+

WO2016180365A1 - Mécanisme différentiel de continuum et bras mécanique - Google Patents

Mécanisme différentiel de continuum et bras mécanique Download PDF

Info

Publication number
WO2016180365A1
WO2016180365A1 PCT/CN2016/082047 CN2016082047W WO2016180365A1 WO 2016180365 A1 WO2016180365 A1 WO 2016180365A1 CN 2016082047 W CN2016082047 W CN 2016082047W WO 2016180365 A1 WO2016180365 A1 WO 2016180365A1
Authority
WO
WIPO (PCT)
Prior art keywords
output
input
wire
differential
hole
Prior art date
Application number
PCT/CN2016/082047
Other languages
English (en)
Chinese (zh)
Original Assignee
汪雯
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 汪雯 filed Critical 汪雯
Publication of WO2016180365A1 publication Critical patent/WO2016180365A1/fr

Links

Images

Classifications

    • 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

Definitions

  • the present invention relates to a differential mechanism, and more particularly to a differential transmission mechanism based on a flexible continuum mechanism that can be applied to a variety of underactuated mechanical systems.
  • a driving source such as a motor, a cylinder, a cylinder, etc.
  • a corresponding number of controllers are required to achieve independent control of each degree of freedom. This often results in increased mechanical system costs, increased weight, and reduced reliability.
  • the differential mechanism can adaptively distribute one motion input to multiple (usually two) motion outputs, so that control of multiple degrees of freedom can be achieved with fewer drive sources and controllers, significantly reducing the number of degrees of freedom.
  • the cost and weight of the system reduce the control difficulty and improve the system reliability.
  • the differential mechanism has thus been widely used.
  • the main configuration of the differential mechanism is movable pulley type, gear rack type, connecting rod type, etc., all of which have the disadvantages of relatively complicated structure and large backlash.
  • the present invention proposes a novel continuous body differential mechanism that uses one motion as a drive input to generate an arbitrary multi-path motion output.
  • the invention particularly designs a continuous body differential mechanism, wherein the drive input and the drive output form a continuously deformable continuous body differential mechanism that is completely connected to each part, and the drive input of the drive source can be distributed to the plurality of drive outputs. It is then passed to the various moving parts of the system.
  • the continuum mechanism can not only move integrally; when the output end is subjected to external constraints or loads of different sizes, the continuum mechanism produces corresponding deformation, so that the motion output of each channel has different output, and each output There is also a corresponding difference in the magnitude of the force output at the end.
  • the continuum differential mechanism of the present invention is comprised of one or more substantially differential units.
  • Each differential unit is mainly composed of a base, an elastic alloy input and output wire, an end plate and the like, and the parts thereof are completely connected, and the drive input and the drive output are substantially connected in an elastic manner, which is a continuous deformation.
  • New transmission mechanism is mainly composed of a base, an elastic alloy input and output wire, an end plate and the like, and the parts thereof are completely connected, and the drive input and the drive output are substantially connected in an elastic manner, which is a continuous deformation.
  • the input wire of the basic differential unit can be moved back and forth under the motor or manual drive.
  • the input wire passes through the base, and the other end of the input wire is fixed in the middle of the end plate (not necessarily in the middle), and the two sides of the end plate are respectively fixed.
  • Two or more elastic alloy wires which then pass through the base as a motion output, dividing one motion input into two or multiple motion outputs.
  • the input and output wires are bent in the corresponding directions, so that the plurality of output wires adaptively have different outputs.
  • the motion output on the output wire can be used as an input of another basic differential unit.
  • serially and parallelly connecting a plurality of basic differential units it is theoretically possible to convert one motion input into any number of motion outputs, thereby satisfying The needs of various differential sports.
  • a continuum differential mechanism comprising one or more basic differential units, each basic differential unit comprising: a base, the base having an input through hole and an output through a hole; an end disc, the end disc being spaced apart from the base by a predetermined distance; and an input wire and an output wire, one end of the input wire being fixed to the end disc, and the other end passing through the input through hole And one end of the output wire is fixed to the end disc, and the other end passes through the output through hole.
