CN114406994A - Rope-driven multi-degree-of-freedom self-adaptive manipulator - Google Patents
Rope-driven multi-degree-of-freedom self-adaptive manipulator Download PDFInfo
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- CN114406994A CN114406994A CN202210091762.1A CN202210091762A CN114406994A CN 114406994 A CN114406994 A CN 114406994A CN 202210091762 A CN202210091762 A CN 202210091762A CN 114406994 A CN114406994 A CN 114406994A
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- 230000003044 adaptive effect Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000005452 bending Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention discloses a rope-driven multi-degree-of-freedom self-adaptive manipulator which comprises at least one finger, wherein the finger comprises a finger shell, the finger shell comprises a plurality of shells which are sequentially connected, two adjacent shells are connected through a connecting ring, and an included angle is formed between the axis of a first rotating shaft part and the axis of a second rotating shaft part, so that the two adjacent shells can rotate in two directions at least; the rope driving mechanism is used for driving each pair of pull wires to be respectively connected with and driven by a first driving unit so as to respectively drive the finger shell to bend on a first plane and a second plane; and the shell driving assembly comprises a second driving unit for driving the finger shell to rotate, the connecting ring is provided with an end cover for each pull wire to pass through, and a first bearing is arranged between the connecting ring and the end cover so that the finger shell can rotate relative to each pull wire in the shell. The invention can realize the movement with three degrees of freedom, thereby realizing more complex movement tracks.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a rope-driven multi-degree-of-freedom self-adaptive manipulator.
Background
The flexible manipulator obtains extensive attention of researchers at home and abroad by virtue of the advantages of high structural flexibility, multiple degrees of freedom, continuous deformability and the like. Compared with the traditional manipulator, the soft manipulator has stronger capability of operating small or fragile objects, thereby having wide application prospect. The current research mainly comprises four driving modes, namely pneumatic driving, rope driving, SMA driving and EPA driving.
The existing scheme is as follows: a Li Dynasty professor team at university of Chinese in hong Kong developed a novel constraint-display-driven flexible Mechanism CWFM (constrained wire-driven flexible Mechanism), which was documented in Zheng Li, Hongliang Ren, Philip Wai Yan Chiu, et al.A novel constrained wire-driven flexible Mechanism and its kinetic analysis [ C ]. Mechanism and Machine Theory,95(2016)59-75, CWFM consists of a flexible backbone containing multiple segments of vertebrae, with adjacent vertebrae forming joints. The whole body is controlled by two pairs of mutually orthogonal pull wires, each pair of pull wires is driven by a steering engine, and the steering engine has two degrees of freedom and can realize bending in two planes. Meanwhile, the center of the mechanism consists of two concentric pipes which are hard and soft, the outer pipe which is soft can be used as the restraint of the inner pipe, and the mechanism can be partially stiffened along with the translation of the inner pipe.
The disadvantages of the above scheme are: the CWFM only has two bending degrees of freedom, the degrees of freedom are less, and the function of partial rigidization needs to be realized through a screw rod stepping motor, so that the overall size of a control part is overlarge.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the embodiment of the invention provides a rope-driven multi-degree-of-freedom self-adaptive manipulator which can realize the movement of three degrees of freedom, thereby realizing a more complex movement track.
The rope-driven multi-degree-of-freedom adaptive manipulator comprises at least one finger, wherein the finger comprises a finger shell, the finger shell comprises a plurality of shells which are connected in sequence, two adjacent shells are connected through a connecting ring, the connecting ring is provided with a first rotating shaft part hinged with one shell, the connecting ring is provided with a second rotating shaft part hinged with the other shell, and an included angle is formed between the axis of the first rotating shaft part and the axis of the second rotating shaft part, so that the two adjacent shells can rotate mutually in at least two directions; the rope driving mechanism comprises two pairs of pull wires arranged in the finger shell, each pair of pull wires is connected with a first driving unit and driven by the first driving unit respectively so as to drive the finger shell to bend on a first plane and a second plane respectively, the axis of each first rotating shaft part is perpendicular to the first plane, and the axis of each second rotating shaft part is perpendicular to the second plane; and the shell driving assembly comprises a second driving unit for driving the finger shell to rotate, the connecting ring is provided with an end cover for each pull wire to pass through, and a first bearing is arranged between the connecting ring and the end cover so that the finger shell can rotate relative to each pull wire in the shell.
In an alternative or preferred embodiment, the cord drive mechanism further comprises a hose disposed within the finger casing, the end cap is provided with a central aperture through which the hose passes, and the hose is in interference fit with the end cap to support the finger casing.
