US20160052143A1 - Concave bearing outer race for tendon based robotic joints - Google Patents

Concave bearing outer race for tendon based robotic joints Download PDF

Info

Publication number
US20160052143A1
US20160052143A1 US14/833,877 US201514833877A US2016052143A1 US 20160052143 A1 US20160052143 A1 US 20160052143A1 US 201514833877 A US201514833877 A US 201514833877A US 2016052143 A1 US2016052143 A1 US 2016052143A1
Authority
US
United States
Prior art keywords
outer race
link
bearing
tendon
concave outer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/833,877
Other languages
English (en)
Inventor
Paul Ekas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to US14/833,877 priority Critical patent/US20160052143A1/en
Publication of US20160052143A1 publication Critical patent/US20160052143A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • 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
    • B25J9/1045—Programme-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

Definitions

  • the present invention relates in general to mechanical manipulators and appendages for use in robotics applications.
  • the mechanical manipulator of an industrial robot is made up of a sequence of link and joint combinations.
  • the links are the rigid members connecting the joints.
  • the joints also called axis
  • the joints are the movable components of the robot that enable relative motion between adjacent links.
  • One method of providing force for rotating a link around a joint in robots is to utilize artificial tendons that provide tension between a remote actuator and a link. These tendon-based structures are often found in robotic grippers where the links and joints make up the fingers, palm and wrist of the robotic grippers.
  • These tendons need to be routed through the links and joints to the remotely located actuators.
  • the tendons move in the links and joints when the mechanical manipulators are moving.
  • the tendons must move through the links and joints and must change direction at various points between where they are anchored in the links or joints and their anchor at the actuator.
  • the cables can be routed through the joints of a manipulator.
  • Some designs route the tendons over the outer race of the bearings used in the joints. In these designs, it is important to keep the tendon centered on the smooth, low friction race rather than have the tendon rub against the physical structure enclosing the bearing which may be more abrasive to the tendon or susceptible to wear from the tendon. In addition, it is often better to keep the tendon centered on the joint to minimize twist on the fingers.
  • the most advanced method to align the tendon onto the bearing race is to have ceramic or metal guides where the tendon both leaves and enters the links that are spanned by the joint. These guides provide an inherent alignment of the tendon onto the center of the outer bearing race. However, the narrow channel between the supporting structure holding the bearing in the joint may be narrower than the alignment tolerance provided by the tendon guides.
  • the outer race of the bearing is concave to create a self-centering force on the tendon when it is passing over the outer race of the bearing.
  • standard bearings are available with flat, concave and v-groove outer races.
  • specially shaped tracks on the outer races can be optimized for improving the alignment of the tendon and separation of the tendon from the bearing supporting structure.
  • FIG. 1 through FIG. 4 are drawings that present end views of exemplary bearings suitable for use in a tendon based robotic finger in accordance with the present invention.
  • FIG. 5 is an isometric view of a robotic finger assembly having two links, and shows tendons passing over the center lines of three joints in the assembly.
  • FIG. 6 is a drawing showing a cutaway side view of the links showing the tendon passing over the outer race of one of the joint bearings to illustrate the path a tendon takes at a joint as it slides over the outer race of a bearing.
  • FIG. 7 shows a standard ball bearing and a variety of concave bearing shapes.
  • FIG. 1 a series of drawings present end views of exemplary bearings suitable for use in a tendon based robotic finger in accordance with the present invention.