  • the distance between the end disc and the base is 0.25 to 4 times the distance between the output wire and the input wire. More preferably, the distance between the end disc and the base is 0.5 to 2 times the distance between the output wire and the input wire. Most preferably, the distance between the end disc and the base is 0.5 to 1 times the distance between the output wire and the input wire.
  • the basic differential unit includes an input wire and two output wires, the two output wires being respectively located on opposite sides of the input wire; or the basic differential unit includes an input wire and Three output wires.
  • the continuum differential mechanism includes two basic differential units, the two basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. Wherein one output filament of one of the two basic differential units is used as another base The input wire of the differential unit.
  • the continuum differential mechanism includes two basic differential units, the two basic differential units sharing a pedestal and each of the basic differential units includes an input wire and two output wires. An output wire of one of the two basic differential units is used as an input wire of another substantially differential unit.
  • the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. The two output wires of one of the three basic differential units are used as input wires for the other two basic differential units, respectively.
  • the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and two output wires. Wherein the two output wires of the first one of the three basic differential units are used as input wires of the other two basic differential units, respectively.
  • the end plate of the first basic differential unit is provided with a through slot for the output wires of the other two basic differential units to pass through.
  • the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires.
  • the first basic differential unit comprises two output wires
  • the second and third basic differential units comprise three output wires
  • the two output wires of the first basic differential unit are respectively used as the second sum The input wire of the third basic differential unit.
  • a two-finger robot comprising:
  • the continuous body differential mechanism comprising:
  • the base is provided with an input through hole and an output through hole;
  • An end disc the end disc being spaced apart from the base by a predetermined distance
  • An input wire and an output wire one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole
  • a finger holder and two fingers each finger being hinged to the finger holder and including a drive rod, a connecting rod, a first knuckle and a second knuckle, wherein
  • One end of the first knuckle is hinged to the finger seat, and the other end of the first knuckle is hinged to the second knuckle;
  • One end of the drive rod is hinged to the finger holder, the other end of the drive rod is hinged to one end of the link, and the other end of the link is hinged to the second knuckle;
  • One end of the output wire passing through the output through hole is fixed to the drive rod;
  • the base, the base and the finger holder are fixed to the base.
  • one end of the finger holder, the one end of the first knuckle, and the one end of the drive rod are hinged to each other by a pin.
  • a three-finger robot comprising:
  • the continuous body differential mechanism comprising:
  • the base is provided with an input through hole and an output through hole;
  • An end disc the end disc being spaced apart from the base by a predetermined distance
  • An input wire and an output wire one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole;
  • a palm and three fingers are hinged to the palm and are respectively connected to three of the output wires, the palm being fixed to the base.
  • each finger includes a first knuckle, a second knuckle, a first link, and a second link.
  • One end of the first knuckle is hinged to the palm, and the other end of the first knuckle is hinged to the second knuckle.
  • One end of the first link is hinged to the output wire, the other end is hinged to one end of the second link, and the other end of the second link is hinged to the second knuckle.
  • the input wire and/or the output wire are thin rods or thin tubes that can withstand the push-pull force and are elastically deformable.
  • the input wire and/or the output wire are elastic alloy wires.
  • the cooperation between the input wire and the input through hole and the cooperation between the output wire and the output through hole are gap fit.
  • the base is stationary.
  • the continuous body differential mechanism is further provided with an input sleeve and an output sleeve, and the input sleeve and the output sleeve are respectively fixed to the input through hole and the output a through hole such that the input wire and the output wire pass through the input sleeve and the output sleeve, respectively.
  • 1 is a schematic structural view of a continuum basic differential unit having two motion outputs
  • FIG. 2 is a schematic structural view of the continuum basic differential unit of FIG. 1 in a curved configuration
  • FIG. 3 is a schematic structural view of a continuum differential mechanism composed of a basic differential unit string and a parallel combination of FIG. 1;
  • FIG. 4 is a schematic structural view of the continuous body differential mechanism of FIG. 3 in a curved state
