CN114918975A - High-precision experiment platform based on rope-driven continuous robot - Google Patents
High-precision experiment platform based on rope-driven continuous robot Download PDFInfo
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- CN114918975A CN114918975A CN202210561370.7A CN202210561370A CN114918975A CN 114918975 A CN114918975 A CN 114918975A CN 202210561370 A CN202210561370 A CN 202210561370A CN 114918975 A CN114918975 A CN 114918975A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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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
Abstract
The invention discloses an experimental platform based on a rope-driven continuous robot, which comprises: the rope-driven continuous robot comprises a base, wherein an installation part is arranged on the base and used for installing a rope-driven continuous robot, and the rope-driven continuous robot is installed on the installation part along the left and right directions; the tension applying device is arranged on the base, is positioned on the right side of the rope-driven continuous robot and is used for applying tension to the right end of the rope-driven continuous robot; the moment applying device is arranged on the base, is positioned on the left side of the rope-driven continuous robot and is used for applying bending moment to the left end of the rope-driven continuous robot; the mechanical property of the continuous robot can be more comprehensively researched by applying the experimental platform.
Description
Technical Field
The invention relates to the field of rope-driven robot testing, in particular to a high-precision experimental platform based on a miniature rope-driven continuous robot.
Background
In the current production and life; the traditional rigid articulated robot has the characteristics of poor flexibility, low flexibility and the like, and cannot meet higher and higher use requirements in certain occasions; therefore, the continuum robot made of flexible materials can be produced at the same time, the continuum robot is generally composed of the support sheet with the elastic framework and the rigidity and the driving rope, and due to the fact that the continuum robot is strong in flexibility and good in flexibility, the adaptability to complex environments is greatly improved relative to a rigid articulated robot.
In order to fully know the mechanical property of the continuum robot, the continuum robot needs to be placed on an experimental platform, and the performance of the continuum robot on different loads is observed by applying one or more loads such as tensile force, torque or bending moment to the continuum robot; the existing experiment platform has a single load application mode, only can apply tension to the continuum robot, perform calibration and test, and cannot fully research the mechanical property of the continuum robot.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an experiment platform based on a rope-driven continuum robot, which can more comprehensively research the mechanical property of the continuum robot.
The invention discloses an experimental platform based on a rope-driven continuous robot, which comprises: the rope-driven continuous robot comprises a base, wherein a mounting part is arranged on the base and used for mounting a rope-driven continuous robot, and the rope-driven continuous robot is mounted on the mounting part along the left and right directions; the tension applying device is arranged on the base, is positioned on the right side of the rope-driven continuous robot and is used for applying tension to the right end of the rope-driven continuous robot; the moment applying device is arranged on the base, is located on the left side of the rope-driven continuous robot and is used for applying bending moment to the left end of the rope-driven continuous robot.
According to some embodiments of the invention, the tension applying apparatus comprises a continuous loading assembly comprising: the driving screw rod is rotatably arranged on the base and extends along the left and right directions; the sliding block is in threaded fit with the driving screw rod, and a connecting assembly is arranged on the sliding block and can be connected with the left end of the rope-driven continuous robot through a rope; and the driving motor is arranged on the base and is used for driving the driving screw rod to rotate.
According to some embodiments of the invention, the connection assembly comprises: the tension sensor is arranged on the sliding block; the clamping block is arranged on the tension sensor and used for clamping a rope connected with the left end of the rope-driven continuous robot; the clamping block and the sliding block are respectively connected to two ends of the tension sensor.
According to some embodiments of the invention, there are two groups of consecutive loading assemblies, and the two groups of consecutive loading assemblies are spaced in an up-down manner.
According to some embodiments of the invention, the tension applying apparatus further comprises a conversion assembly comprising: the bracket is arranged on the base and is positioned between the right end of the rope-driven continuous robot and the sliding block; the first inner pulley is rotatably arranged on the bracket; the first outer pulley is rotatably arranged on the bracket and is positioned on the upper side of the first inner pulley; the rope extends right-to-right from the right end of the rope-driven continuous robot and then sequentially rounds the first inner pulley and the first outer pulley and then extends right-to-right to the clamping block.