  • FIG. 1 is a drawing showing an end view of a bearing 10 having a curved concave outer race 12 .
  • FIG. 2 is a drawing showing an end view of a bearing 20 having an outer race with a v-shaped indentation 22 disposed between opposing shoulders 24 .
  • FIG. 3 is a drawing showing an end view of a bearing 30 having a concave outer race 32 disposed between opposing shoulders 34 .
  • FIG. 4 is a drawing showing an end view of a bearing 40 having a concave outer race 42 terminating in end walls 44 that extend outward from the outer race at the inner edges of shoulders 46 .
  • an isometric view shows a robotic finger assembly 50 including link 52 coupled to link 54 by joint 56 .
  • the link 54 of the robotic finger assembly 50 is coupled to a flat end link 58 at a second joint 60 .
  • a third joint 62 is shown for coupling link 52 to another link or to a gripper base (not shown).
  • a first tendon 64 is shown passing over the centerlines of the joints 56 , 60 , and 62 on the outer races of bearing 66 in joint 60 , bearing 68 in joint 56 , and bearing 70 in joint 62 .
  • a second tendon 72 is shown passing over the centerlines of the joints 56 , and 62 on the outer races of bearing 68 in joint 56 , and bearing 70 in joint 62 .
  • a third tendon 74 is shown passing over the centerline of the joint 62 on the outer race of bearing 70 in joint 62 .
  • the tendons 64 , 72 , and 74 will eventually terminate in actuators (not shown) that will operate to move the various links to which the tendons are coupled as is known in the art.
  • Bearings 66 , 68 , and 70 are of the types shown in FIGS. 1 through 4 , in order to maintain the tendons in positions centered over the ones of joints 56 , 60 and 62 through which they pass.
  • By maintaining the tendons 64 , 72 , and 74 aligned at the centers of bearings 66 , 68 , and 70 in their joints 56 , 60 and 62 there is reduced wear and friction between the tendons 64 , 72 , and 74 and the adjacent structures in the joints 56 , 60 , and 62 that hold the bearings 66 , 68 , and 70 in place.
  • twists and torques are minimized on the robotic finger assembly caused by misaligned tendons.
  • FIG. 6 a drawing shows a cutaway side view of the links 52 and 54 and shows the tendon 64 passing over the outer race of the joint bearing 68 .
  • tendon 64 is shown passing through a plurality of cable guides 76 .
  • Other cable guides 78 are provided for another tendon (not shown). Because of the relative angles of links 52 and 54 , the tendon 64 is engaged by the outer race of bearing 68 on the left-hand side of FIG. 6 , whereas the tendon 64 is shown as not being engaged in the outer races of bearings 66 and 70 .
  • a top view of the link 54 shows how the tendon 64 passes through cable guides in the form of ceramic eyelets 76 over the top of the concave race of bearing 68 .
  • the support structure 80 for the bearing 68 is made out of plastic or other material and it is desired not to have the tendon 64 rub against the support structure 80 to minimize wear and resistance.
  • the axle 82 for the joint at the right hand side of FIG. 7 is shown without its bearing mounted.
  • the benefit of this invention is that it provides robust centering alignment of the tendon over the bearing race which provides reduced wear and friction between the tendon and the adjacent structure holding the bearing in place. Also by centering the tendon, it minimizes twists and torques on the manipulator link structure caused by misaligned tendons.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rolling Contact Bearings (AREA)
US14/833,877 2014-08-25 2015-08-24 Concave bearing outer race for tendon based robotic joints Abandoned US20160052143A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US14/833,877 US20160052143A1 (en) 2014-08-25 2015-08-24 Concave bearing outer race for tendon based robotic joints

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201462041332P 2014-08-25 2014-08-25
US201462087664P 2014-12-04 2014-12-04
US201562165080P 2015-05-21 2015-05-21
US201562165074P 2015-05-21 2015-05-21
US14/833,877 US20160052143A1 (en) 2014-08-25 2015-08-24 Concave bearing outer race for tendon based robotic joints

Publications (1)

Publication Number Publication Date
US20160052143A1 true US20160052143A1 (en) 2016-02-25

Family

ID=55347479

Family Applications (4)

