CN106346510A - A flexible three-finger gripper with tactile sensing function - Google Patents
A flexible three-finger gripper with tactile sensing function Download PDFInfo
- Publication number
- CN106346510A CN106346510A CN201610886440.0A CN201610886440A CN106346510A CN 106346510 A CN106346510 A CN 106346510A CN 201610886440 A CN201610886440 A CN 201610886440A CN 106346510 A CN106346510 A CN 106346510A
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- Prior art keywords
- connector
- clamper
- flexible
- tactilely
- paw
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- 239000000463 material Substances 0.000 claims abstract description 10
- 238000000418 atomic force spectrum Methods 0.000 claims description 10
- 210000004247 hand Anatomy 0.000 claims description 5
- 229920002981 polyvinylidene fluoride Polymers 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 229920000260 silastic Polymers 0.000 claims description 2
- 230000005489 elastic deformation Effects 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 abstract 3
- 239000012636 effector Substances 0.000 description 6
- 238000010030 laminating Methods 0.000 description 3
- 241000826860 Trapezium Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible three-finger clamp holder having a touch sensing function. The touch force distribution situations of the parts, in contact with a clamped object, of the fingers are obtained in real time through touch sensors attached to flexible claws and are fed back to a control system, and the control system controls a motor to drive grabbing strength of the flexible claws. The flexible three-finger clamp holder adopting the structure has the touch sensing function, can exert different clamping forces according to the specific characteristics of the object and does not damage the object. Due to the fact that the flexible claws are made from an elastic flexible material, the three fingers can product a large elastic deformation during object clamping, accordingly stronger attachment is formed, it can be ensured that the object does not fall or slip and is reliable to clamp, the flexible three-finger clamp holder is simple in structure and can serve as a terminal executor to be widely applied to various robots.
Description
Technical field
The present invention relates to the electromechanical integration technology area of end effector of robot, more particularly, to one kind have tactile
Feel that the submissive type three of perceptive function refers to clamper.
Background technology
The application in fields such as intelligence manufacture, home services for the robot is more prevalent at present.End effector of robot touches
Feel the exploitation of perceptive function, be the important channel improving robot automtion degree.In increasing application scenario, robot
Mechanical hand needs clamping or crawl unknown object, the how characteristic according to object, such as soft or hard degree, superficial makings, spatial form
Etc. come to plan correct operational motion it is ensured that operated object do not drop, non-slip, not damaged, be a kind of current technology
Trend.End effector of robot typically to operate object using two kinds of structures, and one kind is to realize " crawl " action " dexterity
Handss " mechanism, it is a kind of bio-mechanism, i.e. apish hand structure, has multiple joints, multiple degree of freedom, needs multiple
Motor, to drive, enables the grasping movement of complexity, but this structure is excessively complicated, and SERVO CONTROL difficulty is big, manufacturing cost
Very high；Another kind is the clamper realizing " clamping " action, realizes opening of paw by motor or hydropneumatic mechanism
And closure, traditional holder structure is fairly simple, but due to adopting rigid structure, the therefore clamping in gripping its body more
Power is difficult to accurately control it is possible to cause extruding to destroy to object, in the harder and smooth object of clamping quality, also often goes out
Situation about now skidding.
Therefore, prior art has yet to be improved and developed.
Content of the invention
It is an object of the invention to provide a kind of submissive type three with tactilely-perceptible function refers to clamper it is intended to solve existing
Some end effector of robot can not meet crawl simultaneously and require and structure simple question.
Technical scheme is as follows:
A kind of submissive type three with tactilely-perceptible function refers to clamper, wherein, comprising:
Electric machine support；
It is arranged on the motor on electric machine support；
For clamping the flexible paw of object；
Connect the fix bar of flexible paw and electric machine main shaft；
For the real-time touch sensor obtaining flexible paw and the touch force profile situation of held object contact portion；
Flexible paw and the touch force profile situation of held object contact portion for being fed back according to touch sensor control
Motor drives flexible hand pawl to clamp the control system of object；
Described flexibility paw is placed in the bottom of electric machine support, and touch sensor is arranged on flexible paw, touch sensor and control
System processed connects, and motor is connected with control system.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described flexibility paw is by elastic compliant
Material one-shot forming is made.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described flexibility paw is by silicone rubber material
Material one-shot forming is made.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described flexibility paw includes 3 handss
Refer to, described finger includes finger main body, the first connector, the second connector, the 3rd connector and the 4th connector, described finger
Main body includes fixing end and bare terminal end, and the fixing end of 3 finger main bodys is linked together by the first joint portion, 3 finger masters
The middle part of body is linked together by the second joint portion；Described first connector one end connects to the middle part of finger main body, and first
The connector other end, the second joint portion and second connector one end link together, the second connector other end, the 3rd connector
One end and the 4th connector one end link together, and the 3rd connector other end connects to finger main body, and the 4th connector is another
End connects to the bare terminal end of finger main body.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described 3 fingers are two-by-two spatially
The setting of 120 ° of interval.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described finger main body is in that hook solid is tied
Structure.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described motor adopts linear electric machine, Gu
One end of fixed pole is fixedly connected through the first joint portion with the second joint portion, and the other end of fix bar passes through linear electric motors tubulose master
Axle is fixed on motor internal, and the first joint portion is socketed on inside electric machine support, keeps contacting with the tubular spindle of linear electric motors.
