CN1511680A - Multiple joint human-imitating robot arm - Google Patents

Multiple joint human-imitating robot arm Download PDF

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Publication number
CN1511680A
CN1511680A CN 02158867 CN02158867A CN1511680A CN 1511680 A CN1511680 A CN 1511680A CN 02158867 CN02158867 CN 02158867 CN 02158867 A CN02158867 A CN 02158867A CN 1511680 A CN1511680 A CN 1511680A
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joint
pair
arm
robot
swinging
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CN 02158867
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Chinese (zh)
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CN1317109C (en )
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李瑞峰
刘广利
于殿勇
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哈尔滨工业大学
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Abstract

The multiple joint human-imitating robot arm is a kind of arm installed onto robot. It consists of shoulder joint with one turning pair and one swinging pair, elbow joint with two turning pairs and one swinging pair, wrist joint with one turning pair and one swinging pair, upper arm connecting the shoulder joint and the elbow joint, lower arm connecting the elbow joint and the wrist joint and grasping hand connected to the wrist joint. The grasping hand consists of casing, worm inside the casing, one pair of worm gears and one pair of hand claws extending beyond the casing. Each of the turning pairs and swinging pairs in the joints and the worm gears in the hand is driven with a motor separately. The robot arm, like human arm, can perform various operations, including taking, laying, tightening, etc. for realizing certain job function.

Description

多关节仿人型机器人手臂 Multi-joint humanoid robot arm

技术领域 FIELD

:本发明涉及一种安装在机器人上的机械手臂。 : The present invention relates to a robot arm mounted on a robot.

背景技术 Background technique

:现有的机器人关节型手臂大多体积大,重量大,动作欠灵活,活动范围小,多数采用交流伺服电机,只能在固定场所作业,不适用于移动型机器人。 : Conventional articulated robot arm mostly bulky, heavy, less flexible operation, a small range of motion, the majority of AC servo motor, can only work in a fixed place, it is not available for mobile robot. 同时大多数为单臂,对于需要双臂协调作业的场合无能为力。 While most of the single-arm, both arms for applications requiring coordinated operations powerless.

