KR102004623B1 - 충격 흡수 및 자가 재정렬 로봇식 핑거 - Google Patents

충격 흡수 및 자가 재정렬 로봇식 핑거 Download PDF

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KR102004623B1
KR102004623B1 KR1020177004910A KR20177004910A KR102004623B1 KR 102004623 B1 KR102004623 B1 KR 102004623B1 KR 1020177004910 A KR1020177004910 A KR 1020177004910A KR 20177004910 A KR20177004910 A KR 20177004910A KR 102004623 B1 KR102004623 B1 KR 102004623B1
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KR20170047237A (ko
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폴 에카스
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폴 에카스
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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/21—Flaccid drive element

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rolling Contact Bearings (AREA)
KR1020177004910A 2014-08-25 2015-08-24 충격 흡수 및 자가 재정렬 로봇식 핑거 Expired - Fee Related KR102004623B1 (ko)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US201462041332P 2014-08-25 2014-08-25
US62/041,332 2014-08-25
US201462087664P 2014-12-04 2014-12-04
US62/087,664 2014-12-04
US201562165080P 2015-05-21 2015-05-21
US201562165074P 2015-05-21 2015-05-21
US62/165,080 2015-05-21
US62/165,074 2015-05-21
PCT/US2015/046599 WO2016032978A1 (en) 2014-08-25 2015-08-24 Shock absorbing and self re-aligning robotic fingers

Publications (2)

Publication Number Publication Date
KR20170047237A KR20170047237A (ko) 2017-05-04
KR102004623B1 true KR102004623B1 (ko) 2019-07-26

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KR1020177004910A Expired - Fee Related KR102004623B1 (ko) 2014-08-25 2015-08-24 충격 흡수 및 자가 재정렬 로봇식 핑거
KR1020177004912A Active KR102427100B1 (ko) 2014-08-25 2015-08-25 매니퓰레이터 구조를 위한 링크 구조 및 조립체

Family Applications After (1)

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KR1020177004912A Active KR102427100B1 (ko) 2014-08-25 2015-08-25 매니퓰레이터 구조를 위한 링크 구조 및 조립체

Country Status (6)

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US (4) US9446513B2 (https=)
JP (3) JP6647286B2 (https=)
KR (2) KR102004623B1 (https=)
CN (2) CN106573382B (https=)
DE (2) DE112015003875B4 (https=)
WO (5) WO2016032978A1 (https=)

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US10046461B2 (en) * 2014-08-25 2018-08-14 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
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CN105881565B (zh) * 2016-05-23 2018-02-02 清华大学 四连杆平夹自适应机器人手指装置
CN105881571B (zh) * 2016-05-27 2018-01-23 燕山大学 柔性耦合单驱动拟人手指
CN106113024B (zh) * 2016-06-30 2018-12-14 北京空间飞行器总体设计部 一种腱-连杆混合传动的三自由度机械手指及控制方法
CN106113071A (zh) * 2016-08-08 2016-11-16 清华大学 电机中置五齿轮耦合自适应机器人手指装置
CN106476023B (zh) * 2016-08-31 2018-11-09 清华大学 七轮空程电机中置平夹自适应机器人手指装置
CN106363664B (zh) * 2016-11-03 2018-10-23 清华大学深圳研究生院 一种机械臂的动力装置
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
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CN107838941A (zh) * 2017-10-13 2018-03-27 江苏捷帝机器人股份有限公司 一种多向固定位活动机器人关节铸件
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JP7007343B2 (ja) 2022-01-24
JP2017525577A (ja) 2017-09-07
JP2020011378A (ja) 2020-01-23
WO2016032978A1 (en) 2016-03-03
WO2016032976A1 (en) 2016-03-03
US20160052142A1 (en) 2016-02-25
JP6571170B2 (ja) 2019-09-04
JP2017525578A (ja) 2017-09-07
CN106573382A (zh) 2017-04-19
WO2016033101A1 (en) 2016-03-03
US9446513B2 (en) 2016-09-20
DE112015003877T5 (de) 2017-05-11
KR20170047237A (ko) 2017-05-04
US9469027B2 (en) 2016-10-18
KR20170047238A (ko) 2017-05-04
WO2016032979A1 (en) 2016-03-03
KR102427100B1 (ko) 2022-08-01
CN106573374A (zh) 2017-04-19
WO2016032980A1 (en) 2016-03-03
US20160052130A1 (en) 2016-02-25
US20160052143A1 (en) 2016-02-25
CN106573382B (zh) 2020-12-01
US20160052149A1 (en) 2016-02-25
DE112015003875T5 (de) 2017-05-18
JP6647286B2 (ja) 2020-02-14
DE112015003875B4 (de) 2022-06-23

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