In an alternative or preferred embodiment, the first rotating shaft portion includes two first protrusions, the first protrusions are fixed to the connecting ring, one end of the housing is provided with a first shaft hole for the first protrusions to be inserted into and rotate, the second rotating shaft portion includes two second protrusions, the second protrusions are fixed to the connecting ring, and the other end of the housing is provided with a second shaft hole for the second protrusions to be inserted into and rotate.
In an alternative or preferred embodiment, the inner bore of the first bearing is an interference fit with the end cap, and the outer circumference of the first bearing is embedded in the inner groove of the connecting ring.
In an alternative or preferred embodiment, an included angle between an axis of the first rotating shaft portion and an axis of the second rotating shaft portion is 90 °, the first plane is perpendicular to the second plane, the four pull wires are uniformly distributed along the periphery of the hose, and the end cover is provided with a wire hole for each pull wire to pass through.
In an optional or preferred embodiment, the rope-driven multi-degree-of-freedom adaptive manipulator further comprises a platform, one of the first driving units comprises a first steering engine and a first steering wheel driven by the first steering engine, the other one of the first driving units comprises a second steering engine and a second steering wheel driven by the second steering engine, and the two pairs of pull wires are respectively installed on the first steering wheel and the second steering wheel so as to drive the finger shell to be bent in a first plane through the first steering wheel and/or drive the finger shell to be bent in a second plane through the second steering wheel.
In an optional or preferred embodiment, the rope-driven multi-degree-of-freedom adaptive manipulator further comprises a platform, the second driving unit is a stepping motor installed on the platform, and the stepping motor drives the finger shell to rotate in a gear driving transmission manner.
In an alternative or preferred embodiment, an output shaft of the stepping motor is connected with a driving gear, and a driven gear engaged with the driving gear is fixed to the housing of the first section.
In an alternative or preferred embodiment, a second bearing is nested within the driven gear, the second bearing being mounted on the platform such that the finger casing is rotatable relative to the platform, each of the pull wires passing through an internal bore of the second bearing.
In an optional or preferred embodiment, the rope-driven multi-degree-of-freedom adaptive manipulator comprises at least two sections of fingers, wherein in two adjacent sections of fingers, the shell at the tail end of the former section of fingers is connected with the shell at the head end of the latter section of fingers through the connecting ring, each finger is driven to rotate through the shell driving assembly of the first section of fingers after being connected, two pairs of pull wires in the former section of fingers are fixed at the tail ends through buckles, a hollow rubber hose is arranged in the former section of fingers, and two pairs of pull wires in the latter section of fingers are led out through the rubber hose in the former section of fingers.
Based on the technical scheme, the embodiment of the invention at least has the following beneficial effects: according to the technical scheme, two adjacent shells in the finger shell are connected through the connecting ring and can rotate in two directions, and the two pairs of pull wires can respectively drive the finger shell to bend on the first plane and the second plane, so that the bending freedom degrees in the two directions are realized; in addition, the second driving unit drives the finger shell to rotate, the freedom degree of rotation is realized, the finger shell can rotate relative to each pull wire in the finger shell, and the pull wires are prevented from being wound along with rotation when the finger shell rotates. The invention has three degrees of freedom of bending and rotating in two planes, can finish more complex movement forms, has high flexibility, good flexibility, small size, strong expandability, good adaptability to complex working environments, simple and convenient manufacture and installation, wide part sources, customized design sizes according to actual working conditions and certain bearing capacity.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is an exploded view of two adjacent housings joined in an embodiment of the invention;
FIG. 3 is a perspective view of a first segment of a housing in an embodiment of the invention;
FIG. 4 is a diagram illustrating the effect of the multi-segment finger connection according to the embodiment of the present invention;
fig. 5 is a wiring diagram of multi-segment finger connection according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 5, a rope-driven multi-degree-of-freedom adaptive manipulator includes at least one finger, as shown in fig. 1 to 3, and includes one finger, and referring to fig. 4 and 5, the rope-driven multi-degree-of-freedom adaptive manipulator includes two fingers.
As shown in fig. 1, the finger includes a finger case 10, a cord drive mechanism, and a case drive assembly. Specifically, referring to fig. 2, the finger casing 10 includes a plurality of sequentially connected shells 11, two adjacent shells 11 are connected through a connection ring 14, the connection ring 14 is provided with a first rotation shaft portion hinged to one of the shells 11, the connection ring 14 is provided with a second rotation shaft portion hinged to the other shell 11, and an included angle is formed between an axis of the first rotation shaft portion and an axis of the second rotation shaft portion, so that the two adjacent shells 11 can rotate in at least two directions.
