechanism of the invention is composed of driving ropes forming a closed loop structure, traction wheels and a winding mechanism, wherein the driving ropes of each finger are arranged on two sides of a single rope, and the forces of the ropes on two sides are always equal under the control of the traction wheels; the driving rope sequentially bypasses the bearings which are distributed in a triangular mode at the joints, the structure is stable, the force conversion rate is higher, more force acts on the middle bearing (the connecting rod bearing), and therefore fingers are bent more labor-saving, and objects with larger weight can be grabbed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic illustration of a finger joint adjustment mechanism according to one or more embodiments of the present invention;
FIGS. 2 (a) -2 (c) are schematic illustrations of movement of a slide end of a linkage to different positions according to one or more embodiments of the present invention;
FIGS. 2 (d) -2 (f) are schematic diagrams illustrating different opening and closing angle states according to one or more embodiments of the present invention;
FIG. 3 is a schematic diagram of a drive line winding according to one or more embodiments of the present invention;
FIG. 4 is a schematic diagram of a four-finger internal architecture of a manipulator according to one or more embodiments of the present invention;
FIG. 5 is a schematic view of the interior of a thumb according to one or more embodiments of the invention;
FIG. 6 is a front view of a robot in accordance with one or more embodiments of the present invention;
FIG. 7 is a side view of a robot according to one or more embodiments of the present invention;
fig. 8 is a perspective view of a robot according to one or more embodiments of the present invention.
Wherein, 1, a near knuckle, 2, a far knuckle, 3, a working face, 4, a sliding table module, 5, a sliding block, 6, a first rod group, 7, a connecting rod bearing, 8, a near knuckle bearing, 9, a far knuckle bearing, 10, a second rod group, 11, a hinge, 12 and a guide piece, 13, traction wheels, 14, winding wheels, 15, palms, 16, driving ropes, 17, traction ropes, 18, power sources, 19, palm plates, 20, palm back plates, 21, palm frames, I, thumbs, II, index fingers, III, middle fingers, IV, ring fingers, V and little fingers.
Detailed Description
Embodiment one:
the embodiment provides a finger joint of a mechanical hand, as shown in fig. 1, comprising a proximal knuckle 1, a distal knuckle 2 and a joint adjusting mechanism, wherein the joint adjusting mechanism comprises a connecting rod mechanism and a sliding module 4. For the manipulator structure, the finger tip close to the manipulator is taken as a proximal finger end, and the finger tip far away from the manipulator is taken as a distal finger end; the proximal knuckle 1 and the distal knuckle 2 are both of box-shaped structures, the grabbing side is defined to be a working surface 3, and the surfaces of the interiors of the proximal knuckle 1 and the distal knuckle 2 opposite to the working surface 3 are matched surfaces.
In this embodiment, the proximal knuckle 1 and the distal knuckle 2 are in a split structure, that is, include a first housing and a second housing, where the first housing and the second housing are buckled to form a box structure; wherein the inner surface of the first housing is the working surface 3.
The working surface 3 of the proximal knuckle 1 and the working surface 3 of the distal knuckle 2 are rotatably connected, in this embodiment the working surfaces 3 of the two are connected by a hinge 11 to allow relative rotation between the proximal knuckle 1 and the distal knuckle 2.
The inside of the near knuckle 1 and the far knuckle 2 are connected through a connecting rod mechanism, specifically, one end of the connecting rod mechanism is rotationally connected with the matching surface of the far knuckle 2, the matching surface of the near knuckle 1 is provided with a sliding table module 4, and the other end of the connecting rod mechanism is rotationally connected with the sliding table module 4.
One end of the connecting rod mechanism connected with the sliding table module 4 can slide along the length direction of the knuckle, namely a sliding end, and one end of the connecting rod mechanism connected with the far knuckle 2 is a fixed end. Under the action of the sliding table module 4, the sliding end of the connecting rod mechanism can move to different positions, so that the joint rotates to a corresponding angle under the action of the motion control mechanism, and the control of the opening and closing angle is realized.
As shown in fig. 2 (a), the sliding table module 4 drives the sliding end of the link mechanism to move to a position where the proximal knuckle 1 is close to the distal knuckle 2, and the distal knuckle 2 and the proximal knuckle 1 form an opening and closing angle state as shown in fig. 2 (d) under the action of the motion control mechanism; as shown in fig. 2 (b), the sliding table module 4 drives the sliding end of the link mechanism to move to the middle section position of the proximal knuckle 1, and under the action of the motion control mechanism, the distal knuckle 2 and the proximal knuckle 1 form an open-close angle state as shown in fig. 2 (e); as shown in fig. 2 (c), the sliding table module 4 drives the sliding end of the link mechanism to move to the middle section position of the proximal knuckle 1, and under the action of the motion control mechanism, the distal knuckle 2 and the proximal knuckle 1 form an open-close angle state as shown in fig. 2 (f).
According to the embodiment, the joint opening and closing angle can be controlled to be between 30 and 90 degrees through the cooperation of the connecting rod mechanism and the sliding table module 4. The opening and closing angles of all finger joints are controlled, so that the operation termination gesture of the manipulator is controlled, and more functions are realized through different termination gestures.
