CN114406994B - 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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- CN114406994B CN114406994B CN202210091762.1A CN202210091762A CN114406994B CN 114406994 B CN114406994 B CN 114406994B CN 202210091762 A CN202210091762 A CN 202210091762A CN 114406994 B CN114406994 B CN 114406994B
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- 230000003044 adaptive effect Effects 0.000 claims description 9
- 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
- 210000001145 finger joint Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 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
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000013589 supplement Substances 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
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rope-driven multi-degree-of-freedom self-adaptive manipulator, which comprises at least one section of 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 at least rotate in two directions; the rope driving mechanism is respectively connected with and driven by the first driving unit 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 stay 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 stay wire inside. The invention can realize the motion with three degrees of freedom, thereby realizing the track of more complex motion.
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 the wide attention of researchers at home and abroad by virtue of the advantages of high softness, 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. Four driving modes, pneumatic driving, rope driving, SMA driving and EPA driving, are mainly adopted in the current research.
The prior scheme is as follows: professor Li Zheng, university of hong Kong, developed a novel constrained display driven flexible mechanism CWFM (constrained wire-driven flexible mechanism) from Zheng Li, hongliang Ren, philip Wai Yan Chiu, et al A novel constrained wire-driven flexible mechanism and its kinematic analysis [ C ]. Mechanism and Machine Theory,95 (2016) 59-75, consisting of a flexible backbone comprising multiple vertebrae, adjacent vertebrae forming a joint. The whole is controlled by two pairs of mutually orthogonal stay wires, each pair of stay wires is driven by a steering engine, two degrees of freedom are provided, and bending in two planes can be realized. Meanwhile, the center of the mechanism consists of two concentric pipes which are hard and soft, the outer pipe is softer and can serve as the restraint of the inner pipe, and the mechanism part can be rigidized along with the translation of the inner pipe.
The disadvantages of the above solution are: the CWFM has only two bending degrees of freedom, the degree of freedom is less, and the function of partial rigidization needs to be realized through a screw rod stepping motor, which can cause the overall size of the control part to be overlarge.
Disclosure of Invention
The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art. Therefore, the embodiment of the invention provides the rope-driven multi-degree-of-freedom self-adaptive manipulator which can realize the motion with three degrees of freedom, thereby realizing the track of more complex motion.
According to the rope-driven multi-degree-of-freedom self-adaptive manipulator disclosed by the embodiment of the invention, the manipulator comprises at least one section of finger, 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, 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 mutually rotate at least in two directions; the rope driving mechanism comprises two pairs of stay wires arranged in the finger shell, each pair of stay wires is respectively connected with and driven by a first driving unit to respectively drive the finger shell to bend on a first plane and a second plane, 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; 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 stay 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 stay wire inside.
In an alternative or preferred embodiment, the cord drive mechanism further comprises a hose disposed within the finger housing, the end cap is provided with a central aperture through which the hose passes, and the hose is interference fit with the end cap to support the finger housing.
In an alternative or preferred embodiment, the first rotating shaft portion includes two first protrusions coaxial with each other, the first protrusions are fixedly arranged on the connecting ring, a first shaft hole for the first protrusions to insert and rotate is formed in one end of the housing, the second rotating shaft portion includes two second protrusions coaxial with each other, the second protrusions are fixedly arranged on the connecting ring, and a second shaft hole for the second protrusions to insert and rotate is formed in the other end of the housing.
In an alternative or preferred embodiment, the inner bore of the first bearing is an interference fit with the end cap, and the outer periphery of the first bearing is embedded in the inner groove of the connecting ring.
In an alternative or preferred embodiment, the angle between the axis of the first rotating shaft portion and the axis of the second rotating shaft portion is 90 degrees, the first plane is perpendicular to the second plane, four stay wires are uniformly distributed along the periphery of the hose, and the end cover is provided with wire holes for the stay wires to pass through.
In an alternative or preferred embodiment, the rope-driven multiple degree of freedom adaptive manipulator further comprises a platform, wherein 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 two pairs of stay wires are respectively arranged on the first steering wheel and the second steering wheel so as to drive the finger housing to bend in a first plane through the first steering wheel and/or drive the finger housing to bend in a second plane through the second steering wheel.
In an alternative or preferred embodiment, the rope-driven multi-degree-of-freedom adaptive manipulator further comprises a platform, and the second driving unit is a stepping motor mounted on the platform, and the stepping motor drives the finger housing to rotate in a gear driving transmission mode.
In an alternative or preferred embodiment, the output shaft of the stepper motor is connected with a driving gear, and the housing of the first section is fixed with a driven gear meshed with the driving gear.