The cord driving mechanism includes two pairs of pulling cords 25 disposed in the finger casing 10, each pair of pulling cords 25 being connected to and driven by a first driving unit, respectively, to drive the finger casing 10 to bend in a first plane and a second plane, respectively, an axis of each first rotating shaft portion being perpendicular to the first plane, and an axis of each second rotating shaft portion being perpendicular to the second plane. Furthermore, the direct included angle between the axis of the first rotating shaft part and the axis of the second rotating shaft part is 90 degrees, namely the two are orthogonally distributed; the first plane is perpendicular to the second plane, four pull wires 25 are uniformly distributed along the periphery of the hose 26, and the end cover 27 is provided with wire holes for the pull wires 25 to pass through. It will be appreciated that each pair of pull wires 25 is controlled by the first drive unit to achieve a degree of freedom of bending in one plane, and in this embodiment, the two pairs of pull wires achieve two planar degrees of freedom of the finger housing, namely a first plane and a second plane.
Specifically, as shown in fig. 2, the first rotating shaft includes two first protrusions 15 coaxial with each other, the first protrusions 15 are fixedly disposed on the connecting ring, and one end of the housing 11 is provided with a first shaft hole 12 for the first protrusions 15 to be inserted and rotated; the second rotating shaft portion includes two second protrusions 16 coaxial with each other, the second protrusions 16 are fixedly disposed on the connecting ring, and the other end of the housing 11 is formed with a second shaft hole 13 for the second protrusions 16 to be inserted and rotated. That is, the two opposing first protrusions 15 form a first rotation axis portion, and as can be seen in fig. 4, the finger case 10 is bent on a first plane, and the axis of the first rotation axis portion shown in fig. 4 is perpendicular to the first plane. In the present embodiment, the first plane is relative to the axis of the first rotation shaft, and the axis of the first rotation shaft is based on the two first protrusions, so that the first plane changes after the finger casing 10 rotates, and the plane in the drawing cannot be taken as a limitation. Similarly, the second plane is also the same, and can be understood with reference to the first plane.
Referring to fig. 3, the housing driving assembly includes a second driving unit for driving the finger housing 10 to rotate, the connection ring 14 is provided with an end cap 27 for passing each pulling wire, and a first bearing 28 is provided between the connection ring 14 and the end cap 27 so that the finger housing 10 can rotate relative to each pulling wire 25 inside. It will be appreciated that the finger casing 10 is rotatable relative to the inner wires 25 to prevent the wires 15 from twisting as the finger casing 10 is rotated.
The rope-driven multi-degree-of-freedom self-adaptive manipulator provided by the embodiment of the invention has three degrees of freedom, namely rotation and bending in two planes, and can complete a more complex motion form.
Specifically, the inner bore of the first bearing 28 is interference fitted with the end cap 27, and the outer periphery of the first bearing 28 is embedded in the inner groove of the connection ring 14. That is, the first bearing 28 rotates with the connection ring 14 and only relatively rotates. In this embodiment, the first bearing 28 is preferably a thin-walled bearing 12 (model 6401).
The cord drive mechanism further comprises a hose 26 disposed within the finger casing 10, an end cap 27 is provided with a central aperture through which the hose 26 passes, and the hose 26 is in interference fit with the end cap 27 to support the finger casing 10. In this embodiment, the diameter of the central hole on the end cap 27 is 6.5mm, the diameters of the four wire holes are 0.9mm, and the center-to-center distances between the four wire holes are all 5 mm.
The rope-driven multi-degree-of-freedom adaptive manipulator further comprises a platform 41, as shown in fig. 1, the head end of the finger shell 10 is installed on the platform, and in this embodiment, the "head section" and "head end" refer to a section or an end connected with the platform 41.
One of the first driving units comprises a first steering engine 21 and a first steering wheel 23 driven by the first steering engine 21, the other first driving unit comprises a second steering engine and a second steering wheel 24 driven by the second steering engine 22, and two pairs of pull wires 25 are respectively installed on the first steering wheel 23 and the second steering wheel 24 so as to drive the finger shell 10 to bend on a first plane through the first steering wheel 23 and/or drive the finger shell 10 to bend on a second plane through the second steering wheel 24. The first rudder disk and the second rudder disk respectively change the lengths of two ends of a pull wire in the finger and apply bending moment to the flexible hose with elasticity, so that the bending of the finger is controlled.