According to some embodiments of the invention, the conversion assembly further comprises: and the conversion pulley is arranged on the right side of the bracket.
According to some embodiments of the invention, the torque application device comprises: the micro-motion platform is arranged on the base and is positioned below the left end of the rope-driven continuous robot; the first loading pulley and the second loading pulley are arranged on the micro-motion platform, and the first loading pulley, the second loading pulley and the rope-driven continuous robot have the same height; the micro-motion platform can adjust the positions of the first loading pulley and the second loading pulley, so that the midpoint of the central connecting line of the first loading pulley and the second loading pulley is superposed with the midpoint of the supporting sheet at the left end of the rope-driven continuous robot.
According to some embodiments of the present invention, the moment applying device further comprises a laser, the laser is disposed on the micro-motion platform, the laser is located at a midpoint of a line connecting centers of the first loading pulley and the second loading pulley, and the laser is capable of emitting laser light for backward irradiating a side surface of the support sheet at the left end of the rope-driven continuous robot.
According to some embodiments of the invention, the experiment platform further comprises a camera disposed on the base, the camera being used to photograph the rope-driven continuous robot.
According to some embodiments of the invention, the experiment platform further comprises an optical adapter, and the camera is arranged on the base through the optical adapter.
By applying the experiment platform based on the rope-driven continuous robot, the continuous robot to be researched can be arranged on the installation part in the experiment process, and when the tensile property of the robot needs to be researched, the tensile force applying device can be controlled to apply tensile force to the right side of the robot; when the performance of the robot needs to be researched, the moment applying device can be controlled to apply bending moment to the left side of the robot; through a single experiment platform, the mechanical properties including tensile property and bending property can be at least researched for the continuum robot, and compared with a tester which only can apply pulling force to the continuum robot in the prior art, the mechanical properties of the continuum robot can be more comprehensively researched.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an isometric view of an experimental platform according to an embodiment of the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
FIG. 3 is an enlarged view at B of FIG. 1;
FIG. 4 is an isometric view of an alternate perspective of an experimental platform according to an embodiment of the present invention;
FIG. 5 is an enlarged view at C of FIG. 4;
FIG. 6 is an enlarged view taken at D in FIG. 4;
FIG. 7 is a schematic view of the geometry of the torque applied by the torque application device of FIG. 6;
the above figures contain the following reference numerals.
| Reference numerals | Name(s) | Reference numerals | Name (R) |
| 100 | |
250 | Second |
| 110 | |
260 | |
| 120 | |
270 | |
| 130 | |
310 | |
| 140 | |
320 | |
| 150 | |
330 | Micro-motion |
| 160 | |
331 | Adjusting |
| 170 | |
332 | |
| 210 | |
333 | |
| 220 | First |
334 | |
| 230 | First inner pulley | 335 | |
| 240 | Second |
340 | Laser device |
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
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 more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If there is a description of first and second for the purpose of distinguishing technical features only, this is not to be understood as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of 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.
As shown in fig. 1 to 6, the experimental platform based on the rope-driven continuous robot of the present embodiment is characterized by comprising: the robot comprises a base 100, wherein the base 100 is provided with a mounting part for mounting a rope-driven continuous robot, and the rope-driven continuous robot is mounted on the mounting part along the left and right directions; the tension applying device is arranged on the base 100, is positioned on the right side of the rope-driven continuous robot, and is used for applying tension to the right end of the rope-driven continuous robot; and the moment applying device is arranged on the base 100, is positioned on the left side of the rope-driven continuous robot, and is used for applying bending moment to the left end of the rope-driven continuous robot.