In an alternative or preferred embodiment, the driven gear is sleeved with a second bearing, the second bearing being mounted on the platform such that the finger housing is rotatable relative to the platform, each of the pull wires passing through an inner bore of the second bearing.
In an optional or preferred embodiment, the rope-driven multi-degree-of-freedom adaptive manipulator comprises at least two fingers, wherein in two adjacent fingers, the outer shell at the tail end in the finger in the previous section is connected with the outer shell at the head end of the finger in the next section through the connecting ring, after the fingers are connected, the shell-driven component of the finger in the previous section drives the fingers to rotate, two pairs of pull wires in the finger in the previous section are fixed at the tail ends through buckles, hollow rubber hoses are arranged in the finger in the previous section, and the two pairs of pull wires in the finger in the next section are led in the rubber hoses in the finger in the previous section.
Based on the technical scheme, the embodiment of the invention has at least the following beneficial effects: according to the technical scheme, two adjacent shells in the finger shell are connected through the connecting ring and can mutually rotate in two directions, and the two pairs of stay wires can respectively drive the finger shell to bend in the first plane and the second plane, so that bending freedom degrees in the two directions are realized; in addition, the second driving unit drives the finger shell to rotate, so that the degree of freedom of rotation is realized, the finger shell can rotate relative to each stay wire inside, and the stay wires are prevented from winding along with rotation when the finger shell rotates. The invention has three degrees of freedom of two-plane bending and rotation, can complete 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 sources of parts, capability of customizing design sizes according to actual working conditions and certain bearing capacity.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is an exploded view of two adjacent housings connected in an embodiment of the invention;
FIG. 3 is a perspective view of the first section of the housing in an embodiment of the invention;
FIG. 4 is an effect diagram of a multi-segment finger joint according to an embodiment of the present invention;
fig. 5 is a wiring diagram of a multi-segment finger joint according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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 explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring now to fig. 1 to 5, a rope-driven multiple degree of freedom adaptive manipulator includes at least one finger, as shown in fig. 1 to 3, and includes two fingers, referring to fig. 4 and 5.
As shown in fig. 1, the finger includes a finger housing 10, a cord drive mechanism, and a shell drive assembly. Specifically, referring to fig. 2, the finger housing 10 includes a plurality of housings 11 sequentially connected, two adjacent housings 11 are connected through a connecting ring 14, the connecting ring 14 is provided with a first rotating shaft portion hinged to one of the housings 11, the connecting ring 14 is provided with a second rotating shaft portion hinged to the other housing 11, and an included angle is formed between an axis of the first rotating shaft portion and an axis of the second rotating shaft portion, so that the two adjacent housings 11 can rotate relative to each other in at least two directions.
The rope driving mechanism comprises two pairs of stay wires 25 arranged in the finger housing 10, each pair of stay wires 25 is respectively connected with and driven by a first driving unit so as to respectively drive the finger housing 10 to bend on a first plane and a second plane, 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. Further, 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 stay wires 25 are uniformly distributed along the periphery of the hose 26, and the end cover 27 is provided with wire holes for the stay wires 25 to pass through. It will be appreciated that each pair of wires 25 is controlled by the first drive unit to achieve a degree of freedom of bending in one plane, in this embodiment two pairs of wires achieve two planes of freedom of the finger housing, namely a first plane and a second plane.
Specifically, as shown in fig. 2, the first rotating shaft portion includes two first protrusions 15 that are coaxial, the first protrusions 15 are fixedly arranged on the connecting ring, and a first shaft hole 12 for inserting and rotating the first protrusions 15 is formed at one end of the housing 11; the second rotating shaft part comprises two coaxial second bulges 16, the second bulges 16 are fixedly arranged on the connecting ring, and the other end of the shell 11 is provided with a second shaft hole 13 for inserting and rotating the second bulges 16. That is, the two opposing first protrusions 15 form a first rotation shaft portion, and referring to fig. 4, the finger housing 10 is bent on a first plane, and the axis of the first rotation shaft portion shown in fig. 4 is perpendicular to the first plane. In the present embodiment, the first plane is the axis of the first rotation shaft, and the axis of the first rotation shaft is based on two first protrusions, and if the finger housing 10 rotates, the first plane will also change, and the plane in the figure cannot be taken as a limitation. Likewise, the second plane may be understood with reference to the first plane.
