CN207771832U - Software mechanical arm - Google Patents
Software mechanical arm Download PDFInfo
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- CN207771832U CN207771832U CN201720668851.2U CN201720668851U CN207771832U CN 207771832 U CN207771832 U CN 207771832U CN 201720668851 U CN201720668851 U CN 201720668851U CN 207771832 U CN207771832 U CN 207771832U
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Abstract
The utility model provides a kind of software mechanical arm.The software mechanical arm includes the Hall sensor and permanent magnet being arranged in the groove of software arm body, and the posture of software arm body is detected when software arm body is bent.By the way that Hall sensor to be embedded in software mechanical arm, the accurate feedback of the pose of mechanical arm is realized.The program is simple in structure, at low cost, and durability is strong, can realize accurately controlling for the series connection of multiple mechanical arms and parallel way based on this.
Description
Technical field
The utility model is related to soft robot technical fields, and in particular to a kind of software mechanical arm.
Background technology
Different, soft robot flexible material since body is used is made of rigid link and joint from traditional robot structure
Material is made such as silica gel, PDMS, rubber, and body is easy to be deformed, and this give the flexible of soft robot height
Property and safety when contacted with people, therefore soft robot can be applied to the home services machine for example with people's interaction
People passes through a large amount of occasions such as complicated or narrow environment mobile robot.However, just because of the flexibility of its body, it is soft
The body of body robot theoretically has unlimited number of degree of freedom, and very big difficulty is brought to the position shape control of soft robot.
Existing soft robot generally uses external view to determine the pose of robot, carries out feedback control, however external view exists
Narrow space is using being limited, and in addition the time cost of visual manner and hardware cost are also relatively high.Therefore, soft robot
Pose it is accurate sensing it is very important to the application of soft robot.
For accurately measuring soft robot pose for accurately controlling the device of soft robot, there are still need
It wants.
Utility model content
To achieve the above objectives, the one side of the utility model provides a kind of software mechanical arm comprising：
Software arm body has one or more perpendicular to software arm body length side on the outer surface of the software arm body
To groove, the groove have perpendicular to the software arm body length direction two cell walls, one or more of grooves
It is divided into one or more groups arranged along the software arm body length direction；
One or more Hall sensors, the Hall sensor is embedded in the software arm body, and is exposed to groove
A cell wall；
The one or more permanent magnets matched one by one with one or more of Hall sensors, the permanent magnet are embedded in institute
It states in software arm body, and is exposed to the opposite cell wall of corresponding Hall sensor place groove；
One or more extends upward through the actuator of the software arm body in software arm body length side, in the actuator
Each is non-intersecting with one or more of grooves, and the actuator can drive the software arm body to be bent.
Preferably, the software mechanical arm further includes controller, and the controller is detected according to by the Hall sensor
Hall voltage feedback control described in actuator movement.
Preferably, each in the actuator is in basic relative to the axis of the software arm body with one group of groove
It is upper it is opposite in the radial direction.
Preferably, the software mechanical arm includes only one Hall sensor.
Preferably, the software mechanical arm includes multiple Hall sensors, and the multiple Hall sensor is located at same
In the groove of different groups on software arm body length.
Preferably, the software mechanical arm includes multiple Hall sensors, and the multiple Hall sensor is located in difference
In the groove of different groups on software arm body length.
Preferably, the groove be divided into three it is being arranged along the software arm body length direction, surround the software arm body
Equally distributed group of axis, and the software mechanical arm include three Hall sensors, three Hall sensor positions
In three grooves on same software arm body length.
Preferably, the actuator is shape memory alloy spring.
Preferably, the software mechanical arm further includes extending upward through the flexibility of the software arm body in software arm body length side
Newel, the rigidity of the flexible central column are more than the rigidity of the software arm body.
Preferably, the permanent magnet is rigidly connected to the flexible central column.
Preferably, the Hall sensor is rigidly connected to the flexible central column.
Preferably, the flexible central column has hollow channel, and the input line and output line of the Hall sensor
It is connected to outside the software mechanical arm by the channel.
By the way that Hall sensor to be embedded in software mechanical arm, the accurate feedback of the pose of mechanical arm is realized.The program
Simple in structure, at low cost, durability is strong, can realize accurately controlling for the series connection of multiple mechanical arms and parallel way based on this.