In addition, in some embodiments, the rope driving mechanism further comprises a plurality of pulleys, and the trend of the pull wire can be changed, so that the spatial layout is more compact and the arrangement is reasonable.
The second driving unit is a stepping motor 31 installed on the platform 41, and the stepping motor 31 drives the finger casing 10 to rotate through a gear drive transmission mode. Further, an output shaft of the stepping motor 31 is connected with a driving gear 32, and a driven gear 33 engaged with the driving gear 32 is fixed to the first-stage housing 11. The driven gear 33 has a second bearing 34 therein, the second bearing 34 being mounted on the platform 41 such that the finger casing 10 is rotatable relative to the platform 41, the respective cable 25 passing through the inner bore of the second bearing 34. The second bearing 34 is mounted on a boss provided in the platform 41 and connected with the boss in an interference fit manner. The second bearing 34 is also a thin-walled bearing.
The driven gear 33 and the driving gear 32 of the first stage housing 11 both have a tooth number of 28, a module of 1.5, and a pressure angle of 20 °. The driving gear 32 is controlled by the stepping motor 32 to rotate, and is engaged with the driven gear 33 of the first section of the shell 11 to drive the whole finger shell to rotate.
Referring to fig. 4 and 5, in two adjacent finger sections, the shell 11 at the tail end of the front finger section is connected with the shell 11 at the head end of the back finger section through a connecting ring 14, and the two pairs of pull wires 25 in the front finger section are fixed at the tail ends through buckles 17. In this embodiment, the front-back direction is for describing a connection relationship between two adjacent fingers, and cannot be understood as a protection limitation of the technical solution; the term "end" refers to the end of a finger that is connected to or toward the platform. The front section of the finger is provided with a hollow rubber hose 18, two pairs of pull wires 25 in the rear section of the finger lead wires through the inside of the rubber hose 18 in the front section of the finger, and four pull wires behind the lead wires respectively penetrate through four wire holes of each end cover. With reference to fig. 5, after the fingers are connected, the first section of fingers are driven to rotate by the shell driving assembly of the first section of fingers, and after the first section of fingers are driven by the driving gear of the stepping motor, the next section of fingers are driven to rotate by the previous section of fingers.
The invention has three degrees of freedom of bending in two planes and rotating, and can finish more complex motion forms, the invention realizes the bending of the two planes through two pairs of pull wires, and the pull wires are respectively controlled by a first steering engine and a second steering engine; the stepping motor drives the shell to rotate in a gear driving transmission mode; by arranging the first bearing and the second bearing internally, the stay wire is prevented from being wound with bending.
Through line driving, a driver with larger mass can be far away from the end actuating mechanism, and through reasonable arrangement, the inertia of the end actuating mechanism can be reduced, and the dynamic performance is improved; the rope-driven multi-degree-of-freedom self-adaptive manipulator is flexible in line driving arrangement, small in size and suitable for transmission occasions with narrow space and large number of required driving degrees of freedom, occupies less geometric space, has good adaptability to complex working environments, meets the background and requirements of bionic design, and has wide application prospect.
The invention has strong expansibility, can change corresponding size, length and the like according to the actual application scene, can be made into a multi-section structure by increasing the logarithm of the stay wire, and can finish more complicated motion tracks by bending each section relatively independently. In addition, most of the materials are printed in a 3D mode, the manufacturing is simple and convenient, the cost is low, the requirement on the installation precision is not high, the bearing capacity on external force is certain, and the cost performance is high.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides a rope drive multi freedom self-adaptation manipulator which characterized in that: comprises at least one finger, the finger comprises
The finger shell comprises a plurality of shells which are connected in sequence, two adjacent shells are connected through a connecting ring, the connecting ring is provided with a first rotating shaft part hinged with one shell, the connecting ring is provided with a second rotating shaft part hinged with the other shell, and an included angle is formed between the axis of the first rotating shaft part and the axis of the second rotating shaft part, so that the two adjacent shells can rotate in at least two directions;
the rope driving mechanism comprises two pairs of pull wires arranged in the finger shell, each pair of pull wires is connected with a first driving unit and driven by the first driving unit respectively so as to drive the finger shell to bend on a first plane and a second plane respectively, the axis of each first rotating shaft part is perpendicular to the first plane, and the axis of each second rotating shaft part is perpendicular to the second plane; and
the shell driving assembly comprises a second driving unit used for driving the finger shell to rotate, the connecting ring is provided with an end cover for each pull wire to pass through, and a first bearing is arranged between the connecting ring and the end cover so that the finger shell can rotate relative to each pull wire in the shell.