Referring to fig. 3, the case 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 through which each of the pull wires passes, 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 with respect to each of the pull wires 25 inside. It will be appreciated that the finger housing 10 is rotatable relative to the inner pull wires 25 to prevent the pull wires 15 from twisting as the finger housing 10 rotates.
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 more complex movement forms.
Specifically, the inner bore of the first bearing 28 is in interference fit with the end cap 27, and the outer periphery of the first bearing 28 is embedded in the inner groove of the connecting ring 14. I.e. the first bearing 28 rotates with the coupling ring 14 and is only able to rotate relatively. In this embodiment, the first bearing 28 is preferably a thin-walled bearing 12 (model 6401).
The cord drive mechanism further includes a hose 26 disposed within the finger housing 10, and an end cap 27 is provided with a central aperture through which the hose 26 passes, the hose 26 being in interference fit with the end cap 27 to support the finger housing 10. In this embodiment, the diameter of the center hole in the end cap 27 is 6.5mm, the diameter of the four wire holes is 0.9mm, and the center-to-center spacing of the four wire holes is 5mm.
The rope-driven multi-degree-of-freedom adaptive manipulator further comprises a platform 41, as shown in fig. 1, on which the head end of the finger housing 10 is mounted, wherein the "head section" and the "head end" refer to a section or an end connected with the platform 41 in this embodiment.
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 stay wires 25 are respectively arranged on the first steering wheel 23 and the second steering wheel 24 so as to drive the finger housing 10 to bend on a first plane through the first steering wheel 23 and/or drive the finger housing 10 to bend on a second plane through the second steering wheel 24. The first steering wheel and the second steering wheel respectively change the lengths of the two ends of the stay wire in the finger and apply bending moment to the flexible pipe with elasticity, thereby completing the control of the bending of the finger.
In addition, in some embodiments, the rope driving mechanism further comprises a plurality of pulleys, so that the trend of the stay wires can be changed, and the space layout is more compact and the arrangement is reasonable.
The second driving unit is a stepping motor 31 mounted on the platform 41, and the stepping motor 31 drives the finger housing 10 to rotate through a gear driving transmission mode. Further, the output shaft of the stepper motor 31 is connected to a driving gear 32, and the housing 11 at the first stage is fixed with a driven gear 33 engaged with the driving gear 32. The driven gear 33 is sleeved with a second bearing 34, and the second bearing 34 is mounted on the platform 41, so that the finger housing 10 can rotate relative to the platform 41, and each stay wire 25 passes through an inner hole of the second bearing 34. The second bearing 34 is a boss provided in advance on the platform 41 and is 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 housing 11 of the first stage have the number of teeth of 28, the modulus of 1.5, and the pressure angle of 20 °. Wherein the driving gear 32 is controlled to rotate by the stepping motor 32, and is meshed with the driven gear 33 of the first-stage shell 11 to drive the whole finger shell to rotate.
Referring to fig. 4 and 5, in two adjacent fingers, the outer shell 11 at the tail end of the front finger is connected with the outer shell 11 at the head end of the rear finger through a connecting ring 14, and two pairs of pull wires 25 in the front finger are fixed at the tail ends through buckles 17. In this embodiment, the front-back direction is for describing the connection relationship between two adjacent fingers, and is not to be understood as a protection limitation of the technical scheme; the tail end refers to a head end connected with the platform or connected towards the platform in a section of finger, and the tail end is the opposite end. The fingers in the previous section are provided with hollow rubber hoses 18, two pairs of stay wires 25 in the fingers in the next section are led through the rubber hoses 18 in the fingers in the previous section, and four stay wires after the lead wires respectively penetrate through four wire holes of each end cover. Referring to fig. 5, the fingers are connected and then driven to rotate by the shell driving assembly of the first finger, and the fingers of the next section are driven to rotate by the fingers of the previous section after the first finger is driven by the driving gear of the stepping motor.
The invention has two planes bending and three degrees of freedom of rotation, can finish more complex movement forms, the invention realizes the bending of two planes through two pairs of stay wires, stay wires are controlled by the first steering engine and the second steering engine respectively; 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 pull wire is prevented from winding along with bending.
The driver with larger mass can be far away from the end execution mechanism through line driving, and the inertia of the end execution mechanism can be lightened through reasonable arrangement, so that the dynamic performance is improved; the flexible line driving arrangement can lead the geometric space occupation of the rope driving multi-degree-of-freedom self-adaptive manipulator to be less, the size to be smaller, the self-adaptive manipulator is very suitable for transmission occasions with narrow space and a large number of required driving degrees of freedom, 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 the 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, is relatively independent in bending between each section, and can finish more complex motion trail. In addition, most of materials are printed in 3D mode, so that the method is simple and convenient to manufacture, low in cost, low in requirement on installation precision, high in bearing capacity for external force and high in cost performance.