The described submissive type three with tactilely-perceptible function refers to clamper, wherein, one end of described fix bar and second
Joint portion is threadably secured connection.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, the quantity of described touch sensor sets
Put 3, stick to respectively inside the 4th connector of 3 fingers；Described touch sensor adopts pvdf piezoelectric film sensor.
The described submissive type three with tactilely-perceptible function refers to clamper, and wherein, described control system includes and tactile
What the instrumentation amplifier that the multi channel selecting chip that sensor connects is connected with multi channel selecting chip was connected with instrumentation amplifier has
The push rod driver that the single-chip microcomputer that source filter is connected with active filter is connected with single-chip microcomputer, described push rod driver and electricity
Machine connects, and single-chip microcomputer is also connected with central processing unit.
Beneficial effects of the present invention: the invention provides a kind of submissive type three with tactilely-perceptible function refers to clamper,
By sticking to the touch sensor on flexible paw, obtain each finger in real time and divide with the touch of held object contact portion
Cloth situation simultaneously feeds back to control system, drives the crawl dynamics of flexible paw by control system controlled motor, this structure
The three finger tactile perceptive functions of clamper, can apply according to the concrete property of object with different chucking powers, will not be to thing
Body causes to damage；Because flexible paw is made using elastic compliant material, during clamping object, three fingers can produce relatively
Big elastic deformation, thus form higher laminating degree it is ensured that object do not drop, non-slip, clamping reliable, this three refers to clamping
Device structure is simple, can be widely used in all kinds of robots as end effector.
Brief description
Fig. 1 is the structural representation of the submissive type three finger clamper in the present invention with tactilely-perceptible function.
Fig. 2 is the partial sectional view of the submissive type three finger clamper in the present invention with tactilely-perceptible function.
Fig. 3 is the top view of flexible paw in the present invention.
Fig. 4 is the front view of flexible paw in the present invention.
Fig. 5 is the inside connection figure of control system in the present invention.
Specific embodiment
For making the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention further describes.
As shown in Figure 1-2, a kind of submissive type three with tactilely-perceptible function refers to clamper, comprising:
Electric machine support 100；
It is arranged on the motor 200 on electric machine support 100；
For clamping the flexible paw 300 of object；
Connect the fix bar 400 of flexible paw 300 and electric machine main shaft；
For the real-time touch sensor 500 obtaining flexible paw 300 and the touch force profile situation of held object contact portion；
Touch force profile situation for the flexible paw 300 that fed back according to touch sensor 500 and held object contact portion
Carrying out controlled motor 200 drives flexible paw to clamp the control system of object；
Described flexibility paw 300 is placed in the bottom of electric machine support 100, and touch sensor 500 is arranged on flexible paw 300, touches
Feel that sensor 500 is connected with control system, motor 200 is connected with control system.
Specifically, described flexibility paw 300 is made by elastic compliant material one-shot forming.In order to meet clamping object
DE, in the present embodiment, described flexibility paw 300 be made by silastic material one-shot forming.
As shown in Figure 3-4, further, described flexibility paw 300 includes 3 fingers 310, and described finger 310 includes handss
Refer to main body 311, the first connector 312, the second connector 313, the 3rd connector 314 and the 4th connector 315, described finger master
Body 311 includes fixing end and bare terminal end, and the fixing end of 3 finger main bodys 311 is linked together by the first joint portion 320,3
The middle part of finger main body 311 is linked together by the second joint portion 330；Described first connector 312 one end connects to finger
The middle part of main body 311, the first connector 312 other end, the second joint portion 330 and the second connector 313 one end link together,
Second connector 313 other end, the 3rd connector 314 one end and the 4th connector 315 one end link together, the 3rd connector
314 other ends connect to finger main body 311, and the 4th connector 315 other end connects to the bare terminal end of finger main body 311；Handss
Refer to main body 311 and the first connector 312, the second connector 313, the 3rd connector 314 form a trapezium structure, finger main body
311 and the 3rd connector 314, the 4th connector 315 form a trapezium structure.