2. The rope-driven multi-degree-of-freedom adaptive manipulator of claim 1, characterized in that: rope drives mechanism still including setting up the hose in the finger casing, the end cover is provided with the centre bore that the hose passed, the hose with end cover interference fit is in order to right the finger casing supports.
3. The rope-driven multi-degree-of-freedom adaptive manipulator according to claim 2, characterized in that: the first rotating shaft part comprises two first bulges which are coaxial, the first bulges are fixedly arranged on the connecting ring, one end of the shell is provided with a first shaft hole for the first bulges to be inserted and rotated, the second rotating shaft part comprises two second bulges which are coaxial, the second bulges are fixedly arranged on the connecting ring, and the other end of the shell is provided with a second shaft hole for the second bulges to be inserted and rotated.
4. The rope-driven multi-degree-of-freedom adaptive manipulator according to claim 2, characterized in that: the inner hole of the first bearing is in interference fit with the end cover, and the periphery of the first bearing is embedded into the inner groove of the connecting ring.
5. The rope-driven multi-degree-of-freedom adaptive manipulator according to claim 2, characterized in that: the included angle between the axis of the first rotating shaft part and the axis of the second rotating shaft part is 90 degrees, the first plane is perpendicular to the second plane, the four pull wires are uniformly distributed around the hose, and the end cover is provided with wire holes for the pull wires to pass through.
6. The rope-driven multiple-degree-of-freedom adaptive manipulator according to any one of claims 2 to 5, characterized in that: rope drive multi freedom self-adaptation manipulator still includes the platform, one of them first drive unit include first steering wheel and by first steering wheel drive's first steering wheel, another first drive unit include the second steering wheel and by second steering wheel drive's second steering wheel, two pairs the stay wire is installed respectively first steering wheel with on the second steering wheel, with pass through first steering wheel drive point casing is crooked in first plane, and/or pass through the drive of second steering wheel point casing is crooked in the second plane.
7. The rope-driven multiple-degree-of-freedom adaptive manipulator according to any one of claims 2 to 5, characterized in that: the rope-driven multi-degree-of-freedom self-adaptive manipulator further comprises a platform, the second driving unit is a stepping motor installed on the platform, and the stepping motor drives the finger shell to rotate in a gear driving transmission mode.
8. The rope-driven multiple-degree-of-freedom adaptive manipulator according to claim 7, characterized in that: an output shaft of the stepping motor is connected with a driving gear, and a driven gear meshed with the driving gear is fixed on the shell at the first section.
9. The rope-driven multiple-degree-of-freedom adaptive manipulator according to claim 8, characterized in that: the driven gear is sleeved with a second bearing, the second bearing is installed on the platform, so that the finger shell can rotate relative to the platform, and each pull wire penetrates through an inner hole of the second bearing.
10. The rope-driven multiple-degree-of-freedom adaptive manipulator according to any one of claims 2 to 5, characterized in that: the rope-driven multi-degree-of-freedom self-adaptive manipulator comprises at least two sections of fingers, wherein in two adjacent sections of fingers, a shell at the tail end in the former section of fingers is connected with a shell at the head end of the latter section of fingers through the connecting ring, the shell of the fingers is driven to rotate through a first section of shell driving assembly after the fingers are connected, two pairs of pull wires in the former section of fingers are fixed at the tail ends through buckles, a hollow rubber hose is arranged in the former section of fingers, and two pairs of pull wires in the latter section of fingers are led out of the rubber hose in the former section of fingers.
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| CN202210091762.1A CN114406994B (en) | 2022-01-26 | 2022-01-26 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
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| CN115302495A (en) * | 2022-08-19 | 2022-11-08 | 华南理工大学 | Stay wire driven rotatable mechanical arm |
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| CN114947966A (en) * | 2022-08-01 | 2022-08-30 | 中国科学院自动化研究所 | Flexible medical device |
| CN114947966B (en) * | 2022-08-01 | 2022-10-28 | 中国科学院自动化研究所 | Flexible medical device |
| CN115302495A (en) * | 2022-08-19 | 2022-11-08 | 华南理工大学 | Stay wire driven rotatable mechanical arm |
| CN115302495B (en) * | 2022-08-19 | 2024-09-10 | 华南理工大学 | Rotatable mechanical arm driven by stay wire |
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| Publication number | Publication date |
|---|---|
| CN114406994B (en) | 2024-01-30 |
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