By applying the experiment platform based on the rope-driven continuous robot, the continuous robot to be researched can be arranged on the installation part in the experiment process, and when the tensile property of the robot needs to be researched, the tensile force applying device can be controlled to apply tensile force to the right side of the robot; when the performance of the robot needs to be researched, the moment applying device can be controlled to apply bending moment to the left side of the robot; through a single experiment platform, the mechanical properties including tensile property and bending property can be at least researched for the continuum robot, and compared with a tester which only can apply pulling force to the continuum robot in the prior art, the mechanical properties of the continuum robot can be more comprehensively researched.
Wherein, the robot body 270 of the rope-driven continuous robot is installed on the base 100, and a tensile force is applied thereto by a tensile force applying means at the right end thereof, and a bending moment is applied thereto by a moment applying means at the right side thereof; the tension applying device can apply tension to the right end of the robot body 270 in various ways, for example, a rope is connected with a counterweight such as a weight, and the gravity of the counterweight is converted into the tension to the right end of the robot body 270; or a traction mechanism such as a motor or an air cylinder applies tension to the right end of the robot body 270 through a rope.
Specifically, as shown in fig. 1 to 3, the tensile force applying apparatus includes a sequential loading assembly including: a driving screw rotatably provided on the base 100, the driving screw extending in the left-right direction; the sliding block 140 is in threaded fit with the driving screw rod, and a connecting assembly is arranged on the sliding block 140 and can be connected with the right side of the rope-driven continuous robot through a rope; the driving motor 110 is arranged on the base 100, and the driving motor 110 is used for driving the driving screw rod to rotate; the base 100 is provided with a base, the base is provided with a rope threading hole, a rope penetrates through the rope threading hole and is connected with the sliding block 140 after being connected with a supporting sheet at the right end of the robot body 270, at the moment, the driving motor 110 rotates through the driving screw rod, the sliding block 140 is controlled to pull the rope rightwards, and tension is applied to the supporting sheet at the right end of the robot body 270; specifically, a bearing seat 130 is disposed on the base 100, a driving screw is disposed on the bearing seat 130 through a bearing, and the driving screw is connected with the driving motor 110 through a coupling 120.
For the stability of the sliding block 140 sliding from side to side as shown in fig. 1, the base 100 is further provided with a guide rail 150 extending from side to side, and the guide rail 150 is slidably engaged with the sliding block 140.
As shown in fig. 2, the connecting assembly includes: a tension sensor 160 disposed on the slider 140; a clamping block 170 disposed on the tension sensor 160, the clamping block 170 being used to clamp a rope connecting the left end of the rope-driven continuous robot; the clamping block 170 and the sliding block 140 are respectively connected to two ends of the tension sensor 160; the clamping block 170 is divided into an upper part and a lower part, the upper part and the lower part are connected through screws and matched through a V-shaped groove, the lower part is connected with one end of the tension sensor 160, when in test, a rope can penetrate through the V-shaped groove, and then the screws for connecting the upper part and the lower part are screwed down, so that the rope can be clamped; meanwhile, the rope is also provided with a chuck, when the sliding block 140 pulls the rope, the chuck can be abutted to the clamping block 170, so that the rope can be stably pulled, and the tensile force is flatly applied to the supporting sheet; in the stretching process, the pulling force is transmitted to the supporting sheet on the right side of the robot body 270 through the slider 140, the pulling force sensor 160, the collet and the rope in sequence, and therefore, in the stretching process, the pulling force sensor 160 can measure the magnitude of the pulling force received by the supporting sheet.
Because the lead screw transmission mechanism has a large reduction ratio and is stable, the driving motor 110 can drive the sliding block 140 to pull the rope at a slow speed, and the measurement accuracy of the tension sensor 160 is improved.
As shown in fig. 1, there are two groups of continuous loading assemblies, and the two groups of continuous loading assemblies are arranged at intervals along an up-and-down manner; the upper side and the lower side of the support sheet are both required to be provided with ropes for applying tension to the support sheet, so that extra bending moment brought to the support sheet by eccentric pulling is reduced, and the two ropes are respectively connected to the sliding blocks 140 of the two continuous loading assemblies and are respectively pulled and stretched; in two consecutive clamps in the assembly, two guide rails 150 are respectively provided on the outer sides of the two lead screws, facilitating the arrangement of the device.