In the present embodiment, in order that flexible paw 300 clamping dynamics is uniformly distributed, described 3 fingers 310 spatially two
Two 120 ° of interval settings.For the ease of clamping object, described finger main body 311 is in hooked shape structure, and motor 200 drives hook solid
Finger main body 311 object is clamped.
Specifically, described motor 200 adopts linear electric machine, and one end of fix bar 400 passes through the first joint portion 320 and second
Joint portion 330 be fixedly connected (in the present embodiment, one end of described fix bar 400 and the second joint portion 330 company of being threadably secured
Connect), the other end of fix bar 400 is fixed on inside motor 200 through linear electric motors tubular spindle, and the first joint portion 320 is socketed
Inside electric machine support 100, keep contacting with the tubular spindle of linear electric motors.
Install and obtain the touch force profile situation of flexible paw 300 and held object contact portion for convenience, specifically
Ground, it (is to be respectively mounted a tactile sensing on each finger 310 that described touch sensor 500 sticks to the 4th connector 315 inner side
Device 500, a flexible paw 300 is provided with 3 touch sensors 500).In the present embodiment, described touch sensor 500 is adopted
Use pvdf piezoelectric film sensor, pvdf piezoelectric film sensor obtains flexible paw 300 and held object contact site in real time
Point touch force profile situation and feed back to control system, the flexible paw 300 that control system feed back according to touch sensor 500 and
The touch force profile situation of held object contact portion is carried out controlled motor 200 and is driven flexible paw clamping object.
As shown in figure 5, specifically, described control system includes multi channel selecting chip (this being connected with touch sensor 500
In embodiment, model cd74hc4067e of multi channel selecting chip) instrumentation amplifier (this reality of being connected with multi channel selecting chip
Apply in example, the ad8429 of the adi company of the model U.S. of instrumentation amplifier) active filter that is connected with instrumentation amplifier (this
In embodiment, the lt1568 of the linear company of the model U.S. of active filter) single-chip microcomputer that is connected with active filter
(in the present embodiment, 16 single-chip microcomputer dspic30f2011 of the Wei Xin company of the model U.S. of single-chip microcomputer) is connected with single-chip microcomputer
Push rod l20 driver, described push rod l20 driver is connected with motor 200, and single-chip microcomputer is also connected with central processing unit；Wherein,
Said chip all using paster packing forms, in addition peripheral circuit further comprises the Chip-R of different resistances, surface mounting crystal pipe,
Patch capacitor, paster LED lamp and switch key etc..(above-mentioned control system is a kind of embodiment, other chip portfolios
It is likely to realize said function.)
The operation process originally with the submissive type three finger clamper of tactilely-perceptible function is as follows: under the guiding of machine vision, this
Three refer to clamper close to held object to correct position, and control system sends control instruction, so that motor 200 is fed, i.e. straight line
The tubular spindle of motor stretches out, thus promoting the first joint portion 320 of flexible paw 300 to travel forward；Due to there being fix bar 400
Constraint, the 4th connector 315 and the held object of touch sensor 500, so finger main body 311 is inwardly drawn in, are installed
Contact, the touch data message of now control system collection touch sensor 500, after the signal processing such as amplifying, filter, warp
Single-chip microcomputer is sent to central processing unit, central processing unit realize to object soft or hard degree, superficial makings, spatial form identification, and
Feedback sends instruction to single-chip microcomputer and push rod l20 driver, controls the tubular spindle of linear electric motors to extend further, flexible paw
300 various pieces, including finger main body 311, the first connector 312, the second connector 313, the 3rd connector the 314, the 4th
There is elastic deformation in connector 315, improve further therewith with the laminating degree of object, thus completing reliable retention；In clamping
During, control system gathers the signal of touch sensor 500 all the time, carries out closed loop control；After clamping terminates, linear electric motors
Tubular spindle is retracted, and the various pieces of flexible paw 300 voluntarily restore to the original state, and held object is released.
