CN201913642U - Electric-mechanical humanoid dexterous hand - Google Patents
Electric-mechanical humanoid dexterous hand Download PDFInfo
- Publication number
- CN201913642U CN201913642U CN 201020666506 CN201020666506U CN201913642U CN 201913642 U CN201913642 U CN 201913642U CN 201020666506 CN201020666506 CN 201020666506 CN 201020666506 U CN201020666506 U CN 201020666506U CN 201913642 U CN201913642 U CN 201913642U
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- middle finger
- finger joint
- dactylus
- thumb
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- 210000003813 thumb Anatomy 0.000 claims abstract description 65
- 210000003811 finger Anatomy 0.000 claims abstract description 62
- 210000001145 finger joint Anatomy 0.000 claims description 118
- 230000005540 biological transmission Effects 0.000 claims description 41
- 238000005452 bending Methods 0.000 claims description 12
- 230000007704 transition Effects 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 abstract description 2
- 210000004247 hand Anatomy 0.000 abstract 1
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005755 formation reaction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The utility model discloses an electric-mechanical humanoid dexterous hand, which comprises an electric thumb, four electric fingers and a mechanical palm, wherein the electric thumb and the four electric fingers comprise upper knuckles, middle knuckles, lower knuckles and base bodies sequentially; the lower knuckles of the electric fingers are mounted on the mechanical palm in the same direction through the base bodies of the fingers; the lower knuckle of the electric thumb is mounted on the mechanical palm through the base body of the electric thumb; the electric thumb is mounted on the other side surface of the mechanical palm; and five electric fingers share the same surface with the mechanical palm; the electric thumb has four active degree-of-freedom; each electric finger has three active degree-of-freedom and one passive degree-of-freedom; and sixteen active degree-of-freedom and four passive degree-of-freedom are provided in all, so that the humanoid dexterous hand has the same degree-of-freedom as a human hand and hardware equipment is provided for active and passive control of a manipulator. The bionic finger design of the electric-mechanical humanoid dexterous hand in the aspects of shape arrangement, skeleton structure and motion function can be applied to the industrial field; and the electric-mechanical humanoid dexterous hand can be used as artificial limbs for man hands.
Description
Technical field
The utility model relates to a kind of robot mechanical arm, specifically relates to have ten six the active frees degree consistent with the staff free degree and the anthropomorphic motor machine Dextrous Hand of four driven frees degree.
Background technology
Along with the continuous expansion in rapid development of modern science and technology and robot application field, original robot end's operator can not satisfy current production demand.Common end-effector method of clamping is single, activity space is little in order to overcome, lack flexibility, be difficult to shortcoming such as accurately control, and dexterous type manipulator (abbreviation Dextrous Hand) arises at the historic moment.Dextrous Hand has a plurality of frees degree, can grasp the object of multiple shape, unlike material, can also carry out accurate operation to the object that is grasped.Replace special-purpose clamper with it, be installed to the robotic manipulator end, can not only enlarge the job area of robot, can also improve the operation quality of robot.
Earlier 1860s, Yugoslavia Tomovic and Boni have been developed first manipulator, and it has five fingers and five frees degree.The seventies has been invented multiple universal gripper, has developed one three as Japanese Hanafusa and has referred to the mobile phone structure, and each finger has one degree of freedom; U.S. Crossley has developed three and has referred to eight degrees of freedom mechanism, and one of them finger has two frees degree, and two fingers have three degree of freedom respectively in addition.The eighties, Salisbury, people such as Jacobsen propose to simulate the research idea that staff designs universal gripper, have developed many fingers, multi-joint, multivariant JPL Dextrous Hand mechanism; Japan scholar T.Okada has developed three and has referred to ten one degree of freedom Dextrous Hand; U.S. Utah university has developed the MIT hand.Late nineteen nineties earlier 2000s, the research and development of Dextrous Hand have entered a new stage, close joint number, the finger number is close to staff gradually, wherein more representational have: the NASA Dextrous Hand of succeeding in developing in 1999, form with a relative thumb in position by four fingers, have 14 frees degree, by 14 driven by Brush-Less DC motor, it is very similar in staff appearance and size, has good flexibility; The Haruhisa of Gifu, Japan university in 2003, people such as Kawasaki have researched and developed Gifu III Dextrous Hand.Gifu III hand is anthropomorphic electronic Dextrous Hand, and size is slightly larger than staff, and profile has five finger ten six-freedom degrees more near staff, has higher dexterity and accurately controlled.The BH-3 hand that BJ University of Aeronautics ﹠ Astronautics's robot research is developed has three fingers, and each finger has three joints, totally 9 frees degree.Harbin Institute of Technology had developed HIT/DLR II multi-finger clever hand in 2008, and each finger has 3DOF, had 15 frees degree.
Summary of the invention
The purpose of this utility model is to provide a kind of have multiple degrees of freedom, multi-joint, can grasp the Dextrous Hand of difformity, unlike material object.It can substitute staff, the mankind can't come to personally or rugged environment in work.
The technical scheme that its technical problem that solves the utility model adopts is:
The utility model comprises an electronic thumb, four electronic fingers and mechanical palm; Electronic thumb and four electronic fingers all comprise dactylus, middle finger joint, following dactylus and base body successively; The following dactylus of four electronic fingers is installed in the mechanical palm by the same direction of base body separately respectively, the following dactylus of electronic thumb is installed in the mechanical palm by the base body of electronic thumb, electronic thumb is positioned at the another side of mechanical palm, electronic thumb and four electronic fingers and mechanical palm coplane; Four electronic finger size structures are identical; Electronic thumb has four initiatively frees degree, and each electronic finger all has three the initiatively free degree and driven frees degree; Anthropomorphic motor machine Dextrous Hand has 16 the initiatively free degree and four driven frees degree, and is consistent with the staff free degree.
Described electronic finger comprises the dactylus body, last power transmission shaft, last side link, connecting rod, crank, the middle finger joint body, middle finger joint left side driven wheel of differential, the right driven wheel of differential of middle finger joint, middle finger joint Left Drive axle, the right power transmission shaft of middle finger joint, the middle finger joint drive bevel gear, the middle finger joint motor, following dactylus body, square block, the crooked power transmission shaft of base, the crooked motor of base, base curved major dynamic bevel gear, base transition bevel gear, the crooked driven wheel of differential of base, side exhibition motor, side exhibition drive bevel gear, side exhibition driven wheel of differential and side exhibition axle.
The described dactylus body of going up is through last propeller shaft couplings middle finger joint body, and the middle finger joint body is the dactylus body under middle finger joint Left Drive axle and the right propeller shaft couplings of middle finger joint; Square block is installed in down the bottom of dactylus body through the crooked power transmission shaft of base; The middle finger joint motor is installed in down in the dactylus body, and basic crooked motor and side exhibition motor are installed in the base body.
A driven free degree of described electronic finger is positioned at dactylus body and middle finger joint body connection place; Middle finger joint motor-driven middle finger joint drive bevel gear, through middle finger joint left side driven wheel of differential and middle finger joint Left Drive axle, make the crank rotation, and then drivening rod, connecting rod pushes away the last side link that links with last dactylus body, make to go up the dactylus body and rotate around last power transmission shaft, thus with the driven free degree of a bending of middle finger joint body formation; Middle finger joint left side driven wheel of differential and crank connect firmly on middle finger joint Left Drive axle, and middle finger joint Left Drive axle is slidingly connected with following dactylus body and middle finger joint body; Last side link, connecting rod, crank and last dactylus body constitute a toggle; Last power transmission shaft and last dactylus body and middle finger joint body are slidingly connected.
The middle finger joint body of described electronic finger and following dactylus body connection place constitute an initiatively free degree; Middle finger joint motor-driven middle finger joint drive bevel gear through right driven wheel of differential of middle finger joint and the right power transmission shaft of middle finger joint, drives the middle finger joint body and rotates, thus with the active free degree of a bending of following dactylus body formation; Right power transmission shaft of middle finger joint and middle finger joint body and the right driven wheel of differential of middle finger joint connect firmly, and are slidingly connected with following dactylus body.
The following dactylus body of described electronic finger and base body connection place constitute two initiatively frees degree; Be installed in the basic crooked motor-driven base curved major dynamic bevel gear in the base body, drive basic transition bevel gear,, make that the dactylus body rotates down, thereby constitute the active free degree of a bending with base body through crooked driven wheel of differential of base and basic crooked power transmission shaft; Be installed in the side exhibition motor-driven side exhibition drive bevel gear in the base body,, drive dactylus body swing down, thereby constitute the active free degree of a side exhibition with base body through side exhibition driven wheel of differential, side exhibition axle and square block; The crooked power transmission shaft of base connects firmly with following dactylus body and basic crooked driven wheel of differential, is slidingly connected with square block; Side exhibition driven wheel of differential, side exhibition axle and square block three connect firmly.
An active free degree of described electronic thumb is positioned at dactylus body and thumb middle finger joint body connection place on the thumb, by dactylus motor on the thumb, power transmission shaft on driven wheel of differential and thumb on drive bevel gear, the thumb on the thumb, drive that the dactylus body rotates on the thumb, thereby constitute the active free degree of a bending with thumb middle finger joint body; The structure at electronic thumb middle finger joint place and base seat place is identical with the structure at base seat place with electronic finger middle finger joint place, and initiatively the free degree is identical with three active frees degree of electronic finger for three of other of electronic thumb.
The utility model is compared with background technology, and the beneficial effect that has is:
1. the motor function design of the skeletal structure of the external form of the bionical staff of the utility model layout, finger and finger not only can be applicable to industrial circle, can also be as the artificial limb of staff.
2. the utility model has designed the bevel gear system of being made up of five bevel gears, has realized that the crooked free degree of finger base portion and the side exhibition free degree are positioned at the same centre of motion, thereby has made the motion of finger base portion more accurate.
3. the utility model has 16 the initiatively frees degree and four driven frees degree, and is consistent with the staff free degree, thereby provides hardware device for principal and subordinate's control of manipulator.
Therefore, the utility model can satisfy the performance of dexterous robot manipulator.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model;
Fig. 2 is an electronic finger front view of the present utility model;
Fig. 3 is an electronic finger side view of the present utility model;
Fig. 4 is a dactylus structural representation on the electronic finger of the present utility model;
Fig. 5 is finger base structure schematic diagram A of the present utility model;
Fig. 6 is finger base structure schematic diagram B of the present utility model;
Fig. 7 is an electronic thumb structural representation of the present utility model.
Among the figure: 1. electronic thumb, 2. electronic finger, 3. mechanical palm, 4. go up dactylus, 5. middle finger joint 6. descends dactylus, 7. base body is 8. gone up the dactylus body, 9. goes up power transmission shaft, 10. go up side link, 11. connecting rods, 12. cranks, 13. the middle finger joint body, 14. middle finger joints left side driven wheel of differential, the right driven wheel of differential of 15. middle finger joints, 16. middle finger joint Left Drive axle, the right power transmission shaft of 17. middle finger joints, 18. middle finger joint drive bevel gear, 19. the middle finger joint motor, 20. times dactylus bodies, 21. square blocks, 22. basic crooked power transmission shaft, 23. basic crooked motors, 24. basic curved major dynamic bevel gears, 25. basic transition bevel gear, 26. basic crooked driven wheel of differential, 27. sides exhibition motor, 28. sides exhibition drive bevel gear, 29. side exhibition driven wheel of differential, 30. side exhibition axle, dactylus body on 31. thumbs, 32. thumb middle finger joint bodies, 33. dactylus motor on the thumb, 34. drive bevel gear on the thumb, driven wheel of differential on 35. thumbs, power transmission shaft on 36. thumbs.
The specific embodiment
Execute below in conjunction with accompanying drawing and example that the utility model is described in further detail
As Fig. 1, Fig. 2, Fig. 3, Fig. 5, shown in Figure 7, the utility model is made up of an electronic thumb 1, four electronic fingers 2 and mechanical palm 3; Electronic thumb 1 and four electronic fingers 2 are formed by last dactylus 4, middle finger joint 5, following dactylus 6 and base body 7; Electronic thumb 1 has four initiatively frees degree, and each electronic finger 2 has three the initiatively free degree and driven frees degree; Anthropomorphic motor machine Dextrous Hand has 16 the initiatively free degree and four driven frees degree, and is consistent with the staff free degree.
As shown in Figure 1, described electronic thumb 1 and four electronic fingers 2, through base body 7 is installed in mechanical palm 3 by certain angle in, and with mechanical palm 3 coplanes; Four electronic finger 2 dimensional structures are identical.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, described electronic finger 2 comprises dactylus body 8, last power transmission shaft 9, last side link 10, connecting rod 11, crank 12, middle finger joint body 13, middle finger joint left side driven wheel of differential 14, the right driven wheel of differential 15 of middle finger joint, middle finger joint Left Drive axle 16, the right power transmission shaft 17 of middle finger joint, middle finger joint drive bevel gear 18, middle finger joint motor 19, following dactylus body 20, square block 21, the crooked power transmission shaft 22 of base, the crooked motor 23 of base, base curved major dynamic bevel gear 24, base transition bevel gear 25, the crooked driven wheel of differential 26 of base, side exhibition motor 27, side exhibition drive bevel gear 28, side exhibition driven wheel of differential 29 and side exhibition axle 30; Last dactylus body 8 connects middle finger joint body 13 through last power transmission shaft 9, and middle finger joint body 13 connects dactylus body 20 down through middle finger joint Left Drive axle 16 and the right power transmission shaft 17 of middle finger joint; Square block 21 is installed in down the bottom of dactylus body 20 through the crooked power transmission shaft 22 of base; Middle finger joint motor 19 is installed in down in the dactylus body 20, and basic crooked motor 23 and side exhibition motor 27 are installed in the base body 7.
As Fig. 2, Fig. 3, shown in Figure 4, a driven free degree of described electronic finger 2 is positioned at dactylus body 8 and middle finger joint body 13 connection places; Middle finger joint motor 19 drives middle finger joint drive bevel gear 18, through middle finger joint left side driven wheel of differential 14 and middle finger joint Left Drive axle 16, make crank 12 rotations, and then drivening rod 11, connecting rod 11 pushes away the last side link 10 that links with last dactylus body 8, make to go up dactylus body 8 and rotate, thereby constitute the driven free degree of a bending with middle finger joint body 13 around last power transmission shaft 9; Middle finger joint left side driven wheel of differential 15 and crank 12 connect firmly on middle finger joint Left Drive axle 16, and middle finger joint Left Drive axle 16 is slidingly connected with following dactylus body 20 and middle finger joint body 13; Last side link 10, connecting rod 11, crank 12 and last dactylus body 8 constitute a toggle; Last power transmission shaft 9 is slidingly connected with last dactylus body 8 and middle finger joint body 13.
As Fig. 2, Fig. 3, shown in Figure 4, the middle finger joint body 13 of described electronic finger 2 and following dactylus body 20 connection places constitute an initiatively free degree; Middle finger joint motor 19 drives middle finger joint drive bevel gear 18, through right driven wheel of differential 15 of middle finger joint and the right power transmission shaft 17 of middle finger joint, drive middle finger joint body 13 and rotate, thereby with the active free degree of a bending of following dactylus body 20 formations; The right power transmission shaft 17 of middle finger joint connects firmly with middle finger joint body 13 and the right driven wheel of differential 15 of middle finger joint, is slidingly connected with following dactylus body 20.
As Fig. 2, Fig. 3, Fig. 5, shown in Figure 6, the following dactylus body 20 of described electronic finger 2 and base body 7 connection places constitute two initiatively frees degree; The basic crooked motor 23 that is installed in base body interior 7 drives basic curved major dynamic bevel gear 24, drive basic transition bevel gear 25, through crooked driven wheel of differential 26 of base and basic crooked power transmission shaft 22, make that dactylus body 20 rotates down, thereby constitute the active free degree of a bending with base body 7; Be installed in the sides exhibition motor 27 driving sides exhibition drive bevel gear 28 in the base body 7,, drive dactylus body 20 swings down, thereby constitute the active free degree of a side exhibition with base body 7 through side exhibition driven wheel of differential 29, side exhibition axle 30 and square block 21; The crooked power transmission shaft 22 of base connects firmly with following dactylus body 20 and basic crooked driven wheel of differential 26, is slidingly connected with square block 21; Side exhibition driven wheel of differential 29, side exhibition axle 30 and square block 21 threes connect firmly.
As Fig. 1, shown in Figure 7, an active free degree of described electronic thumb 1 is positioned at dactylus body 31 and thumb middle finger joint body 32 connection places on the thumb, by dactylus motor 33 on the thumb, power transmission shaft 36 on driven wheel of differential 35 and thumb on drive bevel gear on the thumb 34, the thumb, drive that dactylus body 31 rotates on the thumb, thereby constitute the active free degree of a bending with thumb middle finger joint body 32; Initiatively the free degree is identical with three active frees degree of electronic finger 2 for three of other of electronic thumb 1.
Claims (3)
1. an anthropomorphic motor machine Dextrous Hand is characterized in that: comprise an electronic thumb (1), four electronic fingers and mechanical palm (3); Electronic thumb (1) and four electronic fingers all comprise dactylus, middle finger joint, following dactylus and base body successively; The following dactylus of four electronic fingers (2) is installed in the mechanical palm (3) by the same direction of base body separately respectively, the following dactylus of electronic thumb (1) is installed in the mechanical palm (3) by the base body of electronic thumb, electronic thumb (1) is positioned at the another side of mechanical palm (3), electronic thumb (1) and four electronic fingers and mechanical palm (3) coplane; Four electronic finger size structures are identical; Electronic thumb (1) has four initiatively frees degree, and each electronic finger (2) all has three the initiatively free degree and driven frees degree; Anthropomorphic motor machine Dextrous Hand has 16 the initiatively free degree and four driven frees degree, and is consistent with the staff free degree.
2. a kind of anthropomorphic motor machine Dextrous Hand according to claim 1, it is characterized in that: described electronic finger comprises dactylus body (8), last power transmission shaft (9), last side link (10), connecting rod (11), crank (12), middle finger joint body (13), middle finger joint left side driven wheel of differential (14), the right driven wheel of differential (15) of middle finger joint, middle finger joint Left Drive axle (16), the right power transmission shaft (17) of middle finger joint, middle finger joint drive bevel gear (18), middle finger joint motor (19), following dactylus body (20), square block (21), base crooked power transmission shaft (22), base crooked motor (23), base curved major dynamic bevel gear (24), base transition bevel gear (25), base crooked driven wheel of differential (26), side exhibition motor (27), side exhibition drive bevel gear (28), side exhibition driven wheel of differential (29) and side exhibition axle (30);
The described dactylus body (8) of going up connects middle finger joint body (13) through last power transmission shaft (9), and middle finger joint body (13) connects dactylus body (20) down through middle finger joint Left Drive axle (16) and the right power transmission shaft of middle finger joint (17); Square block (21) is installed in down the bottom of dactylus body (20) through the crooked power transmission shaft of base (22); Middle finger joint motor (19) is installed in down in the dactylus body (20), and basic crooked motor (23) and side exhibition motor (27) are installed in the base body (7);
A driven free degree of described electronic finger is positioned at dactylus body (8) and middle finger joint body (13) connection place; Middle finger joint motor (19) drives middle finger joint drive bevel gear (18), through middle finger joint left side driven wheel of differential (14) and middle finger joint Left Drive axle (16), make crank (12) rotation, and then drivening rod (11), connecting rod (11) pushes away the last side link (10) that links with last dactylus body (8), make to go up dactylus body (8) and rotate, thereby constitute the driven free degree of a bending with middle finger joint body (13) around last power transmission shaft (9); Middle finger joint left side driven wheel of differential (15) and crank (12) connect firmly on middle finger joint Left Drive axle (16), and middle finger joint Left Drive axle (16) is slidingly connected with following dactylus body (20) and middle finger joint body (13); Last side link (10), connecting rod (11), crank (12) and last dactylus body (8) constitute a toggle; Last power transmission shaft (9) is slidingly connected with last dactylus body (8) and middle finger joint body (13);