Application Number Title Priority Date Filing Date
US14/833,904 Active US9446513B2 (en) 2014-08-25 2015-08-24 Robotic grippers including finger webbing for improved grasping
US14/834,178 Abandoned US20160052130A1 (en) 2014-08-25 2015-08-24 Link structure and assembly including cable guide system for robotic mechanical manipulator structure
US14/833,877 Abandoned US20160052143A1 (en) 2014-08-25 2015-08-24 Concave bearing outer race for tendon based robotic joints
US14/833,798 Active US9469027B2 (en) 2014-08-25 2015-08-24 Tendon based robotic fingers having shock absorbing and self re-aligning features

Family Applications Before (2)

Application Number Title Priority Date Filing Date
US14/833,904 Active US9446513B2 (en) 2014-08-25 2015-08-24 Robotic grippers including finger webbing for improved grasping
US14/834,178 Abandoned US20160052130A1 (en) 2014-08-25 2015-08-24 Link structure and assembly including cable guide system for robotic mechanical manipulator structure

Family Applications After (1)

Application Number Title Priority Date Filing Date
US14/833,798 Active US9469027B2 (en) 2014-08-25 2015-08-24 Tendon based robotic fingers having shock absorbing and self re-aligning features

Country Status (6)

Country Link
US (4) US9446513B2 (fr)
JP (3) JP6647286B2 (fr)
KR (2) KR102004623B1 (fr)
CN (2) CN106573382B (fr)
DE (2) DE112015003875B4 (fr)
WO (5) WO2016032980A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105773607A (zh) * 2016-03-17 2016-07-20 清华大学 表面二维可动机器人手指单元装置
CN105881565A (zh) * 2016-05-23 2016-08-24 清华大学 四连杆平夹自适应机器人手指装置
CN105881571A (zh) * 2016-05-27 2016-08-24 燕山大学 柔性耦合单驱动拟人手指
CN106113024A (zh) * 2016-06-30 2016-11-16 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
CN106363664A (zh) * 2016-11-03 2017-02-01 清华大学深圳研究生院 一种机械臂的动力装置
CN106476023A (zh) * 2016-08-31 2017-03-08 清华大学 七轮空程电机中置平夹自适应机器人手指装置
CN107553511A (zh) * 2017-10-09 2018-01-09 联想(北京)有限公司 机器手
CN109202937A (zh) * 2018-11-19 2019-01-15 河北科技大学 模块化多关节线控机器人
CN109278061A (zh) * 2018-10-31 2019-01-29 深圳市优必选科技有限公司 机器人及其手指传动结构
WO2020156414A1 (fr) * 2019-01-31 2020-08-06 The University Of Hong Kong Système robotisé dentaire compact
US11890071B2 (en) 2020-08-31 2024-02-06 John A Cordasco Robotic systems, devices and methods for performing dental procedures on patients