As shown in fig. 3, the tensile force applying apparatus further includes a conversion assembly including: a bracket 210 provided on the base 100, the bracket 210 being located between the right end of the rope-driven continuous robot and the slider 140; a first inner pulley 230 rotatably disposed on the bracket 210; a first outer pulley 220 rotatably disposed on the bracket 210, the first outer pulley 220 being positioned at an upper side of the first inner pulley 230; the rope extends straight to the right from the right end of the rope-driven continuous robot, then sequentially passes through the first inner pulley 230 and the first outer pulley 220 and then extends straight to the right to the clamping block 170; when the first inner pulley 230 and the first outer pulley 220 are both fixed pulleys and are continuously loaded with tension, the rope can straightly extend towards the right direction, and continue to straightly extend towards the right direction to the upper clamping block 170 after being wound around the first inner pulley 230 and the first outer pulley 220; specifically, the left side of the first inner pulley 230 should be located at the right end of the right side of the first outer pulley 220 such that the rope extends left up around the first inner pulley 230 and right around the first outer pulley 220 to the clamp block 170; the rope is tensioned through the staggered arrangement of the two pulleys, so that the stability of the rope is ensured; the test precision of the experiment platform is improved.
As shown in fig. 3, the conversion assembly further includes: a switching pulley 260 provided at the right side of the bracket 210; specifically, the upper end of the pulley groove of the conversion pulley 260 is flush with the lower end of the pulley groove of the first inner pulley 230, the rope can pass through the first inner pulley 230 straight to the right and then wind around the conversion pulley 260 to go down and mount a weight, and at this time, the gravity of the weight is converted into the tension of the rope; the experiment platform has the functions of realizing continuous tension loading through the motor and realizing constant tension loading through the weights, and the universality of the experiment platform is improved.
As shown in fig. 3, the bracket 210 is further provided with a second inner pulley 240 and a second outer pulley 250, which are arranged symmetrically to the first inner pulley 230 and the first outer pulley 220 along the horizontal plane, and a rope connected to the lower end of the support sheet straightly passes through the second inner pulley 240 and the second outer pulley 250 in sequence to the right and then straightly extends to the clamping block 170 at the lower side to the right; when the fixed value tension loading is required to be carried out through the weight, the rope connected with the lower end of the supporting sheet straightly and rightwards sequentially bypasses the second inner pulley 240 and the second outer pulley 250 and then extends downwards to carry the weight; at this time, the conversion pulley 260 can prevent the weight mounted on the rope connected to the upper side of the support sheet from interfering with the weight connected to the lower side of the support sheet, thereby ensuring the stability of the test result.
As shown in fig. 4 and 6, the torque application device includes: a micro-motion platform 330 disposed on the base 100, the micro-motion platform 330 being located below the left end of the rope-driven continuous robot; the first loading pulley 333 and the second loading pulley 335 are arranged on the micro-motion platform 330, and the first loading pulley 333, the second loading pulley 335 and the rope-driven continuous robot have the same height; the micro-motion platform 330 can adjust the positions of the first loading pulley 333 and the second loading pulley 335 so that the midpoint of the central connecting line of the first loading pulley 333 and the second loading pulley 335 coincides with the midpoint of the support sheet at the left end of the rope-driven continuous robot; wherein, the first loading pulley 333 and the second loading pulley 335 are respectively mounted on the top of the first support 332 and the second support 334 by plugs, ensuring that the two pulleys are at the same height as the robot, and the height is different from the general height, which means the front-back distance relative to the part of the base 100 hung on the micro-motion platform 330 in the front-back direction; two pulleys and the same height of the robot, namely two ropes connected with the supporting sheet at the left end of the robot body 270, cannot generate axial friction with the two loading pulleys, and the testing precision is ensured.