发明内容 SUMMARY

:本发明提供一种多关节仿人型机器人手臂,该手臂可以模仿人的手臂功能进行各种各样的操作,完成取、放、拧紧、开关等动作,并通过双手臂的合作与协调动作实现一定的作业功能。 : The present invention provides a multi-articulated humanoid robot arm, which arm can mimic human arms operate various functions, complete take, place, tighten, operation switches, etc., and through cooperation and coordination of the operation of the double arm to achieve a certain job functions. 本发明的多关节仿人型机器人手臂由具有回转副和摆动副的肩部关节A、具有两个回转副和一个摆动副的肘部关节C、具有回转副和摆动副的腕部关节E、连接在肩部关节A和肘部关节C之间的大臂B、连接在肘部关节C和腕部关节E之间的小臂D、与腕部关节E相连接的夹持手F组成;夹持手F由壳体F1、安装在壳体F1内的蜗杆F2、设置在蜗杆F2两侧并与蜗杆F2啮合的一对蜗轮F3、分别与一对蜗轮F3固定连接的一对手爪F4组成,手爪F4伸至壳体F1的外面;各关节的回转副和摆动副、以及夹持手F的蜗杆F2的运动分别由一台伺服电机驱动。 Humanoid robot multi-joint arm by the shoulder joint of the present invention and having a swing revolute pairs A, having two rotors and a sub-sub swing elbow joint C, and swings the sub-sub having a rotary wrist joint E, a connection between the shoulder joint and the elbow joint C of the boom B, the connection between the elbow joint and the wrist joint E of the C arm D, the chucking hand wrist joint E and F connected to the composition; one pair of worm gear housing by a holding hand F F1, F1 is mounted within the housing F2, F2 disposed on both sides of the worm meshed with the worm and F2, F3, respectively, a pair of pawls opponents F3 F4 fixedly connected to the worm wheel composed of , extends to the outside of the gripper housing F1, F4; revolute joint and respective sub swing, and the chucking hand movement F worm F2 are respectively driven by a servo motor. 该多关节仿人型机器人手臂的肩部关节有两个自由度:电机通过齿轮副传动带动手臂绕手臂纵长轴线(0-0以下同)回转(运动范围330°),另一电机通过连接盘带动大臂绕I轴摆动(运动范围-90°~+100°);肘部关节分两段:上肘部、下肘部,上肘部有2个自由度:电机通过齿轮副传动带动肘部绕手臂纵长轴线回转(运动范围330°),电机通过连接盘带动小臂绕II轴摆动(运动范围-90°~+90°),下肘部有1个自由度:电机通过齿轮副传动带动小臂绕手臂纵长轴线回转(运动范围330°),增加此自由度可增强避障能力,增大作业范围;腕部关节有2个自由度:电机通过齿形带传动带动腕部绕III轴摆动(运动范围-30°~+45°)、电机通过连接盘,带动夹持手绕手臂纵长轴线回转(运动范围-60°~+60°),夹持手内电机通过蜗轮蜗杆传动,带动两个手爪进行开闭动作。 The multi-joint arm humanoid robot shoulder joint has two degrees of freedom: the motor drive arm about the longitudinal axis arm (0-0 hereinafter the same) rotation (movement range 330 °) via the auxiliary drive gear, the motor further through the connection disk drive arm I about the pivot axis (motion range -90 ° ~ + 100 °); elbow joints in two stages: the elbow, the elbow, the elbow has two degrees of freedom: the auxiliary drive gear driven by the motor elbow swivel about the longitudinal axis arm (motion range of 330 °), driven by a motor connected to the swing plate arm about the axis II (motion range -90 ° ~ + 90 °), the elbow has one degree of freedom: the motor via a gear auxiliary drive driving the arm turning around the arm longitudinal axis (motion range 330 °), this increases the degree of freedom can be enhanced obstacle avoidance capability, increasing the operating range; wrist joint has two degrees of freedom: the drive motor through a toothed belt drive arm portion around the pivot axis III (motion range -30 ° ~ + 45 °), the motor is connected through the disk, the chucking hand drive arm about the longitudinal axis rotation (movement range of -60 ° ~ + 60 °), the gripping by the hand motor a worm gear, two driven gripper opening and closing operation. 本发明的多关节仿人型机器人手臂,可左右对称安装于机器人上,其双臂在计算机控制下可协调动作,相互配合(见图1)。 Polyarticular humanoid robot arm of the present invention may be mounted symmetrically on robot arms may coordinate operation under computer control, cooperate with each other (see FIG. 1). 手臂采用7+1(冗余)自由度仿人结构,长度与人臂相仿。 Using the arm 7 + 1 (redundancy) DOF anthropomorphic structure, similar to the length of the human arm. 该机器人手臂机械结构简捷紧凑、体积小、重量轻,各关节连接可靠,拆卸方便,电机线、传感器线内置,传动关系简单明了;手臂具有7+1自由度的特点,手臂运动范围大、灵活,避障能力强;安全性强、可达性强、双手协调运动灵活,应用范围广;作业手臂能耗低,采用直流24v供电;单作业臂最大抓取重量:1Kg。 The robotic arm mechanically simple compact structure, small volume, light weight, reliable connection of the joints, easy removal, simple motor wire sensor line built, transmission relationship; 7 + 1 degree of freedom arm having the characteristics of a large range of arm motion, flexible , obstacle avoidance capability; strong safety, accessibility and strong, flexible and coordinated movement of his hands, a wide range of applications; low power consumption operating arm, 24v DC power supply; the maximum weight of a single job crawling arm: 1Kg.

附图说明 BRIEF DESCRIPTION

:图1是本发明的机器人手臂安装在机器人身上的作业原理图,图2是本发明的机器人手臂的结构示意图,图3是图2的俯视图,图4是肩部关节A的结构示意图,图5是肘部关节C的结构示意图,图6是腕部关节E的结构示意图,图7是夹持手F的结构示意图。 : FIG. 1 is a robot arm according to the present invention is installed in the robot body work diagram, Figure 2 is a schematic view of the robot arm of the present invention, FIG. 3 is a plan view of FIG. 2, FIG. 4 is a schematic view of the shoulder joint A of FIG. 5 is a schematic view of the elbow joint C, FIG. 6 is a schematic view of the wrist joint E, FIG. 7 is a schematic view of the gripping hand F.

具体实施方式 detailed description

:参阅图2、图3,本实施方式的机器人手臂由具有回转副和摆动副的肩部关节A、具有两个回转副和一个摆动副的肘部关节C、具有回转副和摆动副的腕部关节E、连接在肩部关节A和肘部关节C之间的大臂B、连接在肘部关节C和腕部关节E之间的小臂D、与腕部关节E相连接的夹持手F组成;参阅图4,肩部关节A由关节体A1、肩转关节体A2、第一电机A3、第一齿轮A4、第一齿圈A5、肩摆轴A6、第二电机A7组成;第一电机A3安装在关节体A1上,第一齿圈A5套装在关节体A1的轴A8上,第一齿圈A5与肩转关节体A2固定连接,第一齿轮A4与第一电机A3的主轴相连接,第一齿轮A4与第一齿圈A5相啮合并形成肩部关节A的回转副;与第二电机A7的主轴相连接的肩摆轴A6固定在大臂B左端的轴套B1内,在肩转关节体A2上还固定有连接盘A9和电机护罩A10,连接盘A9与电机护罩A10支撑在轴套B1的两端, : Refer to FIG. 2, FIG. 3, the robot arm embodiment of the present embodiment by a shoulder joint A and having a swing revolute pair, having two rotors and a sub-sub swing elbow joint C, and having a swivel sub swing arm pairs joint portions E, B connected to the boom between the shoulder joints and elbow joints a C, D connected to the arm between the elbow joints and wrist joint C E, E are disposed between the wrist joint is connected to hand composition F; refer to FIG. 4, the shoulder joint of the joint body A A1, the shoulder rotation joint member A2, a first motor A3, a first gear A4, the first ring gear A5, pendulum shaft shoulder A6, A7 composed of a second motor; a first motor mounted on the joint body A3 A1, A5 fitted over the first ring gear shaft joint A1 and A8, A5 and the first ring gear fixedly connected to the shoulder rotation joint A2, a first gear with a first motor A3, A4 the spindle is connected to the first gear and the first ring gear A4 and A5 engages a shoulder swivel joint a sub; A7 shoulder of the spindle motor is connected to the second pivot axis A6 in the sleeve is fixed to the left end of the boom B B1 inside, the shoulder rotation joint connecting member A2 is also fixed to the motor cover plate A9 and A10, A9 is connected with the motor shield plate A10 B1 supported at both ends of the sleeve, 连接盘A9和电机护罩A10与轴套B1形成转动配合并形成肩部关节A的摆动副。 The lands and the motor cover A10 and A9 B1 form a wobble sleeve rotatably fitted and the sub shoulder joint A is formed. 参阅图5,肘部关节C由安装在大臂B内的第三电机C1、第二齿轮C2、第二齿圈C3、肘转关节体C4、第四电机C5、肘摆轴C6、肘摆关节体C7、第三齿轮C8、第三齿圈C9、安装在小臂D内的第五电机C10组成;第二齿圈C3套装在大臂B内的轴B2上,第二齿圈C3与肘转关节体C4固定连接,第二齿轮C2与第三电机C1的主轴相连接,第二齿轮C2与第二齿圈C3相互啮合并形成肘部关节C的上回转副;与第四电机C5的主轴相连接的肘摆轴C6固定在肘摆关节体C7的轴套C11内,在肘转关节体C4上固定连接有连接盘C12和电机护罩C13,连接盘C12和电机护罩C13支撑在轴套C11的两端,轴套C11与连接盘C12和电机护罩C13形成转动配合并形成肘部关节C的摆动副;第三齿圈C9套装在小臂D内的轴D1上,第三齿圈C9与肘摆关节体C7固定连接,第三齿轮C8与第五电机C10的主轴固定连接,第三齿圈C9与第三齿轮C8相互啮合 Referring to FIG. 5, the elbow joint C C1 by a third motor mounted in the boom B, the second gear C2, second ring gear C3, the elbow rotation joint body C4, fourth motor C5, elbow pivot axis C6, swing elbows joint body C7, third gear C8, third ring gear C9, fifth motor mounted in the arm D C10 form; C3 suit the second ring gear shaft B2 in the boom B, the second ring gear and C3 revolute joint on the elbow rotation C4 is fixedly connected to the second gear C2 and C1 of the spindle motor is connected to the third, the second gear C2 and C3 of the second ring gear meshing with each other and form C of the elbow joint; C5 fourth motor elbow connected to spindle pivot axis fixed to the elbow C6 roll joint body the inner bushing C11 C7, and on the elbow rotation joint connecting member is fixedly connected to the disc C4 C12 and C13 motor shroud, the shroud lands C12 and C13 motor support in both ends of the sleeve C11, C11 and sleeve lands C12 and C13 to form a wobble motor shroud cooperate to form the sub-rotation of the elbow joint C; the third ring gear shaft C9 Kit arm D D1 in the first a third ring swing elbow joints C7 and C9 fixed connecting body, a third connecting shaft is fixed to the motor gear and the fifth C10, C8, C9 C8 third ring gear meshing with each other and the third gear 并形成肘部关节C的下回转副。 And forming the swivel elbow joint C of the sub. 参阅图6,腕部关节E由安装在小臂D内的第六电机E1、齿形带传动机构E2、腕轴E3、第七电机E4、腕转关节体E5组成;齿形带传动机构E2分别连接第六电机E1的主轴和腕轴E3,腕轴E3的两端与小臂D端部形成转动配合即构成腕部关节E的摆动副;第七电机E4通过固定装置E6固定在腕轴E3上,腕转关节体E5与第七电机E4的主轴固定连接即构成腕部关节E的回转副,腕转关节体E5与夹持手F的壳体F1固定连接。 Referring to Figure 6, a wrist joint E E1 sixth motor mounted within the arm D, a toothed belt drive E2, E3 wrist axis, a seventh motors E4, E5 wrist and joint body composition; E2 belt drive mechanism are connected to the arm shaft E3 and the sixth spindle motor E1, and ends with the end portion of the arm D arm rocking shaft is formed E3 constitute the sub-fitting rotation of the wrist joint E; E4 seventh motor is fixed by a fixing means E6 wrist shaft on E3, E5 and wrist and the seventh joint body spindle motor fixedly connected E4 constitute turning pairs wrist joint E of the wrist and hand joints the clamp member E5 F F1 is fixedly connected to the housing. 参阅图7,夹持手F由壳体F1、安装在壳体F1内的螺杆F2、设置在蜗杆F2两侧并与蜗杆F2啮合的一对蜗轮F3、分别与一对蜗轮F3固定连接的一对手爪F4组成,手爪F4伸至壳体F1的外面。 A pair of worm screws refer to FIG. 7, the chucking hand F F1 by the housing, mounted within the housing F1 is F2, F2 is provided on both sides of the worm meshed with the worm and F2, F3, F3, respectively, the pair of worm gear fixedly connected to a opponents pawl composition F4, F4 gripper extending to outside the housing F1. 以上各电机均为伺服电机。 The above motors are servo motors.

Claims (4)

  1. 1.多关节仿人型机器人手臂,其特征在于它由具有回转副和摆动副的肩部关节(A)、具有两个回转副和一个摆动副的肘部关节(C)、具有回转副和摆动副的腕部关节(E)、连接在肩部关节(A)和肘部关节(C)之间的大臂(B)、连接在肘部关节(C)和腕部关节(E)之间的小臂(D)、与腕部关节(E)相连接的夹持手(F)组成;夹持手(F)由壳体(F1)、安装在壳体(F1)内的蜗杆(F2)、设置在蜗杆(F2)两侧并与蜗杆(F2)啮合的一对蜗轮(F3)、分别与一对蜗轮(F3)固定连接的一对手爪(F4)组成,手爪(F4)伸至壳体(F1)的外面;各关节的回转副和摆动副、以及夹持手(F)的蜗杆(F2)的运动分别由一台伺服电机驱动。 1. humanoid robot multi-joint arm, characterized in that it consists of a shoulder joint (A) having a rotary and swinging the sub sub having two rotors and a sub-sub-elbow pivot joint (C), and having a revolute joint swing arm pair (E), connected to the shoulder joint (a) and the boom (B) between the elbow joint (C), connected to the elbow joint (C) and wrist joint (E) of forearm (D) between the gripping hand (F) and wrist joint (E) connected to the composition; chucking hand (F) by the housing (F1), mounted within the housing (F1) of the worm ( F2 of), disposed pair of worm wheels (F3) of the worm (F2) on both sides and with the worm (F2) engaged respectively with a pair of worm wheels (F3) connected to a fixed jaw opponents (F4) composed gripper (F4) extends to outside the housing (F1); a revolute joint and the pivot of each sub, and the chucking hand (F) of the worm (F2) are driven by a motion servo motors.
  2. 2.根据权利要求1所述的多关节仿人型机器人手臂,其特征在于肩部关节(A)由关节体(A1)、肩转关节体(A2)、第一电机(A3)、第一齿轮(A4)、第一齿圈(A5)、肩摆轴(A6)、第二电机(A7)组成;第一电机(A3)安装在关节体(A1)上,第一齿圈(A5)套装在关节体(A1)的轴(A8)上,第一齿圈(A5)与肩转关节体(A2)固定连接,第一齿轮(A4)与第一电机(A3)的主轴相连接,第一齿轮(A4)与第一齿圈(A5)相啮合并形成肩部关节(A)的回转副;与第二电机(A7)的主轴相连接的肩摆轴(A6)固定在大臂(B)左端的轴套(B1)内,在肩转关节体(A2)上还固定有连接盘(A9)和电机护罩(A10),连接盘(A9)和电机护罩(A10)支撑在轴套(B1)的两端,连接盘(A9)和电机护罩(A10)与轴套(B1)形成转动配合并形成肩部关节(A)的摆动副。 The multi-joint arm humanoid robot according to claim 1, characterized in that the shoulder joint (A) by a joint body (A1), the shoulder rotation joint body (A2), a first motor (A3), a first gear (A4), a first ring gear (A5), a shoulder pivot axis (A6), a second motor (A7) composition; a first motor (A3) mounted on the joint body (A1), a first ring gear (A5) sleeved joint on the shaft member (A1), (the A8), a first ring gear (A5) and a shoulder rotation joint body (A2) is fixedly connected, a first gear (A4) a first motor connected to the spindle (A3), and a first gear (A4) and the first ring gear (A5) engages and forms a shoulder joint (a), the sub-rotation; a second shoulder of the spindle motor (A7) is connected to the pivot axis (A6) is fixed to the boom (B) within the left end of the sleeve (B1), in turn a shoulder joint body (A2) is also fixed to the land (A9) and the motor cover (A10), lands (A9) and the motor cover (A10) support at both ends of the sleeve (B1), the lands (A9) and the motor cover (A10) and the sleeve (B1) and is formed with a shoulder rotational joint pivot sub (a) is.
  3. 3.根据权利要求1所述的多关节仿人型机器人手臂,其特征在于肘部关节C由安装在大臂(B)内的第三电机(C1)、第二齿轮(C2)、第二齿圈(C3)、肘转关节体(C4)、第四电机(C5)、肘摆轴(C6)、肘摆关节体(C7)、第三齿轮(C8)、第三齿圈(C9)、安装在小臂(D)内的第五电机(C10)组成;第二齿圈(C3)套装在大臂(B)内的轴(B2)上,第二齿圈(C3)与肘转关节体(C4)固定连接,第二齿轮(C2)与第三电机(C1)的主轴相连接,第二齿轮(C2)与第二齿圈(C3)相互啮合并形成肘部关节(C)的上回转副;与第四电机(C5)的主轴相连接的肘摆轴(C6)固定在肘摆关节体(C7)的轴套(C11)内,在肘转关节体(C4)上固定连接有连接盘(C12)和电机护罩(C13),连接盘(C12)和电机护罩(C13)支撑在轴套(C11)的两端,轴套(C11)与连接盘(C12)和电机护罩(C13)形成转动配合并形成肘部关节(C)的摆动副;第三齿圈(C9)套装在大小臂(D)内的轴(D1)上 The multi-joint arm humanoid robot according to claim 1, characterized in that the elbow joint by a third motor C (C1) mounted within the boom (B), the second gear (C2), a second a ring gear (C3), the elbow rotation joint body (C4), a fourth motor (C5), the elbow pivot axis (C6), elbow joint pendulum body (C7), a third gear (C8), the third ring gear (C9) , a fifth motor (C10) mounted in the forearm (D) a composition; second ring gear (C3) fitted over the shaft of the boom (B2) in (B), a second ring gear (C3) and the toggle switch joint member (C4) is fixedly connected to a second main shaft gear (C2) and the third motor (C1) is connected, a second gear (C2) and the second ring gear (C3) engaged with each other to form an elbow joint (C) the revolute; a fourth motor (C5) is connected to the toggle spindle pivot axis (C6) elbow secured within the sleeve roll joint body (C7) in (C11), fixed to the elbow rotation joint body (C4) connecting a connecting plate (C12) and the motor hood (C13), lands (C12) and the motor hood (C13) is supported in the sleeve (C11) at both ends, the sleeve (C11) and the connecting plate (C12) and motor shroud (C13) is formed rotatably with an elbow pivot and form the sub-joint (C); and the third ring gear (C9) set the size of the arm shaft (D) is (D1) 第三齿圈(C9)与肘摆关节体(C7)固定连接,第三齿轮(C8)与第五电机(C10)的主轴固定连接,第三齿圈(C9)与第三齿轮(C8)相互啮合并形成肘部关节(C)的下回转副。 The third ring gear (C9) and the elbow joint pendulum body (C7) is fixedly connected to the main shaft third gear (C8) and the fifth motor (C10) is fixedly connected, a third ring gear (C9) of the third gear (C8) engaged with each other to form an elbow joint (C) of the swivel sub.
  4. 4.根据权利要求1所述的多关节仿人型机器人手臂,其特征在于腕部关节(E)由安装在小臂(D)内的第六电机(E1)、齿形带传动机构(E2)、腕轴(E3)、第七电机(E4)、腕转关节体(E5)组成;齿形带传动机构(E2)分别连接第六电机(E1)的主轴和腕轴(E3),腕轴(E3)的两端与小臂(D)端部形成转动配合即构成腕部关节(E)的摆动副;第七电机(E4)通过固定装置(E6)固定在腕轴(E3)上,腕转关节体(E5)与第七电机(E4)的主轴固定连接即构成腕部关节(E)的回转副,腕转关节体(E5)与夹持手(F)的壳体(F1)固定连接。 The multi-joint arm humanoid robot according to claim 1, characterized in that the wrist joint (E) by a sixth motor (E1) is mounted in the forearm (D), the belt drive mechanism (E2 ), the arm shaft (E3), the seventh motor (E4), the wrist and the joint body (E5) composition; belt drive mechanism (E2) are connected to a sixth motor (E1) and the arm shaft spindle (E3), carpal shaft (E3) and the two ends of the arm (D) an end portion is formed with the swing rotation constitute the sub wrist joint (E); a seventh motor (E4) is fixed on the arm shaft (E3) by fixing means (E6) , spindle turn wrist joint body (E5) and the seventh motor (E4) is fixedly connected revolute joint arm constitute (E), the wrist and the joint body (E5) and the chucking hand (F) of the housing (F1 ) fixedly connected.
CN 02158867 2002-12-26 2002-12-26 Multiple joint human-imitating robot arm CN1317109C (en)

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CN101380740B (en) 2008-10-14 2010-06-23 哈尔滨工程大学 Multi-foot robot pressure-spring limitation type elastic driving joint module
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CN101272886B (en) 2005-09-27 2012-10-24 株式会社安川电机 Multi-joint manipulator, robotic system and arms multi-joint manipulator
CN100560308C (en) 2007-09-27 2009-11-18 上海交通大学 Safe type mechanical arm
CN101380740B (en) 2008-10-14 2010-06-23 哈尔滨工程大学 Multi-foot robot pressure-spring limitation type elastic driving joint module
CN101380739B (en) 2008-10-14 2010-06-02 哈尔滨工程大学 Multi-foot robot bionic elastic driving joint module
CN101972197A (en) * 2010-11-28 2011-02-16 长春工业大学 Multi-joint humanoid massage robot arm
CN101972197B (en) 2010-11-28 2012-10-31 长春工业大学 Multi-joint humanoid massage robot arm
CN103356312B (en) * 2013-07-30 2015-10-28 华南理工大学 EMG driven by a prosthetic arm 6 DOF
CN103356312A (en) * 2013-07-30 2013-10-23 华南理工大学 Six degrees of freedom artificial limb arm driven by electromyographic signal
CN104057441B (en) * 2014-04-29 2016-08-24 中国科学院等离子体物理研究所 Multi-joint robot arm for complex environments
CN104057441A (en) * 2014-04-29 2014-09-24 中国科学院等离子体物理研究所 Multi-joint mechanical arm for complex environment
CN104108102A (en) * 2014-07-07 2014-10-22 铜陵翔宇商贸有限公司 Mechanical arm of bionic robot
CN104913925A (en) * 2015-06-25 2015-09-16 北京建筑大学 Extravehicular spacesuit upper-limb joint service life testing device
CN106181996A (en) * 2016-07-29 2016-12-07 东北大学 Six-freedom-degree manipulator driven by two motors
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CN106437105A (en) * 2016-12-21 2017-02-22 哈尔滨理工大学 Suspended multi-degree of freedom painting machine for high-rise building exterior walls

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