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10046461B2 (en) * 2014-08-25 2018-08-14 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
WO2016032980A1 (fr) * 2014-08-25 2016-03-03 Paul Ekas Bague extérieure de roulement concave pour des articulations robotiques
US9914214B1 (en) * 2016-02-22 2018-03-13 X Development Llc Preshaping for underactuated fingers
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
CN109822553A (zh) * 2017-03-06 2019-05-31 温州泓呈祥科技有限公司 一种基于光信号控制的机器手臂
US10888487B1 (en) 2017-04-06 2021-01-12 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Grasp assist system
CN107097243B (zh) * 2017-05-10 2019-09-24 泰州市晨虹数控设备制造有限公司 一种基于万向关节的机器人手
JP6545768B2 (ja) * 2017-10-02 2019-07-17 スキューズ株式会社 指機構、ロボットハンド及びロボットハンドの制御方法
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
CN107825449A (zh) * 2017-11-30 2018-03-23 南京邮电大学 肌腱驱动型单指灵巧手及其控制系统和控制方法
US10759062B2 (en) 2017-12-08 2020-09-01 Dishcraft Robotics, Inc. Article of dishware gripping systems
US10759063B1 (en) * 2017-12-15 2020-09-01 X Development Llc Reusable mechanically fused dovetail retainer mechanisms
JP6629826B2 (ja) 2017-12-25 2020-01-15 ファナック株式会社 ロボットとその線条体処理構造
CN108583713B (zh) * 2018-05-02 2019-09-13 北京林业大学 一种仿生式立木攀爬机器人及其使用方法
US11000948B2 (en) * 2018-05-29 2021-05-11 General Electric Company Robotic arm assembly
US11305420B2 (en) * 2018-05-31 2022-04-19 Virginia Tech Intellectual Properties, Inc. Articulated multi-link robotic tail systems and methods
US11433557B2 (en) * 2018-08-28 2022-09-06 Divergent Technologies, Inc. Buffer block apparatuses and supporting apparatuses
JP2022504368A (ja) * 2018-10-25 2022-01-13 ウィンク・ロボティクス 美容ロボット工学のための着脱可能なエンドエフェクタ
WO2020106134A1 (fr) * 2018-11-23 2020-05-28 Hernando Ortega Carrillo Extrémité robotique, maillon d'une extrémité robotique et procédé pour fournir un support à une extrémité robotique, avec mouvement anthropomorphe ajustable
JP7066875B2 (ja) * 2018-11-30 2022-05-13 オリンパス株式会社 把持機構
CN109909988B (zh) * 2019-01-29 2021-01-19 西安交通大学 一种多稳态变刚度机器人结构
DE102019201628B4 (de) * 2019-02-08 2022-02-17 Kuka Deutschland Gmbh Roboterstrukturelement
WO2020235706A1 (fr) * 2019-05-21 2020-11-26 엘지전자 주식회사 Robot d'action
WO2020235705A1 (fr) 2019-05-21 2020-11-26 엘지전자 주식회사 Robot d'action
WO2020235707A1 (fr) * 2019-05-21 2020-11-26 엘지전자 주식회사 Robot d'action
CN110271020B (zh) * 2019-05-29 2021-04-27 浙江大学 仿生机械运动学优化方法
KR102220191B1 (ko) * 2019-08-01 2021-02-25 엘지전자 주식회사 로봇 핸드 및 그 제어방법
CN111113416A (zh) * 2019-12-19 2020-05-08 郑州宇恒环保技术有限公司 基于机器视觉的轴承在线检测系统
KR102279668B1 (ko) * 2020-07-17 2021-07-20 재단법인 대구경북첨단의료산업진흥재단 다중 로봇관절 와이어 연결구조
CN112809719A (zh) * 2021-02-02 2021-05-18 珞石（北京）科技有限公司 基于线传动与模块化手指的柔性欠驱动灵巧机械手
CN114193503B (zh) * 2021-12-30 2024-01-23 山东大学 一种机械手手指关节及欠驱动机械手
DE102022124068A1 (de) 2022-09-20 2024-03-21 Festo Se & Co. Kg Roboterfinger für eine Roboterhand

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4865376A (en) * 1987-09-25 1989-09-12 Leaver Scott O Mechanical fingers for dexterity and grasping
US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5984394A (en) * 1998-06-26 1999-11-16 Bergeron; Raymond E. Power bucket
US20060158146A1 (en) * 2004-12-03 2006-07-20 Sharp Kabushiki Kaisha Robot hand
US20080272728A1 (en) * 2007-05-04 2008-11-06 Zhong Gao Robotic joint
US20090112230A1 (en) * 2007-10-31 2009-04-30 Kabushiki Kaisha Toshiba Manipulator
US20140035306A1 (en) * 2011-03-21 2014-02-06 Sri International Mobile robotic manipulator system
US20160052129A1 (en) * 2014-08-25 2016-02-25 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
US20160052130A1 (en) * 2014-08-25 2016-02-25 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure

Family Cites Families (53)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1297313B (de) * 1964-11-13 1969-06-12 Gressbach Arthur Selbstgreifende Lasttragvorrichtung
US3954194A (en) * 1974-10-15 1976-05-04 Caterpillar Tractor Co. Material grasping apparatus
JPS59219182A (ja) 1983-05-26 1984-12-10 有限会社友信開発 関節ロボツト
JPS6090685A (ja) * 1983-10-25 1985-05-21 富士通株式会社 多関節型ロボツト
DE3565951D1 (en) * 1984-03-21 1988-12-08 Secr Defence Brit An enveloping gripper
US4804220A (en) * 1986-01-21 1989-02-14 Rosheim Mark E Wrist tendon actuator
US4860864A (en) 1987-11-16 1989-08-29 General Motors Corporation Clutch for robot or like
JPH0649525B2 (ja) * 1988-12-27 1994-06-29 株式会社芝浦製作所 ワーク搬送装置
JPH05253171A (ja) * 1992-03-12 1993-10-05 Olympus Optical Co Ltd 多自由度可撓管
JPH06114000A (ja) * 1992-09-30 1994-04-26 Olympus Optical Co Ltd 医療用マニピュレータ
US5570920A (en) * 1994-02-16 1996-11-05 Northeastern University Robot arm end effector
JPH09254078A (ja) 1996-03-25 1997-09-30 Toshiba Corp ロボットアーム装置
US6247738B1 (en) * 1998-01-20 2001-06-19 Daum Gmbh Robot hand
GB0020461D0 (en) 2000-08-18 2000-10-11 Oliver Crispin Consulting Ltd Improvements in and relating to the robotic positioning of a work tool to a sensor
US20050102037A1 (en) 2001-01-23 2005-05-12 Hiroshi Matsuda Multi-finger hand device
WO2003013783A1 (fr) 2001-08-09 2003-02-20 Pemstar, Inc. Desaccouplement d'element de robot fixe de maniere magnetique
JP3723818B2 (ja) 2002-06-24 2005-12-07 松下電器産業株式会社 多関節駆動機構及びその製造方法、それを用いた把持ハンドとロボット
JP4114568B2 (ja) * 2003-08-18 2008-07-09 沖電気工業株式会社 多関節装置
JP2005351476A (ja) 2004-05-10 2005-12-22 Gates Unitta Asia Co プーリ用摺動リング
US9261172B2 (en) * 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms
JP2006123149A (ja) * 2004-11-01 2006-05-18 Sharp Corp 関節駆動機構およびロボットハンド
US20060142102A1 (en) 2004-12-23 2006-06-29 Mijo Radocaj Pulley assembly
DE102005061265A1 (de) 2005-12-20 2007-06-21 Otto Bock Healthcare Ip Gmbh & Co. Kg Fingerprothese sowie Handprothese
US20080000317A1 (en) * 2006-05-31 2008-01-03 Northwestern University Cable driven joint actuator and method
JP2009056558A (ja) * 2007-08-31 2009-03-19 Toshiba Corp マニピュレータ
US8402860B2 (en) 2007-10-10 2013-03-26 Panasonic Corporation Structure, manipulator and structure control system
JP4739386B2 (ja) * 2007-10-10 2011-08-03 パナソニック株式会社 構造体及びマニピュレータ及び構造体制御システム
WO2009080373A1 (fr) 2007-12-20 2009-07-02 Abb Research Ltd Robot industriel avec accouplement de sécurité magnétique
KR20100030879A (ko) 2008-09-11 2010-03-19 삼성전자주식회사 로봇핸드 및 이를 갖춘 인간형 로봇
JP2010110846A (ja) * 2008-11-05 2010-05-20 Panasonic Corp ロボットハンド及びロボットハンドの制御装置
CN101444918B (zh) * 2008-12-26 2010-09-29 清华大学 预弯曲抓取欠驱动仿生手指装置
JP2010214474A (ja) * 2009-03-13 2010-09-30 Panasonic Corp マニピュレータ
KR101117253B1 (ko) 2009-06-25 2012-03-15 고려대학교 산학협력단 로봇팔
US8424941B2 (en) * 2009-09-22 2013-04-23 GM Global Technology Operations LLC Robotic thumb assembly
WO2011036626A2 (fr) 2009-09-22 2011-03-31 Ariel - University Research And Development Company, Ltd. Dispositif de commande d'orientation, bras mécanique, outil de préhension et éléments associés
US8562049B2 (en) 2009-09-22 2013-10-22 GM Global Technology Operations LLC Robotic finger assembly
CN102029609B (zh) * 2009-09-30 2012-09-19 鸿富锦精密工业（深圳）有限公司 机械手
AU2010200035A1 (en) * 2010-01-06 2011-07-21 Artisans of Florence PTY LTD Reciprocating Mechanism
KR101706094B1 (ko) * 2010-01-14 2017-02-14 삼성전자주식회사 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법
CN102821918A (zh) * 2010-03-24 2012-12-12 株式会社安川电机 机器人手和机器人装置
JP5545052B2 (ja) * 2010-06-10 2014-07-09 セイコーエプソン株式会社 電動アクチュエーター
CN102310405A (zh) * 2010-07-05 2012-01-11 扬州大学 一种角度放大并联机构
JP2012110971A (ja) * 2010-11-19 2012-06-14 Yaskawa Electric Corp ロボット
US8578810B2 (en) * 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
KR101186806B1 (ko) 2011-03-16 2012-09-28 주식회사 이턴 다자유도의 능동형 유니버설 조인트 장치
JP5804310B2 (ja) * 2011-05-24 2015-11-04 学校法人東京理科大学 上腕保持装置、及び、上腕補助装置
JP2013123785A (ja) * 2011-12-16 2013-06-24 Seiko Epson Corp ロボットハンド及びロボット
KR101357139B1 (ko) * 2012-03-30 2014-02-12 한국과학기술원 소형 로봇 핸드
KR102023906B1 (ko) * 2012-05-25 2019-09-24 삼성전자주식회사 암 유닛 및 이를 포함하는 로봇
KR101369515B1 (ko) * 2012-08-08 2014-03-06 서울대학교산학협력단 가변 강성 구조체
CN102862160A (zh) * 2012-10-04 2013-01-09 南京大五教育科技有限公司 基于电磁肌肉和筋腱驱动的仿生机械手
US8833827B2 (en) * 2012-10-09 2014-09-16 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
KR101427322B1 (ko) * 2013-01-31 2014-08-06 한국과학기술원 관절장치