In the experimental process, if the visual angle is viewed from the back to the front, the position of the micro-motion platform 330 can be adjusted at this time, so that the midpoint of the central connecting line of the first loading pulley 333 and the second loading pulley 335 is overlapped with the midpoint of the supporting sheet at the left end of the robot body 270, and a rope is connected to the upper end of the supporting sheet to extend downwards and mount a weight; after connecting the other rope with the lower end of the supporting sheet, winding the other rope around the second loading pulley 335 for a circle, extending downwards and hanging the same weight; FIG. 7 is a schematic view of the geometrical relationship of moment loading at this time, wherein the line segment T 1 T 2 Representing the support sheet, 0 being the centre of the support sheet, P 1 、P 2 Respectively, first load pulley 333 and second load pulley 335; after the hanging mode is adopted, the upper end and the lower end of the supporting sheet are both subjected to the acting force of F, and the line segment P is adopted 1 P 2 Middle point and support sheet T 1 T 2 Are coincident with the center of (a), in which case Δ OA 1 T 1 And Δ OA 2 T 2 All, etc.; the arms of the two forces of magnitude F are therefore also equal; namely, the moment application to the supporting sheet is realized by applying a pair of forces with equal magnitude, equal force arms and opposite directions; the reason why the rope is wound around the second loading pulley 335 for one turn and then led out of the pulley-mounted weight is to ensure that the rope does not separate from the second loading pulley 335 when the robot body 270 is bent.
As shown in fig. 6, the torque application means further comprises a laser 340, the laser 340 is disposed on the micro-motion platform 330, the laser 340 is located at the midpoint of the line connecting the centers of the first loading pulley 333 and the second loading pulley 335, and the laser 340 can emit laser which irradiates the side of the support piece at the left end of the rope-driven continuum robot backward; in the experimental process, the laser 340 can adjust the focal length at any time and emit laser, and when the micro-motion platform 330 is accurate in position, the laser emitted by the laser 340 just irradiates the side surface of the support piece, so that the micro-motion platform 330 can be adjusted according to the irradiation position of the laser emitted by the laser 340, and the micro-motion platform 330 is accurate in position relative to the support piece at the left end of the robot.
As shown in fig. 5, the experimental platform based on the rope-driven continuum robot further includes a camera 320, the camera 320 is disposed on the base 100, and the camera 320 is used for photographing the rope-driven continuum robot; the camera 320 can capture the deformation of the robot body 270 during the experiment process, provide experimental data for subsequent data processing, and can be used to study how to identify the deformation of the robot body 270 by using a visual processing method.
In order to adjust the position and angle of the camera 320, the experiment platform further includes an optical adapter 310, and the camera 320 is disposed on the base 100 through the optical adapter 310; the optical adapter 310 can adjust the position of the camera 320 in the left-right direction and the up-down direction, and can adjust the pitch angle of the camera 320, so as to ensure the accuracy of the shooting position of the camera 320.
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. An experiment platform based on continuous robot is driven to rope, its characterized in that includes:
the rope-driven continuous robot comprises a base (100), wherein an installation part is arranged on the base (100) and used for installing a rope-driven continuous robot, and the rope-driven continuous robot is installed on the installation part along the left-right direction;
the pulling force applying device is arranged on the base (100), is positioned on the right side of the rope-driven continuous robot and is used for applying pulling force to the right end of the rope-driven continuous robot;
and the moment applying device is arranged on the base (100), is positioned on the left side of the rope-driven continuous robot and is used for applying a bending moment to the left end of the rope-driven continuous robot.
2. The rope driven continuum robot-based experimental platform of claim 1, wherein the pulling force applying means comprises a continuous loading assembly comprising:
the driving screw rod is rotatably arranged on the base (100) and extends along the left-right direction;
the sliding block (140) is in threaded fit with the driving screw rod, and a connecting assembly is arranged on the sliding block (140) and can be connected with the left end of the rope-driven continuous robot through a rope;
the driving motor (110) is arranged on the base (100), and the driving motor (110) is used for driving the driving screw rod to rotate.