In this embodiment, the link mechanism includes a first rod group 6 and a second rod group 10, one ends of the first rod group 6 and the second rod group 10 are hinged, the other end of the first rod group 6 is hinged with the sliding block 5 of the sliding table module 4, and the sliding table module 4 is an electric sliding table, so that the sliding end of the link mechanism can be pushed to move to a set position.
The other end of the second rod set 10 is hinged to the end (joint end) of the distal knuckle 2 near the proximal knuckle 1. In the present embodiment, the first rod group 6 and the second rod group 10 respectively include two links parallel to each other to secure structural stability and supporting strength.
A restoring member, such as a torsion spring, is installed at the hinge of the first lever group 6 and the second lever group 10, and a restoring process of the knuckle is accomplished by the torsion spring and the hinge 11.
The adjusting mechanism of the embodiment can control each knuckle, so that the manipulator can make various gestures and grasp objects with more complex outlines.
Embodiment two:
the embodiment provides an under-actuated manipulator, which comprises a palm portion 15 and a plurality of fingers mounted on the palm portion 15, wherein each finger is provided with a finger joint in one of the embodiments, and a motion control mechanism is further arranged in the finger and used for controlling a finger joint adjusting mechanism so as to drive the joint to rotate.
As shown in fig. 6, palm 15 connects thumb I, index finger II, middle finger III, ring finger IV, and little finger V.
As shown in fig. 3 and 4, the distal knuckle and the palm portion 15 are also formed into a joint open/close structure by a link mechanism.
In this embodiment, the motion control mechanism is a rope-driven motion control mechanism including a traction mechanism and a winding mechanism.
The traction mechanism includes a drive rope 16, a guide portion around which the drive rope 16 passes, and a traction wheel 13. In this embodiment, two sets of guide portions are disposed at intervals in the finger, and each set of guide portions is disposed along the length direction of the finger.
As shown in fig. 1 and 3, three pairs of bearings are arranged at each joint, a pair of proximal knuckle bearings 8 are arranged on the matching surface of the proximal knuckle 1, a pair of distal knuckle bearings 9 are arranged on the matching surface of the distal knuckle 2, and the proximal knuckle bearings 8 and the distal knuckle bearings 9 are arranged at the joint of the proximal knuckle 1 and the distal knuckle 2; wherein, the far knuckle bearing 9 is coaxial with the fixed end of the second rod group 10 and is arranged on the same pin, and the two movements are mutually unaffected.
The hinge joint of the first rod group 6 and the second rod group 10 is provided with a pair of connecting rod bearings 7, and the connecting rod bearings 7 are symmetrically arranged at two sides of the hinge joint. The link bearing 7, the proximal knuckle bearing 8 and the distal knuckle bearing 9 on one side of the first and second lever sets 6, 10 constitute one set of guides, and the link bearing 7, the proximal knuckle bearing 8 and the distal knuckle bearing 9 on the other side constitute the other set of guides.
As shown in fig. 3 and 4, the driving rope 16 sequentially passes from the outer circumference of the distal knuckle bearing 9, the connecting rod bearing 7 and the proximal knuckle bearing 8 on one side of each knuckle to the other side and passes around the outer circumference of the traction wheel 13, and the driving rope 16 forms a closed loop structure with the traction wheel 13 through two sets of guide parts. The driving ropes 16 of each finger are arranged on two sides of a single rope, so that the forces of the ropes on two sides are always equal under the control of the traction wheel 13.
The traction wheel 13 is arranged on the palm 15, but is not fixed with other parts, the central position of the traction wheel 13 is connected with a U-shaped connecting piece, and the U-shaped connecting piece is connected with the winding mechanism.
The winding mechanism comprises a winding wheel 14, a traction rope 17 and a power source 18, wherein the traction rope 17 winds the winding wheel 14 for a plurality of circles, and one end of the traction rope 17 is connected with the U-shaped connecting piece; the power source 18 drives the reel 14 to rotate, and the traction rope 17 is extended or shortened to change the position of the traction wheel 13, so that the driving rope 16 pulls each joint to act.
Compared with other rope driving mechanisms, the rope driving motion control mechanism of the embodiment has higher force conversion rate, and can apply more force to the connecting rod bearing 7, so that fingers are bent more labor-saving, and objects with larger weight can be grabbed.
As shown in fig. 4 and 8, the palm portion 15 is constituted by a palm plate 19, a palm back plate 20, and a palm frame 21, and the palm frame 21 is mounted between the palm plate 19 and the palm back plate 20. In this embodiment, the palmar plate 19, the palmar frame 21, and the palmar plate 20 are connected by screws. The most distal knuckle of each finger is hinged to the palm back plate 20, the reel 14 is mounted to the palm back plate 20, and the power source 18 is mounted to the palm center frame 21.
In this embodiment, the guide member 12 is further disposed inside the driving rope 16 of each finger, and the guide member 12 is mounted on the palm back plate 20 near the traction wheel 13 to enhance the guiding effect on the driving rope 16.
The guiding parts 12 of the index finger II, the middle finger III, the ring finger IV and the little finger V adopt guiding wheels; the thumb I guide 12 employs guide posts to achieve spatial direction guidance.