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
US4865376A (en) * 1987-09-25 1989-09-12 Leaver Scott O Mechanical fingers for dexterity and grasping
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5984394A (en) * 1998-06-26 1999-11-16 Bergeron; Raymond E. Power bucket
US20060158146A1 (en) * 2004-12-03 2006-07-20 Sharp Kabushiki Kaisha Robot hand
US20080272728A1 (en) * 2007-05-04 2008-11-06 Zhong Gao Robotic joint
US20090112230A1 (en) * 2007-10-31 2009-04-30 Kabushiki Kaisha Toshiba Manipulator
US20140035306A1 (en) * 2011-03-21 2014-02-06 Sri International Mobile robotic manipulator system
US20160052129A1 (en) * 2014-08-25 2016-02-25 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
US20160052130A1 (en) * 2014-08-25 2016-02-25 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105773607A (zh) * 2016-03-17 2016-07-20 清华大学 表面二维可动机器人手指单元装置
CN105881565A (zh) * 2016-05-23 2016-08-24 清华大学 四连杆平夹自适应机器人手指装置
CN105881571A (zh) * 2016-05-27 2016-08-24 燕山大学 柔性耦合单驱动拟人手指
CN106113024A (zh) * 2016-06-30 2016-11-16 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
CN106476023A (zh) * 2016-08-31 2017-03-08 清华大学 七轮空程电机中置平夹自适应机器人手指装置
CN106363664A (zh) * 2016-11-03 2017-02-01 清华大学深圳研究生院 一种机械臂的动力装置
CN107553511A (zh) * 2017-10-09 2018-01-09 联想(北京)有限公司 机器手
CN109278061A (zh) * 2018-10-31 2019-01-29 深圳市优必选科技有限公司 机器人及其手指传动结构
CN109202937A (zh) * 2018-11-19 2019-01-15 河北科技大学 模块化多关节线控机器人
WO2020156414A1 (fr) * 2019-01-31 2020-08-06 The University Of Hong Kong Système robotisé dentaire compact
CN113365572A (zh) * 2019-01-31 2021-09-07 香港大学 紧凑的牙科机器人系统
US11890071B2 (en) 2020-08-31 2024-02-06 John A Cordasco Robotic systems, devices and methods for performing dental procedures on patients