3. The rope driven continuum robot-based experimental platform of claim 2, wherein the linkage assembly comprises:
a tension sensor (160) disposed on the slider (140);
the clamping block (170) is arranged on the tension sensor (160), and the clamping block (170) is used for clamping a rope connected with the left end of the rope-driven continuous robot;
the clamping block (170) and the sliding block (140) are respectively connected to two ends of the tension sensor (160).
4. The rope-driven continuum robot-based experimental platform of claim 3 wherein the consecutive loading assemblies are in two groups, and the two groups of consecutive loading assemblies are spaced in an up-down manner.
5. The rope driven continuum robot-based experimental platform of claim 3, wherein the pulling force applying means further comprises a switching assembly, the switching assembly comprising:
a support (210) provided on the base (100), the support (210) being located between a right end of the rope-driven continuum robot and the slider (140);
a first inner pulley (230) rotatably disposed on the bracket (210);
a first outer pulley (220) rotatably disposed on the bracket (210), the first outer pulley (220) being located at an upper side of the first inner pulley (230);
the rope extends from the right end of the rope-driven continuous robot to the right and then sequentially passes through the first inner pulley (230) and the first outer pulley (220) and then extends to the clamping block (170) to the right and then to the right.
6. The rope driven continuum robot-based laboratory platform of claim 5 wherein the conversion module further comprises:
and the conversion pulley (260) is arranged on the right side of the bracket (210).
7. The rope driven continuum robot-based experimental platform of claim 1, wherein the torque applying means comprises:
a micro-motion platform (330) disposed on the base (100), the micro-motion platform (330) being located below a left end of the rope-driven continuum robot;
a first loading pulley (333) and a second loading pulley (335) which are arranged on the micro-motion platform (330), wherein the first loading pulley (333), the second loading pulley (335) and the rope-driven continuous robot have the same height;
the micro-motion platform (330) can adjust the positions of the first loading pulley (333) and the second loading pulley (335) so that the midpoint of the central connecting line of the first loading pulley (333) and the second loading pulley (335) coincides with the midpoint of the support sheet at the left end of the rope-driven continuous robot.
8. The rope-driven continuum robot-based experimental platform of claim 7, wherein the torque applying means further comprises a laser (340), the laser (340) is disposed on the micro-motion platform (330), the laser (340) is located at the midpoint of the line connecting the centers of the first loading pulley (333) and the second loading pulley (335), and the laser (340) can emit laser light to irradiate the side of the support sheet at the left end of the rope-driven continuum robot backward.
9. The rope driving continuum robot-based laboratory platform of claim 7 further comprising a camera (320), said camera (320) being arranged on said base (100), said camera (320) being adapted to photograph said rope driving continuum robot.
10. The rope-driven continuum robot-based laboratory platform of claim 9 further comprising an optical adapter (310), wherein said camera (320) is arranged on said base (100) through said optical adapter (310).
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| WO2020057142A1 (en) * | 2018-09-18 | 2020-03-26 | 哈尔滨工业大学（深圳） | Multi-fingered flexible manipulator based on scroll spring |
| US20200282556A1 (en) * | 2019-03-08 | 2020-09-10 | China Electronic Product Reliability and Environmental Testing Research Institute ((The Fifth Elect | Static Compliance Performance Testing Device Applied to Industrial Robot |
| CN109955286A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Rope drives flexible robot's experiment porch |
| CN109955235A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | The kinematics test macro of rope driving flexible robot |
| CN110900656A (en) * | 2019-11-07 | 2020-03-24 | 哈尔滨工业大学（深圳） | Experimental device for be used for rope to drive snake-shaped robot |
| CN111421530A (en) * | 2020-03-27 | 2020-07-17 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Micro-gravity experimental platform for rope-driven flexible mechanical arm |
| CN112959313A (en) * | 2021-04-08 | 2021-06-15 | 山东理工大学 | Rope-driven robot based on rotary quick-change mechanism |
| CN113183183A (en) * | 2021-05-10 | 2021-07-30 | 清华大学深圳国际研究生院 | Friction measuring device and method for rope-driven mechanical arm |
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