Description of the drawings
Fig. 1 is the structural schematic diagram according to the software mechanical arm of an embodiment of the utility model；
Fig. 2 is the flexuosity schematic diagram according to the software mechanical arm of an embodiment of the utility model；
Fig. 3 is the amplification in flexuosity according to the Hall sensor of the embodiment of the utility model and permanent magnet
Figure.
Specific implementation mode
The purpose of this utility model is that by using Hall sensor, the pose of software robotic arm is obtained.And then it realizes
The motion control of software mechanical arm.Design structure is simple, low cost, and feedback accuracy is high, realizes the reality to software mechanical arm
When, effectively control.
Software mechanical arm provided by the utility model includes：
Software arm body has one or more perpendicular to software arm body length side on the outer surface of the software arm body
To groove, the groove have perpendicular to the software arm body length direction two cell walls, one or more of grooves
It is divided into one or more groups arranged along the software arm body length direction；
One or more Hall sensors, the Hall sensor is embedded in the software arm body, and is exposed to groove
A cell wall；
The one or more permanent magnets matched one by one with one or more of Hall sensors, the permanent magnet are embedded in institute
It states in software arm body, and is exposed to the opposite cell wall of corresponding Hall sensor place groove；
One or more extends upward through the actuator of the software arm body in software arm body length side, in the actuator
Each is non-intersecting with one or more of grooves, and is in the axis base relative to the software arm body with one group of groove
In sheet it is opposite in the radial direction, the actuator can drive the software arm body to be bent.
Software arm body is fabricated from a flexible material, and can be the different flexible materials such as silica gel, rubber, PDMS, hydrogel.
Although the concrete shape to software arm body does not require particularly, usually, software arm body is elongated, and
With apparent length direction.For example, software arm body can be cylinder, cone, the shapes such as multiedge cylinder.The software arm body
Main actions mode be in the plane inner bending where its length direction.
Effect perpendicular to the groove in software arm body length direction is so that software arm body is readily bent, and is passed for Hall
Sensor provides larger displacement.There are two the cell walls perpendicular to software arm body length direction for the groove tool.When software arm body is curved
Qu Shi, the distance between two cell walls of same groove can change.On software arm body can there are one or multiple grooves, and
And groove can be divided into one or more groups (row), every group of groove is arranged along software arm body length direction.In simplest situation
Under, software mechanical arm can only there are one grooves.In each group, the interval between groove can be same or different.
Each group groove can surround software mechanical arm central uniform ring around, can not also uniform ring around.That is, the group number of groove
(columns) and the number of each column institute recessing are variable.It is preferred that each group groove is uniformly distributed around the axis of the software arm body.
The magnetic field intensity that the distance between thickness of groove, that is, above-mentioned two cell wall are provided according to magnet steel with the variation of distance with
And the magnetic field intensity that Hall sensor can be experienced determines, according to the size of mechanical arm and selects Hall sensor and permanent magnetism
The size of body is different.For example, in the later-described embodiments, groove can be 2mm.
The center of software arm body can install centered on the larger flexible central column of a rigidity.The material of flexible central column
Material can be the materials such as spring, silica gel, rubber, PDMS.Flexible central column provides holder for software arm body and Hall sensor.Its
Run through software arm body along its length, but is necessarily located at the center of software arm body.It provides additional advantage, including improves
The intensity of software mechanical arm can be used for fixing Hall sensor or permanent magnet and provide line channel.It equally can be circle
Cylinder, cone, the shapes such as multiedge cylinder.
As Hall sensor, linear hall sensor is typically used.When software machinery brachiocylloosis is bent, groove
Cell wall spacing changes, and causes the variation of relative position between Hall sensor and permanent magnet.Hall sensor is exposed to recessed
One cell wall of slot and paired permanent magnet are opposite.
Permanent magnet can be neodymium iron boron, the alloys permanent-magnet material such as alnico, ferrite permanent-magnet materials etc..
Hall sensor and permanent magnet are exposed to the cell wall of groove, preferably substantially concordant with the cell wall of groove.
Actuator is placed between each group groove, and the actuating of the software arm body is extended upward through in software arm body length side
Device.Usually, actuator is by the dilatation of itself, to drive the transmitting bending of software arm body.Actuator is non-intersecting with groove,
To avoid the deformation of influence groove.