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 one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (5)
1. A rope-driven multi-degree-of-freedom self-adaptive manipulator is characterized in that: comprises at least one section of finger, the finger comprises
The finger shell comprises a plurality of shells which are sequentially connected, 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, 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 rotate at least in two directions, the first rotating shaft part comprises two first protrusions which are coaxial, the first protrusions are fixedly arranged on the connecting ring, one end of the shell is provided with a first shaft hole for the first protrusions to insert and rotate, the second rotating shaft part comprises two second protrusions which are coaxial, the second protrusions are fixedly arranged on the connecting ring, and the other end of the shell is provided with a second shaft hole for the second protrusions to insert and rotate;
the rope driving mechanism comprises two pairs of pull wires arranged in the finger shell, each pair of pull wires is respectively connected with a first driving unit and driven by the first driving unit to respectively drive the finger shell to bend on a first plane and a second plane, the axis of each first rotating shaft part is perpendicular to the first plane, the axis of each second rotating shaft part is perpendicular to the second plane, the rope driving mechanism also comprises a hose arranged in the finger shell, 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, and the four pull wires are uniformly distributed along the periphery of the hose; 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 allowing each pull wire to pass through, the end cover is provided with a wire hole for allowing each pull wire to pass through, 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 inside, the end cover is provided with a central hole for allowing a hose to pass through, the hose is in interference fit with the end cover so as to support the finger shell, an inner hole of the first bearing is in interference fit with the end cover, and the periphery of the first bearing is embedded into an inner groove of the connecting ring; wherein,
the rope-driven multi-degree-of-freedom self-adaptive manipulator comprises at least two sections of fingers, wherein two adjacent sections of fingers are arranged, the outer shell at the tail end in the finger is connected with the outer shell at the head end of the finger through the connecting ring, the fingers are connected and then driven to rotate through the shell driving component of the finger, two pairs of stay wires in the finger are fixed at the tail end through buckles, a hollow rubber hose is arranged in the finger in the front section, and two pairs of stay wires in the finger are led in the rubber hose in the finger through the front section.
2. The rope-driven multiple degree of freedom adaptive manipulator of claim 1, wherein: the rope-driven multi-degree-of-freedom self-adaptive manipulator further comprises a platform, wherein one first driving unit comprises a first steering engine and a first steering wheel driven by the first steering engine, the other first driving unit comprises a second steering engine and a second steering wheel driven by the second steering engine, two pairs of stay wires are respectively arranged on the first steering wheel and the second steering wheel, so that the finger shell is driven to bend on a first plane through the first steering wheel, and/or the finger shell is driven to bend on a second plane through the second steering wheel.
3. The rope-driven multiple degree of freedom adaptive manipulator of claim 1, wherein: the rope-driven multi-degree-of-freedom self-adaptive manipulator further comprises a platform, the second driving unit is a stepping motor arranged on the platform, and the stepping motor drives the finger shell to rotate in a gear driving transmission mode.
4. The rope-driven multiple degree of freedom adaptive manipulator of claim 3 wherein: 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.
5. The rope-driven multiple degree of freedom adaptive manipulator of claim 4, wherein: the driven gear is sleeved with a second bearing, and the second bearing is arranged on the platform, so that the finger housing can rotate relative to the platform, and each pull wire passes through an inner hole of the second bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210091762.1A CN114406994B (en) | 2022-01-26 | 2022-01-26 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210091762.1A CN114406994B (en) | 2022-01-26 | 2022-01-26 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
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| CN114406994A CN114406994A (en) | 2022-04-29 |
| CN114406994B true CN114406994B (en) | 2024-01-30 |
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| CN202210091762.1A Active CN114406994B (en) | 2022-01-26 | 2022-01-26 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114947966B (en) * | 2022-08-01 | 2022-10-28 | 中国科学院自动化研究所 | Flexible medical device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11000948B2 (en) * | 2018-05-29 | 2021-05-11 | General Electric Company | Robotic arm assembly |
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2022
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| CN109202878A (en) * | 2018-09-14 | 2019-01-15 | 电子科技大学 | A kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms |
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| CN110900650A (en) * | 2019-11-08 | 2020-03-24 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN111993398A (en) * | 2020-08-11 | 2020-11-27 | 哈尔滨工业大学（深圳） | Testing device for closed-loop rope driving flexible mechanical arm |
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| CN114406994A (en) | 2022-04-29 |
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