  • Figure 5 is a schematic structural view of a continuum basic differential unit having a three-way motion output
  • FIG. 6 is a schematic structural view of the continuum basic differential unit of FIG. 3 in a curved configuration
  • FIG. 7 is a schematic structural view of a continuous body differential mechanism formed by the basic differential unit string and the parallel combination of FIG. 4;
  • Figure 8 is a schematic view showing the structure of the continuous body differential mechanism of Figure 7 in a curved form
  • FIG. 9 is a schematic structural view of a two-finger manipulator based on a continuous body differential mechanism
  • FIG. 10 is a schematic structural view of a three-finger manipulator based on a continuous body differential mechanism
  • FIG. 11 is a schematic structural view of a finger employed by the three-finger robot of FIG. 10.
  • FIG. 11 is a schematic structural view of a finger employed by the three-finger robot of FIG. 10.
  • wire refers to a member having a dimension in the length direction that is much larger than the cross-sectional dimension, also referred to as a “rod or thin rod” or “tube or tubule”, which can withstand the push-pull force and is elastically deformable. Solid or hollow.
  • the input wire passes through the input through hole to include both the input wire directly through the input through hole and the input wire through the input through hole through a portion such as a sleeve disposed on the input through hole.
  • the output wire passing through the output through hole includes both the output wire directly passing through the output through hole, and the output wire passing through the output through hole through a sleeve such as a sleeve disposed on the output through hole.
  • the continuum differential mechanism may be composed of a plurality of basic differential units, wherein the output wire of one of the basic differential units may serve as an input wire for another substantially differential unit.
  • Figures 1-8 illustrate various embodiments of a continuum differential mechanism in accordance with the present invention.
  • the basic differential unit of the continuum differential mechanism comprises a base 1, 7, 13, 19, end discs 5, 18, and input wires 2, 14 and output wires 3, 4, 9, 10, 11, 12, 15, 16, 17, 21, 22, 23, 24, 25, 26.
  • Input vias 101, 131 and output vias 102, 103, 132, 133, 134 are provided on the pedestal.
  • the end disc is spaced apart from the base by a predetermined distance.
  • One end of the input wire is fixed to the end disc, and the other end passes through the input through hole, and one end of the output wire is fixed to the end disc, and the other end passes through the output through hole.
  • the basic differential unit is further provided with an input sleeve and an output sleeve, the input sleeve and the output sleeve being respectively fixed to the input through hole and the output through hole, so that the input wire and the output wire pass through the input sleeve respectively And output sleeve.
  • the input wire and/or the output wire can be an elastic rod or an elastic tube.
  • the input wire and/or the output wire are elastic alloy wires.
  • the material of the input wire and the output wire may be nickel titanium alloy, stainless steel or the like.
  • the fit between the input wire and the input through hole and the fit between the output wire and the output through hole are clearance fits. Since the input and output wires will bend and deform during the process of forming the differential motion, it will occupy more space than the diameter; if the clearance fit is not used, the input and output wires will have a large frictional resistance with the pipe wall after bending, affecting The formation of differential motion.
  • the distance between the end disc and the base is 0.25 to 4 times the distance between the output wire and the input wire. More preferably, the distance between the end disc and the base is 0.5 to 2 times the distance between the output wire and the input wire. Most preferably, the distance between the end disc and the base is 0.5 to 1 times the distance between the output wire and the input wire.
  • the base is fixed during application.
  • the input wire of the continuous body differential mechanism can be moved back and forth under the driving of the motor or the human power, and drives the output wire to move, so that one motion input is divided into two or multiple motion outputs.
  • the input and output wires are bent in the corresponding directions, so that the plurality of output wires adaptively have different outputs.
  • the motion output on the output wire can be used as the input of the basic differential unit of another continuous body differential mechanism.
  • serially and parallelly connecting a plurality of basic differential units it is theoretically possible to convert one motion input into any number of The motion output can meet the needs of various differential motions.
  • Figure 1 shows a basic differential unit with two motion outputs.
  • a basic differential unit itself constitutes a continuous body differential mechanism.
  • the plurality of basic differential units may together form a continuous differential mechanism, as will be described in more detail below.
  • the basic differential unit mainly comprises a base 1, an elastic alloy wire 2, 3, 4 and an end plate 5, wherein the elastic alloy wire 2 is an input wire, and the elastic alloy wires 3, 4 are output wires.
  • the output holes 102, 103 are respectively passed through the elastic alloy wires 2, 3, 4.
  • the end disc 5 is fixed to one end of the elastic alloy wires 2, 3, 4.
  • FIG. 2 is a schematic view showing the structure of the continuous body differential mechanism of FIG. 1 in a curved configuration.
  • FIG. 3 is a schematic view showing the structure of a continuum differential mechanism composed of a series of basic differential units of FIG. 1 and a parallel combination.
  • the continuum differential mechanism is composed of three basic differential units 100, 200, 300, wherein three basic differential units share a pedestal 7.
  • the series connection means that the output end of a certain basic differential unit is connected to the input end of another basic differential unit, and the two basic differential units are in series relationship; It means that the output of one basic differential unit is connected to the input of two or more basic differential units at the same time, and the two or more basic differential units are in parallel relationship.
  • the basic differential unit 100 and the basic differential unit 200, the basic differential unit 100 and the basic differential unit 300 are respectively in a series relationship, and the basic differential units 200 and 300 are in a parallel relationship.
  • the elastic alloy wire 8 in this embodiment is the input wire of the entire differential mechanism.
  • the basic differential unit 100 By pulling or pushing the alloy wire 8, the basic differential unit 100 is first moved and deformed, and then the basic differential unit 100 drives the basic differential units 200 and 300 to generate motion and deformation, respectively, and the end discs of the basic differential units 200 and 300.
  • the upper fixed elastic alloy wires 9 to 12 are correspondingly displaced.
  • the corresponding position on the end disc of the basic differential unit 100 has a hollow slot, so that the basic differential unit 100 and the output wires 9 to 12 do not interfere with each other during operation.
  • Fig. 4 shows a curved form of the continuous body differential mechanism.
  • Figure 5 shows a basic differential unit with a three-way motion output.
  • a basic differential unit itself constitutes a continuous body differential mechanism.
  • the plurality of basic differential units may together form a continuous differential mechanism, as will be described in more detail below.
  • the basic differential unit Mainly comprising a base 13, elastic alloy wires 14, 15, 16, 17 and an end disc 18, wherein the elastic alloy wire 14 is an input wire, and the elastic alloy wires 15, 16, 17 are output wires.
  • the base 13 has four holes, the middle hole for the elastic alloy wire 14 to pass through, and the outer three holes for the elastic alloy wires 15, 16, 17 to pass therethrough.
  • the end disc 18 is fixed to one end of the alloy wires 14, 15, 16, 17.
  • Fig. 6 shows a curved form of the continuous body differential mechanism of Fig. 5.
  • Fig. 7 is a schematic structural view of a continuous body differential mechanism which is composed of a basic differential unit string of Fig. 5 and a parallel combination.
  • the continuum differential mechanism is mainly composed of a base 19, three basic differential units 400, 500, 600, wherein the three basic differential units share a base 19.
  • the basic differential units 400 and 500, the basic differential units 400 and 600 are in a series relationship, and the basic differential units 500 and 600 are in a parallel relationship.
  • the elastic alloy wire 19 in this embodiment is the input wire of the entire mechanism.
  • the basic differential unit 400 By pulling or pushing the alloy wire 19, the basic differential unit 400 is first moved and deformed, and then the basic differential unit 400 drives the basic differential units 500 and 600 to generate motion and deformation, respectively, and the end discs of the basic differential units 500 and 600.
  • the upper fixed elastic alloy wires 21 to 26 are correspondingly displaced.
  • Fig. 8 shows a curved form of the continuous body differential mechanism.
  • the continuum differential mechanism of the present invention can be constructed from any suitable number of substantially differential units.
  • the continuum differential mechanism may also include two basic differential units (not shown), the two basic differential units sharing one pedestal and each basic differential unit including one An input wire and a plurality of output wires (e.g., two or three output wires), wherein one output wire of one of the two substantially differential units serves as an input wire for the other substantially differential unit.
  • Figure 9 is a schematic view showing the structure of an embodiment of a two-finger manipulator based on the continuous body differential mechanism of the present invention.
  • the two fingers of the robot are unfolded and bent under the driving of a continuous body differential mechanism 1000.
  • the two-finger robot includes a continuous body differential mechanism 1000, a finger holder 37, two fingers 1001, 1002, and a base 27. Each finger is hinged to the finger holder 37, and the finger holder 37 is fixed to the base 27.
  • the continuous body differential mechanism 1000 is the same as the continuous body differential mechanism shown in FIG. 1, and mainly includes a base 28, elastic alloy wires 29, 30, 31 and an end disk 32, wherein the elastic alloy wire 29 is an input.
  • the filaments, the elastic alloy wires 30, 31 are output wires and will not be described in detail herein.
  • each finger includes a drive rod 40, a link 42, a first knuckle 35, and a second knuckle 38.
  • One end of the first knuckle 35 is hinged to the finger holder 37, and the other end of the first knuckle 35 is hinged to the second knuckle 38.
  • One end of the drive rod 40 is hinged to the finger holder 37, and the other end of the drive rod 40 is hinged to one end of the link 42.
  • the other end of the link 42 is hinged to the second knuckle 38.
  • One end of the output wire 30 that passes through the output through hole is fixed to the drive rod 40.
  • one end of the output wire 30 passing through the output through hole is fixed to the middle of the drive rod 40.
  • the elastic alloy wires 30 and 31 are connected to two fingers by a pin 33 and 34, respectively. Both fingers have a symmetrical structure and are composed of two knuckles. Taking one of the fingers as an example, the first knuckle 35 is connected to the finger holder 37 by a pin 36, and the second knuckle 38 is connected to the end of the first knuckle 35 by a pin 39.
  • the output wire 30 is coupled to the drive rod 40 of this finger by a pin 33 which is free to rotate within the bore of the link 40.
  • One end of the link 40 is connected to the finger holder 37 by a pin 36, and the other end is connected to the link 42 by a pin 41, and the other end of the link 42 is connected to the second knuckle 38 by a pin 43.
  • the main working principle of the embodiment is that when the push-pull elastic alloy wire 29 is pushed back and forth, the end disc 32 moves forward and backward at the same time, and the output wires 30, 31 are moved back and forth, thereby driving the first knuckle 35 and the second knuckle 36 to bend and Expand.
  • the continuum differential mechanism is correspondingly bent, and the output wire on the other side continues to move until the finger on this side also contacts the object and then stops moving.
  • Fig. 9 is a schematic view showing the configuration of an embodiment of a three-finger robot 2000 based on the continuous body differential mechanism of the present invention.
  • the three fingers of the robot are unfolded and bent under the drive of a continuous body differential mechanism 800.
  • the three-finger robot 2000 includes a continuous body differential mechanism 800 and a palm 53 and three fingers 54, 55, 56.
  • Three fingers are hinged to the palm 53 and are connected to the three output wires 46, 47 and 48, respectively.
  • the palm 53 is fixed to the base 44 of the continuum mechanism 800. In the present embodiment, the palm 53 is fixed to the base 44 by three uprights 50, 51 and 52.
  • the continuous body differential mechanism 800 is the same as the continuous body differential mechanism shown in FIG. 5, and mainly includes a base 44, elastic alloy wires 45, 46, 47, 48 and an end disk 49, wherein the elastic alloy wire 45
  • the elastic alloy wires 46, 47 and 48 are output wires and will not be described in detail herein.
  • each finger has the same structure and are composed of two knuckles.
  • each finger includes a first knuckle 57, a second knuckle 59, a first link 62, and a second link 64, wherein one end of the first knuckle 57 is hinged to the palm 53.
  • the other end of the first knuckle 57 is hinged to the second knuckle 59.
  • One end of the first link 62 is hinged to one of the output wires (eg, the output wire 46 for driving the finger 54 and the other end hinged to one end of the second link 64.
  • the other end of the second link 64 is hinged to the Two knuckles 59.
  • the first knuckle 57 is connected to the palm 53 by a pin 58.
  • the second knuckle 59 is connected to the end of the first knuckle 57 by a pin 60.
  • the output elastic alloy wire 46 is fixed to the pin 61, and the pin 61 is mounted on the link 62 so as to be freely rotatable in the hole of the first link 62.
  • the other end of the first link 62 is connected to the second link 64 via a pin 63.
  • the other end of the second link 64 is connected to the second knuckle 59 by a pin 65.
  • the main working principle of this embodiment is: when the push-pull elastic alloy wire 45 moves up and down, the end plate 49 moves up and down at the same time and drives the output wires 46, 47 and 48 to move up and down, thereby driving the first knuckles and the second of the three fingers.
  • the knuckles are bent and unfolded.
  • the continuous body differential mechanism can continue to move, so that the continuous body differential mechanism 800 is correspondingly bent, and the two unobstructed output wires can continue to move, thereby driving the corresponding two.
  • the root finger continues to move until all the fingers are finally touching the object to stop moving.
  • the continuum differential mechanism of the invention can convert one input into any multi-path motion output, and has a simple structure and good adaptability.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

La présente invention porte sur un mécanisme différentiel de continuum et sur un bras mécanique. Le mécanisme différentiel de continuum comprend une base, un disque d'extrémité, un fil d'entrée et un fil de sortie. Un trou traversant d'entrée et un trou de sortie sont ménagés dans la base. Il y a une distance prédéfinie entre le disque d'extrémité et la base. Une extrémité du fil d'entrée est fixée sur le disque d'extrémité et une autre extrémité passe à travers le trou traversant d'entrée et une extrémité du fil de sortie est fixée sur le disque d'extrémité et une autre extrémité passe à travers le trou traversant de sortie. Le mécanisme différentiel de continuum selon la présente invention permet de rattraper le jeu d'un système d'entraînement, présente une bonne capacité d'auto-adaptation et réduit sensiblement le poids et le coût de fabrication du mécanisme.
PCT/CN2016/082047 2015-05-14 2016-05-13 Mécanisme différentiel de continuum et bras mécanique WO2016180365A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510246092.6 2015-05-14
CN201510246092.6A CN104908054B (zh) 2015-05-14 2015-05-14 连续体差动机构及机械手

Publications (1)

Publication Number Publication Date
WO2016180365A1 true WO2016180365A1 (fr) 2016-11-17

Family

ID=54077702

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/082047 WO2016180365A1 (fr) 2015-05-14 2016-05-13 Mécanisme différentiel de continuum et bras mécanique

Country Status (2)

Country Link
CN (1) CN104908054B (fr)
WO (1) WO2016180365A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104908054B (zh) * 2015-05-14 2017-02-01 汪雯 连续体差动机构及机械手

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000069375A1 (fr) * 1999-05-19 2000-11-23 Rutgers, The State University Of New Jersey Main prothetique operant avec dexterite
WO2008058061A2 (fr) * 2006-11-03 2008-05-15 President And Fellows Of Harvard College Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication
CN201677319U (zh) * 2010-04-21 2010-12-22 天津工程师范学院 新型机械手结构
CN103690280A (zh) * 2013-12-13 2014-04-02 上海交通大学 基于连续体传动机构的欠驱动假肢手
CN104908054A (zh) * 2015-05-14 2015-09-16 汪雯 连续体差动机构及机械手

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3212654A (en) * 1963-11-21 1965-10-19 Lansing Bagnall Ltd Apparatus for loading and unloading goods
US6505870B1 (en) * 2000-05-30 2003-01-14 UNIVERSITé LAVAL Actuation system for highly underactuated gripping mechanism
CN101642908A (zh) * 2009-09-01 2010-02-10 东南大学 用于实现遥操作机器人控制的人机接口装置的被动力/力矩反馈驱动器
CN103340731B (zh) * 2013-07-10 2015-04-08 上海交通大学 基于流体转换的外骨骼辅助康复治疗系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000069375A1 (fr) * 1999-05-19 2000-11-23 Rutgers, The State University Of New Jersey Main prothetique operant avec dexterite
WO2008058061A2 (fr) * 2006-11-03 2008-05-15 President And Fellows Of Harvard College Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication
CN201677319U (zh) * 2010-04-21 2010-12-22 天津工程师范学院 新型机械手结构
CN103690280A (zh) * 2013-12-13 2014-04-02 上海交通大学 基于连续体传动机构的欠驱动假肢手
CN104908054A (zh) * 2015-05-14 2015-09-16 汪雯 连续体差动机构及机械手

Also Published As

Publication number Publication date
CN104908054A (zh) 2015-09-16
CN104908054B (zh) 2017-02-01

Similar Documents

Publication Publication Date Title
EP2239106B1 (fr) Main de robot dotée de doigts semblables aux doigts humains
CN103690280B (zh) 基于连续体传动机构的欠驱动假肢手
CN102744732B (zh) 一种蛇形机械臂
CN102935642B (zh) 连杆键槽式耦合欠驱动双关节机器人手指装置
EP3998010B1 (fr) Dispositif à verrouillage automatique pour endoscope
CN103552086B (zh) 一种具有单向柔性指节的自适应手指机构
CN103659825A (zh) 弯曲自锁气动欠驱动机器人手指装置
CN101733758A (zh) 气动式欠驱动机器人手指装置
CN108189018B (zh) 一种基于差速齿轮的柔性臂段与柔性机械臂
KR20190131214A (ko) 그리퍼 장치
CN106564065A (zh) 人字连杆齿条滑块直线平夹自适应手指装置
CN111421568A (zh) 滑块式欠驱动三关节机械手指结构及机械手和其操作方法
CN108436957A (zh) 一种具有形状自适应的三指欠驱动机械手
CN101829993B (zh) 齿条曲柄滑块式并联耦合欠驱动机器人手指装置
CN101628416B (zh) 变抓力的双关节滑块式直接欠驱动机器人手指装置
CN101829992A (zh) 三齿条滑块耦合自适应欠驱动机器人手指装置
CN101941205A (zh) 柔性件滑块式并联耦合欠驱动机器人手指装置
WO2016180365A1 (fr) Mécanisme différentiel de continuum et bras mécanique
JP4114568B2 (ja) 多関節装置
CN101214655A (zh) 齿条欠驱动机器人手指装置
CN105583838A (zh) 流体式接触抓取联动自适应机器人手指装置
CN101653940B (zh) 双关节齿条耦合机器人手指装置
CN118721257A (zh) 机械手指及机械手
CN101829995A (zh) 曲柄滑块式柔性件并联耦合欠驱动手指装置
CN105437253A (zh) 自锁流体联动自适应机器人手指装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16792215

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16792215

Country of ref document: EP

Kind code of ref document: A1

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载