The middle finger joint body (13) of described electronic finger and following dactylus body (20) connection place constitute an initiatively free degree; Middle finger joint motor (19) drives middle finger joint drive bevel gear (18), through right driven wheel of differential (15) of middle finger joint and the right power transmission shaft (17) of middle finger joint, drive middle finger joint body (13) and rotate, thereby with the active free degree of a bending of following dactylus body (20) formation; The right power transmission shaft of middle finger joint (17) connects firmly with middle finger joint body (13) and the right driven wheel of differential of middle finger joint (15), is slidingly connected with following dactylus body (20);
The following dactylus body (20) of described electronic finger and base body (7) connection place constitute two initiatively frees degree; The basic crooked motor (23) that is installed in (7) in the base body drives basic curved major dynamic bevel gear (24), drive basic transition bevel gear (25), through crooked driven wheel of differential of base (26) and basic crooked power transmission shaft (22), make that dactylus body (20) rotates down, thereby constitute the active free degree of a bending with base body (7); Be installed in side exhibition motor (27) the driving side exhibition drive bevel gear (28) in the base body (7), through side exhibition driven wheel of differential (29), side exhibition axle (30) and square block (21), drive dactylus body (20) swing down, thereby constitute the active free degree that a side is opened up with base body (7); The crooked power transmission shaft of base (22) connects firmly with following dactylus body (20) and basic crooked driven wheel of differential (26), is slidingly connected with square block (21); Side exhibition driven wheel of differential (29), side exhibition axle (30) and square block (21) three connect firmly.
3. a kind of anthropomorphic motor machine Dextrous Hand according to claim 1, it is characterized in that: an active free degree of described electronic thumb (1) is positioned at dactylus body (31) and thumb middle finger joint body (32) connection place on the thumb, by dactylus motor (33) on the thumb, power transmission shaft (36) on driven wheel of differential (35) and thumb on drive bevel gear on the thumb (34), the thumb, drive that dactylus body (31) rotates on the thumb, thereby constitute the active free degree of a bending with thumb middle finger joint body (32); The structure at electronic thumb (1) middle finger joint place and base seat place is identical with the structure at base seat place with electronic finger middle finger joint place, and initiatively the free degree is identical with three active frees degree of electronic finger for three of other of electronic thumb (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020666506 CN201913642U (en) | 2010-12-18 | 2010-12-18 | Electric-mechanical humanoid dexterous hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020666506 CN201913642U (en) | 2010-12-18 | 2010-12-18 | Electric-mechanical humanoid dexterous hand |
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| CN201913642U true CN201913642U (en) | 2011-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201020666506 Expired - Fee Related CN201913642U (en) | 2010-12-18 | 2010-12-18 | Electric-mechanical humanoid dexterous hand |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085662A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | Prosthetic electric smart manipulator |
| CN103817711A (en) * | 2013-11-28 | 2014-05-28 | 上海惊鸿机器人有限公司 | Simulation humanoid robot motion stabilizer |
| CN104511906A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN111168702A (en) * | 2020-01-10 | 2020-05-19 | 河北工业大学 | Under-actuated five-finger dexterous hand based on joint constraint |
-
2010
- 2010-12-18 CN CN 201020666506 patent/CN201913642U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085662A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | Prosthetic electric smart manipulator |
| CN102085662B (en) * | 2010-12-18 | 2015-05-06 | 浙江理工大学 | Prosthetic electric smart manipulator |
| CN104511906A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN104511906B (en) * | 2013-09-28 | 2015-11-18 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN103817711A (en) * | 2013-11-28 | 2014-05-28 | 上海惊鸿机器人有限公司 | Simulation humanoid robot motion stabilizer |
| CN111168702A (en) * | 2020-01-10 | 2020-05-19 | 河北工业大学 | Under-actuated five-finger dexterous hand based on joint constraint |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110803 Termination date: 20121218 |