The submissive type three originally with tactilely-perceptible function refers to clamper by sticking to the touch sensor on flexible paw,
Obtain the touch force profile situation of each finger and held object contact portion in real time and feed back to control system, by controlling be
System controlled motor drives the crawl dynamics of flexible paw, the three finger tactile perceptive functions of clamper of this structure, Neng Gougen
According to the concrete property of object, apply with different chucking powers, object will not be caused damage；Because flexible paw adopts flexible
It is made along material, during clamping object, three fingers can produce larger elastic deformation, thus forming higher laminating
Degree it is ensured that object do not drop, non-slip, clamping reliable, three to refer to holder structure simple for this, can be extensive as end effector
It is applied to all kinds of robots.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved according to the above description or to convert, all these modifications and variations all should belong to the guarantor of claims of the present invention
Shield scope.
Claims (10)
1. a kind of submissive type three with tactilely-perceptible function refers to clamper it is characterised in that including:
Electric machine support；
It is arranged on the motor on electric machine support；
For clamping the flexible paw of object；
Connect the fix bar of flexible paw and electric machine main shaft；
For the real-time touch sensor obtaining flexible paw and the touch force profile situation of held object contact portion；
Flexible paw and the touch force profile situation of held object contact portion for being fed back according to touch sensor control
Motor drives flexible hand pawl to clamp the control system of object；
Described flexibility paw is placed in the bottom of electric machine support, and touch sensor is arranged on flexible paw, touch sensor and control
System processed connects, and motor is connected with control system.
2. the submissive type three with tactilely-perceptible function according to claim 1 refers to clamper it is characterised in that described soft
Property paw is made by elastic compliant material one-shot forming.
3. the submissive type three with tactilely-perceptible function according to claim 2 refers to clamper it is characterised in that described soft
Property paw is made by silastic material one-shot forming.
4. the submissive type three with tactilely-perceptible function according to claim 1 refers to clamper it is characterised in that described soft
Property paw includes 3 fingers, and described finger includes finger main body, the first connector, the second connector, the 3rd connector and the 4th
Connector, described finger main body includes fixing end and bare terminal end, and the fixing end of 3 finger main bodys is connected to by the first joint portion
Together, the middle part of 3 finger main bodys is linked together by the second joint portion；Described first connector one end connects to finger master
The middle part of body, the first connector other end, the second joint portion and second connector one end link together, and the second connector is another
End, the 3rd connector one end and the 4th connector one end link together, and the 3rd connector other end connects to finger main body, the
The four connector other ends connect to the bare terminal end of finger main body.
5. the submissive type three with tactilely-perceptible function according to claim 4 refers to clamper it is characterised in that described 3
Spatially 120 ° of the interval setting two-by-two of individual finger.
6. the submissive type three with tactilely-perceptible function according to claim 4 refers to clamper it is characterised in that described handss
Referring to main body is in hooked shape structure.
7. the submissive type three with tactilely-perceptible function according to claim 4 refers to clamper it is characterised in that described electricity
Machine adopts linear electric machine, and one end of fix bar is fixedly connected through the first joint portion with the second joint portion, the other end of fix bar
It is fixed on motor internal through linear electric motors tubular spindle, the first joint portion is socketed on inside electric machine support, with linear electric motors
Tubular spindle keeps contact.
8. the submissive type three with tactilely-perceptible function according to claim 7 refers to clamper it is characterised in that described solid
One end of fixed pole is threadably secured with the second joint portion and is connected.
9. the submissive type three with tactilely-perceptible function according to claim 4 refers to clamper it is characterised in that described touch
Feel that the quantity of sensor arranges 3, stick to respectively inside the 4th connector of 3 fingers；Described touch sensor adopts
Pvdf piezoelectric film sensor.