Actuator is preferably mounted at is in the radial direction opposite relative to the axis of software arm body with one group of groove
On.That is, the axial direction of actuator, the axial direction of software arm body (is typically also in flexibility in the case of flexible newel
The axis of stem) and orientation of one group of groove along software arm body length direction lie substantially in a plane.In other words, it activates
Device is substantially opposite central shaft with one group of groove and says it is axisymmetric from angle, but the distance of distance axis can be different.This
Sample, when actuator elongates or shortens, the presence of one group of groove of the corresponding axis opposite side positioned at software arm body
Software arm body is bent, and leads to the variation of the relative position between the cell wall of this group of groove.Cloth as actuator
It sets so that the bending of mechanical arm is easy expected and is easy to Modeling Calculation.
When above-mentioned software machinery brachiocylloosis, be located at groove cell wall on pairing Hall sensor and permanent magnet it is opposite
Position changes, and the Hall voltage that Hall sensor exports is caused to change.Software mechanical arm can further include controller,
The movement of actuator described in feedback control of the controller according to the Hall voltage detected by the Hall sensor.
Specifically, the bending of software mechanical arm can lead to the groove height respective change on its arm body wall face, the variation meeting
The distance between the Hall sensor and magnet steel that groove upper and lower surface is installed is caused to change, which can be by hall sensing
Device is exported with analog voltage signal, and the height change that can be obtained each groove in certain height is acquired and handled by data, from
And extrapolate software mechanical arm current bending direction and bending degree.According to current bending direction and degree and target
Bending direction and degree, corresponding shape memory alloy spring is heated by PID control, software can be further realized
The shape control and movement locus control of mechanical arm.
Software mechanical arm can only include a Hall sensor.In mechanical arm, only there is a situation where one direction simple bendings
Under, the permanent magnet of a Hall sensor and pairing is the posture that can determine mechanical arm.
Software mechanical arm can also include multiple Hall sensors, and dispose according to different needs.Wherein, it can arrange more
To Hall sensor and permanent magnet at various height on, to measure the inhomogeneous deformation of flexible mechanical arm in the longitudinal direction,
Or the curvature that is deformed it is inconsistent in the case of measurement.Multiple Hall sensors can be located in any suitable groove.
They can be located at along the same row groove in software arm body length direction.They can be located on same software arm body length
Different groups (or row) groove in, that is, the axis for surrounding software arm body is distributed.Preferably, it is uniformly distributed, makes around axis
It is relatively simple to obtain geometrical relationship.Multiple Hall sensors are located in the groove of the different groups on different software arm body lengths, from
And realize the measurement when curvature of bending is inconsistent.A kind of situation be mechanical arm can upper bending in any direction but whole arm with
Same curvature is bent, at this time, it is preferable that the groove be divided into three it is arrange along the software arm body length direction, around institute
Equally distributed group of the axis of software arm body is stated, and the software mechanical arm includes three Hall sensors, described three suddenly
You are located in three grooves on same software arm body length sensor.
Actuator can be by the dilatation of itself, to drive software arm body to bend.Shape may be used in actuator
Shape memory alloys, pneumatically, motor add the modes such as bracing wire.Shape memory alloy spring is preferred mode.Marmem bullet
Austenite phase transformation is generated after spring electrified regulation, austenite phase transformation causes shape memory alloy spring to shrink, to pull software machine
Tool arm module is bent.
Permanent magnet and Hall sensor can be only embedded in software arm body, can also be rigidly connected to flexible central column.
From the point of view of measurement accuracy, it is preferably rigidly connected to flexible central column.
Flexible central column can have hollow channel, for that will be located at the defeated of the Hall sensor at different length position
Enter line and output line is directed to outside software mechanical arm, to dexterously avoid interference of the transmission line to mechanical arm activity.
The method for controlling above-mentioned software mechanical arm drives the software arm body to be bent including the use of the actuator；It utilizes
The Hall sensor of the groove and the permanent magnet detect Hall voltage；It is calculated using the Hall voltage described soft
The posture of body arm body；According to actuator described in counted gesture stability.That is, obtaining software arm body using Hall sensor
Posture and feed back to actuator, accurate control is carried out to software mechanical arm.
As a kind of illustrative specific implementation mode of software mechanical arm, the software mechanical arm packet based on Hall sensor
Include software mechanical arm cylindricality arm body made of flexible material, a flexible central column, three groups of actuators are vertically connected with plate, three pairs
Hall sensor and corresponding permanent magnet and support plate and pedestal etc..Plate, support plate and pedestal is wherein vertically connected with to rise admittedly
It is set for using, can also be replaced with other components with the same function.
Wherein, flexible central column is open tubular column, and intermediate hole can be used for drawing Hall sensor line and actuator
Electric wire.
Wherein, the inside of mechanical arm is opened there are six through-hole, in pairs, is put down with 120 degree intervals in the cross section of mechanical arm
It is distributed.
Wherein, actuator is installed, actuator can be that rope pulls, or intellectual material in six holes of mechanical arm
Such as shape memory alloy spring, every two shape memory alloy springs are connected by proximal cover, and are fixedly arranged in distal end cap.
The exemplary fabrication of software mechanical arm based on Hall sensor is as follows：Software machine is obtained by 3 D-printing
Tool arm mold, first fits together flexible central column and Hall sensor and corresponding magnet steel, to ensure hall sensing
The position of device and corresponding magnet steel；It is near to be placed in mechanical arm mold, and in a mold by the installation of six roots of sensation steel column, utilize silica gel
It pours, it is medium to be solidified to be placed on insulating box；After waiting for silica gel solidification, steel column is extracted out, and open mold, you can obtain mechanical arm
Ontology.Six roots of sensation shape memory alloy spring is mounted in the hole of mechanical arm, every two shape memory alloy springs pass through proximal end
Lid series connection, and be fixedly arranged in distal end cap, as one group of actuator；It is in office that mechanical arm may be implemented in the coordination driving of three groups of actuators
The bending anticipated on direction.
The utility model is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of software mechanical arm based on Hall sensor of the utility model, by upper junction plate 1, actuating
Device 2 (example is shape memory alloy spring in figure), software arm body 3, groove 4, permanent magnet 5, Hall sensor 6, support plate 7,
Pedestal 8, newel 9, lower connecting plate 10 form.As shown in Figure 1, software mechanical arm is by internal newel 9, silica gel arm body 3, bottom
Seat 8 forms, and the external side of arm of software mechanical arm is evenly equipped with three row grooves 4, wherein.The newel of software mechanical arm passes through support plate
7 connection Hall sensors 6 and permanent magnet 5, while ensureing that the lower surface of permanent magnet is consistent with groove upper surface, ensure that Hall passes
The upper surface of sensor is consistent with groove upper surface.Newel is the hollow company that can dispose Hall sensor and actuator
Line.It is divided into three groups in pairs there are six through-hole in software mechanical arm arm body, three groups are distributed on the section of software mechanical arm,
It is staggered with the position of groove.The main function of through-hole is to dispose actuator 2, and actuator is shape memory alloy spring in this example,
Upper junction plate 1 and lower connecting plate 10 are used for connecting actuator 2, and two shape memory alloy springs pass through proximal cover string in every group
Connection, and be fixedly arranged in distal end cap.Plate is vertically connected with also to be fixed together with newel.When certain a pair of of marmem bullet actuating
When device (such as 2-a) electrified regulation, austenite phase transformation can occur, length will shorten, and drive software mechanical arm curved in the direction
It is bent.After software machinery brachiocylloosis, the length variation of the external wall various pieces of arm is different, meanwhile, the length of the groove of different lines
Also can change, which can be predicted by Hall sensor, as shown in Figure 2.After bending, three pairs of permanent magnets and corresponding Hall
Sensor (5-a, 6-a；5-b,6-b；5-c, 6-c) the distance between (lh1,lh2,lh3) accordingly change, if software is mechanical
Each section of arm is uniformity, and the bending direction and bending angle of software mechanical arm can be obtained by the distance change.It is logical
PID control is crossed to heat corresponding shape memory alloy spring, can further realize software mechanical arm shape control and
Movement locus controls.
As an example, as shown in Fig. 2, θ is bending angle,For bending direction, l1,l2,l3Respectively software machinery
Pass through the camber line of three row groove centers, l on arm0It is the Center Length of software mechanical arm, as Center Length is not pressed in bending
Contracting, three arc lengths, which change, after bending is：
Δl1=l1-l0；Δl2=l2-l0；Δl3=l3 (1)
According to geometrical relationship, following formula can be learnt：
The distance change for the groove that Hall sensor is measured is：Δlh1,Δlh2,Δlh3, therefore can obtain：
Δh1=k Δs l1=mV1-lh0；Δlh2=k Δs l2=mV2-lh0；Δlh3=k Δs l3=mV3-lh0 (3)
Wherein k is groove thickness and mechanical arm length ratio, lh0For the original thickness of groove, V1, V2, V3Respectively three suddenly
Your sensor potential, m are that Hall sensor is surveyed and permanent magnet distance and the linear scale factor that measures potential.According to three above
Formula can obtain the bending angle θ and bending direction of software mechanical arm by the measured value of Hall sensor
If axial have compression, compression distance Δ lh0It can calculate as follows：
Δlh0=((lh1+lh2+lh3)-3lh0)/3
Therefore actually it is used for calculating the distance change of bending angle and the groove in direction：
Δlh1=mV1-(lh0-Δlh0)
Δlh2=mV2-(lh0-Δlh0)
Δlh3=mV3-(lh0-Δlh0)
When also can accurately calculate Center Length according to above formula and being compressed, the bending angle of software mechanical arm and direction.
It should be noted that upper junction plate 1 therein, lower connecting plate 10 and pedestal 8 are optional, construction does not influence this
The movement of the software mechanical arm of utility model.Support plate 7 is a kind of illustrative rigid connection, and the utility model can also
Use other rigid connections.Actuator 2 is shown in FIG as shape memory alloy spring, but as discussed above,
It can also be the actuator of other forms.
Corresponding shape memory alloy spring can be heated with the current electrifying of particular duty cycle by conducting wire, shape memory closes
Golden spring generates austenite phase transformation, and contracted length, drives software machinery brachiocylloosis.The bending of software mechanical arm can lead to its side
The groove height (i.e. the distance between cell wall) in face changes, the height change can cause permanent magnet and corresponding Hall sensor away from
From variation, and then the change of magnetic field strength for causing Hall sensor that can measure.The sensing measured by three pairs of Hall sensors
Device distance change can extrapolate the bending direction and bending angle of software mechanical arm, and adjusting heated current by control method is
Position and the gesture stability of software mechanical arm can be achieved.The utility model solves software mechanical arm position appearance in deformation process
The uncontrollable problem of state, is fed back using Hall sensor, Hall sensor come realize software mechanical arm deformation measurement and
Final motion control, control strategy is simple, quick, accurate, realizes the motion control of software mechanical arm；By Hall sensor
It is combined with marmem driving, novel in design, simple in structure, cost is extremely low, can be used for producing in batches, is easy to be engineered
And functionization, it can be to obtain the gesture stability of software mechanical arm when high-precision real.The series connection of multi-jointed mechanical arm and Parallel Control can
To realize operation and the locomotive function of more multirobot.
The explanation of above example is only intended to devices and its core concept that help understands the utility model.It should refer to
Go out, it for those skilled in the art, without departing from the principle of this utility model, can also be to this
Some improvement and modification can also be carried out for utility model, these improvement and modification also fall into the protection domain of the utility model claims
It is interior.
Claims (12)
1. a kind of software mechanical arm, the software mechanical arm include：
Software arm body has one or more perpendicular to the software arm body length direction on the outer surface of the software arm body
There are two cell walls perpendicular to the software arm body length direction, one or more of grooves to be divided into for groove, the groove
The group that one or more is arranged along the software arm body length direction；
One or more Hall sensors, the Hall sensor is embedded in the software arm body, and is exposed to the one of groove
A cell wall；
The one or more permanent magnets matched one by one with one or more of Hall sensors, the permanent magnet insertion are described soft
In body arm body, and it is exposed to the opposite cell wall of corresponding Hall sensor place groove；
One or more extends upward through the actuator of the software arm body in software arm body length side, each in the actuator
A non-intersecting with one or more of grooves, the actuator can drive the software arm body to be bent.
2. software mechanical arm according to claim 1, it is characterised in that：The software mechanical arm further includes controller, institute
State the movement of actuator described in feedback control of the controller according to the Hall voltage detected by the Hall sensor.
3. software mechanical arm according to claim 1, it is characterised in that：Each in the actuator and one group of groove
It is essentially the inverse in the radial direction in the axis relative to the software arm body.