As shown in fig. 5-7, the initial states of the index finger II, the middle finger III, the ring finger IV and the little finger V are parallel to the palm plane, and the thumb I forms an included angle with the palm plane, for example, 60 °; under the cooperation of the motion control mechanism and the finger joint adjusting mechanism, each finger can rotate to a set angle on the palm plane.
For example, ring finger IV moves to an angle of 80 ° with the palmar plane and little finger V moves to an angle of 70 ° with the palmar plane.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. The mechanical finger joint comprises a proximal knuckle and a distal knuckle, and is characterized in that working surfaces of the proximal knuckle and the distal knuckle are rotationally connected, and the mechanical finger joint further comprises a joint adjusting mechanism connected between the proximal knuckle and the distal knuckle, wherein the joint adjusting mechanism comprises a connecting rod mechanism and a sliding module;
the fixed end of the connecting rod mechanism is rotationally connected with the inner matching surface of the far knuckle, and the sliding end of the connecting rod mechanism is connected with the inner matching surface of the near knuckle through the sliding table module; the sliding table module can change the distance between the sliding end and the fixed end of the connecting rod mechanism so as to correspond to different opening and closing angles;
the finger is also internally provided with a motion control mechanism;
the motion control mechanism comprises two groups of guide parts symmetrically arranged at the joint adjusting mechanism, and the guide parts are formed by bearing groups; the bearing group is connected with the winding mechanism through the traction mechanism.
2. The robot finger joint according to claim 1, wherein the link mechanism comprises a first lever group and a second lever group connected by rotation, and a restoring member is installed at the connection of the first lever group and the second lever group.
3. The robot finger joint according to claim 2, wherein the first rod group and the second rod group each comprise two links which are parallel to each other and symmetrically arranged with respect to a direction perpendicular to the working surface.
4. The manipulator finger joint of claim 1, wherein the sliding end of the linkage is rotatably coupled to the slide of the slide module.
5. An underactuated manipulator comprising a palm and a plurality of fingers mounted to the palm, each finger having a plurality of finger joints according to any one of claims 1-4.
6. The underactuated manipulator of claim 5, wherein the joint ends of the proximal knuckle and the distal knuckle are each provided with a pair of knuckle bearings, and the joint ends of the first rod set and the second rod set are provided with a pair of link bearings; the knuckle bearing of the distal knuckle is coaxial with the fixed end of the second rod set.
7. The underactuated manipulator of claim 5, wherein the traction mechanism comprises a drive rope, a traction wheel located at the palm, and wherein the drive rope forms a closed loop structure through the traction wheel and the two sets of guiding parts, so that the drive rope tightens to drive the knuckle to bend.
8. The underactuated manipulator of claim 7, wherein the drive lines pass circumferentially around each knuckle from one side knuckle bearing to the other side; the traction wheel is close to the finger side and is provided with a guide piece, and the driving rope is matched with the traction wheel through the guide piece.
9. The underactuated mechanical arm as claimed in claim 7, wherein the winding mechanism comprises a winding wheel around which a traction rope is wound, one end of the traction rope being connected to the traction wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111659251.7A CN114193503B (en) | 2021-12-30 | 2021-12-30 | Manipulator finger joint and underactuated manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111659251.7A CN114193503B (en) | 2021-12-30 | 2021-12-30 | Manipulator finger joint and underactuated manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114193503A CN114193503A (en) | 2022-03-18 |
| CN114193503B true CN114193503B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111659251.7A Active CN114193503B (en) | 2021-12-30 | 2021-12-30 | Manipulator finger joint and underactuated manipulator |
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| CN (1) | CN114193503B (en) |
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| JP2005066803A (en) * | 2003-08-27 | 2005-03-17 | Nara Institute Of Science & Technology | Robot hand |
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| CN106573374A (en) * | 2014-08-25 | 2017-04-19 | 保罗·埃卡斯 | Link structure and assembly for manipulator structure |
| CN108673466A (en) * | 2018-05-09 | 2018-10-19 | 湖南开拓者机器人科技有限公司 | A kind of adjustable folding arm robot |
| CN109648589A (en) * | 2019-01-22 | 2019-04-19 | 北京邮电大学 | A kind of dexterous robot mechanical finger device with functions based on cylinder driving |
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-
2021
- 2021-12-30 CN CN202111659251.7A patent/CN114193503B/en active Active
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|---|---|---|---|---|
| JP2005066803A (en) * | 2003-08-27 | 2005-03-17 | Nara Institute Of Science & Technology | Robot hand |
| CN101693372A (en) * | 2009-07-06 | 2010-04-14 | 清华大学 | Connecting rod slider-type under-actuated robot finger device with changeable grasping force |
| CN106573374A (en) * | 2014-08-25 | 2017-04-19 | 保罗·埃卡斯 | Link structure and assembly for manipulator structure |
| CN108673466A (en) * | 2018-05-09 | 2018-10-19 | 湖南开拓者机器人科技有限公司 | A kind of adjustable folding arm robot |
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| CN114193503A (en) | 2022-03-18 |
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