10. the submissive type three with tactilely-perceptible function according to claim 1 refers to clamper it is characterised in that described
Instrumentation amplifier that the multi channel selecting chip that control system includes being connected with touch sensor is connected with multi channel selecting chip and
The push rod driver that the single-chip microcomputer that the active filter that instrumentation amplifier connects is connected with active filter is connected with single-chip microcomputer,
Described push rod driver and motor connection, single-chip microcomputer is also connected with central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610886440.0A CN106346510B (en) | 2016-10-11 | 2016-10-11 | A kind of finger clamper of submissive type three with tactilely-perceptible function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610886440.0A CN106346510B (en) | 2016-10-11 | 2016-10-11 | A kind of finger clamper of submissive type three with tactilely-perceptible function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346510A true CN106346510A (en) | 2017-01-25 |
| CN106346510B CN106346510B (en) | 2018-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610886440.0A Expired - Fee Related CN106346510B (en) | 2016-10-11 | 2016-10-11 | A kind of finger clamper of submissive type three with tactilely-perceptible function |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476031A (en) * | 2015-08-28 | 2017-03-08 | 泰科电子公司 | Fixture with conformal spring fingers |
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
| CN107479404A (en) * | 2017-09-21 | 2017-12-15 | 西北工业大学 | A kind of intelligent clamping device and its Active Control Method |
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN108698225A (en) * | 2017-08-24 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | The method and robot of robot store items |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN109202873A (en) * | 2018-11-22 | 2019-01-15 | 北京秘塔网络科技有限公司 | A kind of flexible mechanical arm and its control method of cooperating |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN110640732A (en) * | 2019-09-30 | 2020-01-03 | 佛山科学技术学院 | Adaptive grabbing method and grabbing system of flexible clamper |
| CN110861853A (en) * | 2019-11-29 | 2020-03-06 | 三峡大学 | A smart garbage sorting method combining vision and touch |
| CN111993304A (en) * | 2020-08-05 | 2020-11-27 | 五邑大学 | Flexible three-finger clamp |
| CN112649280A (en) * | 2020-11-04 | 2021-04-13 | 哈尔滨工业大学（深圳） | Drop hammer releasing device |
| CN113650023A (en) * | 2017-07-21 | 2021-11-16 | 北京纳米能源与系统研究所 | Autonomous sensing flexible robot and its application |
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| CN114630739A (en) * | 2019-10-02 | 2022-06-14 | 丰田研究所股份有限公司 | System and method for determining pose of object held by flexible end effector |
| CN116326517A (en) * | 2023-05-09 | 2023-06-27 | 哈尔滨工业大学（威海） | Underwater robot for coral conservation |
| CN116330244A (en) * | 2021-12-23 | 2023-06-27 | 广东奥迪威传感科技股份有限公司 | Adaptive flexible clamping device and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106476031A (en) * | 2015-08-28 | 2017-03-08 | 泰科电子公司 | Fixture with conformal spring fingers |
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
| CN113650023A (en) * | 2017-07-21 | 2021-11-16 | 北京纳米能源与系统研究所 | Autonomous sensing flexible robot and its application |
| CN108698225B (en) * | 2017-08-24 | 2022-05-17 | 深圳蓝胖子机器智能有限公司 | Method and robot for stacking goods by robot |
| CN108698225A (en) * | 2017-08-24 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | The method and robot of robot store items |
| CN107479404A (en) * | 2017-09-21 | 2017-12-15 | 西北工业大学 | A kind of intelligent clamping device and its Active Control Method |
| CN107479404B (en) * | 2017-09-21 | 2018-07-03 | 西北工业大学 | A kind of intelligence clamping device and its Active Control Method |
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN109202873A (en) * | 2018-11-22 | 2019-01-15 | 北京秘塔网络科技有限公司 | A kind of flexible mechanical arm and its control method of cooperating |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN110432000B (en) * | 2019-08-23 | 2024-06-11 | 佛山科学技术学院 | Fruit and vegetable picking actuator based on integration of flexible gripping and clamping and shearing and picking method thereof |
| US12521895B2 (en) | 2019-09-02 | 2026-01-13 | The Human Touch Robotics Oy | Adaptive gripper finger, gripper device and method of using adaptive gripper device |
| CN110640732A (en) * | 2019-09-30 | 2020-01-03 | 佛山科学技术学院 | Adaptive grabbing method and grabbing system of flexible clamper |
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| CN114630739B (en) * | 2019-10-02 | 2023-07-18 | 丰田研究所股份有限公司 | Systems and methods for determining the pose of an object held by a flexible end effector |
| CN114630739A (en) * | 2019-10-02 | 2022-06-14 | 丰田研究所股份有限公司 | System and method for determining pose of object held by flexible end effector |
| CN110861853A (en) * | 2019-11-29 | 2020-03-06 | 三峡大学 | A smart garbage sorting method combining vision and touch |
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| CN113858238A (en) * | 2021-09-13 | 2021-12-31 | 苏州大学 | Robot bionic hand and grasping method and system |
| CN116330244A (en) * | 2021-12-23 | 2023-06-27 | 广东奥迪威传感科技股份有限公司 | Adaptive flexible clamping device and its control method |
| CN116326517A (en) * | 2023-05-09 | 2023-06-27 | 哈尔滨工业大学（威海） | Underwater robot for coral conservation |
| CN119501988A (en) * | 2024-11-08 | 2025-02-25 | 浙江工业大学 | A three-finger flexible gripper device and touch-vision detection method |
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