4. software mechanical arm according to claim 1, it is characterised in that：The software mechanical arm is passed comprising only one Hall
Sensor.
5. software mechanical arm according to claim 1, it is characterised in that：The software mechanical arm includes multiple hall sensings
Device, the multiple Hall sensor are located in the groove of the different groups on same software arm body length.
6. software mechanical arm according to claim 1, it is characterised in that：The software mechanical arm includes multiple hall sensings
Device, the multiple Hall sensor are located in the groove of the different groups on different software arm body lengths.
7. software mechanical arm according to claim 1, it is characterised in that：The groove is divided into three along the software arm body
Equally distributed group of axis that length direction arranges, around the software arm body, and the software mechanical arm includes three
Hall sensor, three Hall sensors are located in three grooves on same software arm body length.
8. software mechanical arm according to claim 1, it is characterised in that：The actuator is shape memory alloy spring.
9. software mechanical arm according to claim 1, it is characterised in that：The software mechanical arm further includes in software arm body
Run through the flexible central column of the software arm body on length direction, the rigidity of the flexible central column is more than the software arm body
Rigidity.
10. software mechanical arm according to claim 9, it is characterised in that：The permanent magnet is rigidly connected to the flexibility
Newel.
11. software mechanical arm according to claim 9, it is characterised in that：The Hall sensor is rigidly connected to described
Flexible central column.
12. software mechanical arm according to claim 9, it is characterised in that：The flexible central column has hollow channel, and
And the input line and output line of the Hall sensor are connected to by the channel outside the software mechanical arm.
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| CN201720668851.2U CN207771832U (en) | 2017-06-09 | 2017-06-09 | Software mechanical arm |
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| CN201720668851.2U CN207771832U (en) | 2017-06-09 | 2017-06-09 | Software mechanical arm |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109973342A (en) * | 2019-03-12 | 2019-07-05 | 中国人民解放军军事科学院国防科技创新研究院 | Shape memory drive-type software driver and its control method, production method |
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN111496799A (en) * | 2020-04-03 | 2020-08-07 | 中国科学技术大学 | Method for accurately controlling shape memory alloy composite soft driver |
| WO2020248557A1 (en) * | 2019-06-11 | 2020-12-17 | 哈尔滨工业大学 | Soft bionic legged robot |
| CN113183143A (en) * | 2021-04-23 | 2021-07-30 | 浙江工业大学 | Pipe climbing robot |
| CN113334364A (en) * | 2021-06-07 | 2021-09-03 | 上海交通大学 | Movable robot based on paper folding structure and snake-like robot |
| CN114228956A (en) * | 2021-12-09 | 2022-03-25 | 浙江大学 | Underwater flexible arm and AUV underwater flexible recovery mechanism |
| CN107378942B (en) * | 2017-06-09 | 2023-08-29 | 中国科学技术大学 | Soft mechanical arm and using method thereof |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378942B (en) * | 2017-06-09 | 2023-08-29 | 中国科学技术大学 | Soft mechanical arm and using method thereof |
| CN109973342A (en) * | 2019-03-12 | 2019-07-05 | 中国人民解放军军事科学院国防科技创新研究院 | Shape memory drive-type software driver and its control method, production method |
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| WO2020248557A1 (en) * | 2019-06-11 | 2020-12-17 | 哈尔滨工业大学 | Soft bionic legged robot |
| CN111496799A (en) * | 2020-04-03 | 2020-08-07 | 中国科学技术大学 | Method for accurately controlling shape memory alloy composite soft driver |
| CN113183143A (en) * | 2021-04-23 | 2021-07-30 | 浙江工业大学 | Pipe climbing robot |
| CN113334364A (en) * | 2021-06-07 | 2021-09-03 | 上海交通大学 | Movable robot based on paper folding structure and snake-like robot |
| CN113334364B (en) * | 2021-06-07 | 2023-10-17 | 上海交通大学 | Movable robot based on paper folding structure and snake-like robot |
| CN114228956A (en) * | 2021-12-09 | 2022-03-25 | 浙江大学 | Underwater flexible arm and AUV underwater flexible recovery mechanism |
| CN114228956B (en) * | 2021-12-09 | 2022-05-27 | 浙江大学 | Underwater flexible arm and AUV underwater flexible recovery mechanism |
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