Also Published As

Publication number Publication date
KR20170047238A (ko) 2017-05-04
DE112015003877T5 (de) 2017-05-11
WO2016032980A1 (fr) 2016-03-03
WO2016033101A1 (fr) 2016-03-03
CN106573374A (zh) 2017-04-19
US9446513B2 (en) 2016-09-20
DE112015003875B4 (de) 2022-06-23
WO2016032978A1 (fr) 2016-03-03
US20160052149A1 (en) 2016-02-25
US20160052130A1 (en) 2016-02-25
JP2017525578A (ja) 2017-09-07
JP2020011378A (ja) 2020-01-23
JP6571170B2 (ja) 2019-09-04
WO2016032979A1 (fr) 2016-03-03
WO2016032976A1 (fr) 2016-03-03
DE112015003875T5 (de) 2017-05-18
CN106573382A (zh) 2017-04-19
JP7007343B2 (ja) 2022-01-24
KR102004623B1 (ko) 2019-07-26
JP6647286B2 (ja) 2020-02-14
JP2017525577A (ja) 2017-09-07
US20160052142A1 (en) 2016-02-25
KR102427100B1 (ko) 2022-08-01
CN106573382B (zh) 2020-12-01
US9469027B2 (en) 2016-10-18
KR20170047237A (ko) 2017-05-04

Similar Documents

Publication Publication Date Title
US20160052143A1 (en) Concave bearing outer race for tendon based robotic joints
US10046461B2 (en) Link structure and assembly including cable guide system for robotic mechanical manipulator structure
AU2008233014B2 (en) A multi-linked device having a reinforcing member
US10005191B2 (en) Holding apparatus for robot
US10442089B2 (en) Hand intended for being provided on a humanoid robot with improved fingers
US9782902B1 (en) Gripper for robot hand capabel of adaptive grasp
JP2017525577A5 (fr)
US10384343B2 (en) Modular robotic finger for grasping and dexterous handling
CN109278034A (zh) 一种绳索驱动柔性手爪及机器人
US11433533B2 (en) Kinematic chain for transmission of mechanical torques
CN107253210A (zh) 应用在工业机器人的机械手
JP5032714B1 (ja) ケーブル支持部材
US11690721B2 (en) Artificial joint
CN103612264B (zh) 一种机械手指及机械手
CN110366477B (zh) 具有用于多个节的单独的致动器和共同的反向致动器装置的机器人单元
CN206967512U (zh) 工业机器人的末端操作器
CN206967475U (zh) 一种非对称三平移空间并联操作手
US20150273701A1 (en) Rigid mechanical arm and plate
WO2021084263A3 (fr) Pince et ensemble de préhension
KR20130038154A (ko) 반송 로봇 및 진공 장치
KR20240054767A (ko) 단선방지 구조를 포함하는 다관절 매니퓰레이트
EP4136423A4 (fr) Ensemble capteur de force axiale, préhenseur de robot et robot
WO2021156262A3 (fr) Effecteur terminal, robot, système et procédé pour manipuler des objets dans un isolateur
KR20170001369A (ko) 부싱이 생략된 병렬 링크 로봇의 관절구조체

Legal Events

Date Code Title Description
STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION