CN113752243A - Spine-imitating variable-stiffness structure based on universal joint and use method thereof - Google Patents
Spine-imitating variable-stiffness structure based on universal joint and use method thereof Download PDFInfo
- Publication number
- CN113752243A CN113752243A CN202111153821.5A CN202111153821A CN113752243A CN 113752243 A CN113752243 A CN 113752243A CN 202111153821 A CN202111153821 A CN 202111153821A CN 113752243 A CN113752243 A CN 113752243A
- Authority
- CN
- China
- Prior art keywords
- universal joint
- wire
- locking
- spine
- variable stiffness
- 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.)
- Pending
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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
本发明公开了一种基于万向节的仿脊椎变刚度结构及其使用方法，用于与软体驱动器连接；蛇形链本体包括多个串联连接的万向节；固定座与蛇形链本体的一端固定连接；固定座上开设有线孔和气孔；锁定线组包括均匀环绕蛇形链本体轴线的至少三根锁定线；锁定线一端与远离固定座的万向节固定，锁定线依次穿过多个万向节，另一端穿过线孔；柔性包裹囊为一端开口的圆柱型气囊，且套设在蛇形链本体外侧；柔性包裹囊的开口端与固定座密封连接，且与气孔连通。当软体驱动器运行到位后，依次通过收紧锁定线和对柔性包裹囊内部进行抽真空的方式进行两次刚度调节。
The invention discloses a vertebra-like variable stiffness structure based on a universal joint and a method for using the same, which are used for connecting with a software driver; a serpentine chain body includes a plurality of universal joints connected in series; a fixed seat and a serpentine chain body are connected One end is fixedly connected; the fixed seat is provided with a wire hole and an air hole; the locking wire group includes at least three locking wires evenly surrounding the axis of the serpentine chain body; one end of the locking wire is fixed with the universal joint away from the fixing seat, and the locking wire passes through multiple The universal joint passes through the wire hole at the other end; the flexible wrapping bag is a cylindrical airbag with one end open, and is sleeved on the outside of the serpentine chain body; the open end of the flexible wrapping bag is sealed with the fixed seat and communicated with the air hole. When the soft actuator is in place, the stiffness adjustment is performed twice by tightening the locking wire and vacuuming the inside of the flexible wrapping bag in turn.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a pneumatic-driven soft continuum robot, a soft mechanical arm and the rigidity adjustment of a soft hand.
Background
The excellent environmental adaptability and safety of the pneumatic-driven soft-body robot are accepted by researchers in the related field, and on the basis, a plurality of robots with excellent performance are designed, and the robots are well complementary to rigid robots.
The existing soft robots can be classified into two types, wherein the whole structure of one type is made of flexible materials, and the other type is only made of flexible materials as main functional components. The soft robot with the whole structure made of flexible materials is high in integrity, strong in environment adaptability and higher in safety, but has the problems of low whole rigidity, high movement control difficulty and the like. Aiming at the rigidity problem, researchers provide various rigidity changing modes such as novel polymer materials, novel alloys, electro-rheological modes, magneto-rheological modes, negative pressure interference modes and the like for adjusting the rigidity change of a part or the whole of the soft robot. However, in the current variable stiffness method, except for the interference method, the other methods all require an external magnetic field or current for activation, and the reaction time is long, so the interference method is a currently practical soft robot stiffness adjustment method.
The mode of changing rigidity by interference mostly adopts the modes of particles, fibers, paper layers and the like as interference materials, and in the actual use process, although the rigidity adjustment of multiple times can be realized, the initial rigidity is lower. And the interference materials are extruded by the soft robot in the movement process, relative sliding is easy to occur among the interference materials, and the whole body is deformed, so that the integral rigidity changing effect is weakened, and the movement effect of the soft robot is influenced.
Therefore, there is a need for a variable stiffness structure and a variable stiffness method with high initial stiffness and stiffness adjustment capability without affecting the motion of a soft robot, which have great research significance and practical value.
Disclosure of Invention
In view of the above, the present invention provides a spine-like variable stiffness structure based on a universal joint and a method for using the same, and aims to solve the above technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a spine-imitating variable stiffness structure based on universal joints is used for being connected with a soft driver; the method comprises the following steps:
a serpentine chain body; the serpentine chain body comprises a plurality of gimbals connected in series;
a fixed seat; the fixed seat is fixedly connected with one end of the snake-shaped chain body; the fixed seat is provided with a line hole and an air hole;
a set of locking lines; the locking wire group comprises at least three locking wires uniformly surrounding the axis of the serpentine chain body; one end of the locking wire is fixed with the universal joint far away from the fixed seat, the locking wire sequentially penetrates through the universal joints, and the other end of the locking wire penetrates through the wire hole;
a flexible packaging bag; the flexible packaging bag is a cylindrical air bag with an opening at one end and is sleeved outside the snake-shaped chain body; the opening end of the flexible wrapping bag is connected with the fixing seat in a sealing mode and is communicated with the air hole.
Through the technical scheme, the invention provides a variable stiffness structure of a pneumatic soft mechanical arm or a soft continuum robot suitable for realizing omnidirectional bending motion based on flexible relative rotation motion of a universal joint structure and combined with a bionic design of a snake spine structure.
Preferably, in the above-mentioned spine-like variable stiffness structure based on a universal joint, the universal joint is a cross-shaped universal joint, or a rzeppa universal joint. Mainly meeting the snake-shaped motion condition.
Preferably, in the above artificial spine variable stiffness structure based on a universal joint, the universal joint comprises a housing and a ball head fixed at the end of the housing; the side wall of the shell is provided with a control hole along the axial direction for the locking wire to pass through. The structure can realize bending, torsion and other movements besides extension and contraction along with the carried soft robot.
Preferably, in the above artificial spine variable stiffness structure based on universal joints, the locking wire is a metal wire with a smooth surface. The locking wire is a metal wire which is inextensible, easy to bend and smooth in surface, so that the stability of the variable-stiffness structure during stiffness adjustment can be effectively improved, and the reverse consistency of the universal joint structure on the chain structure is ensured.
Preferably, in the above artificial spine variable stiffness structure based on a universal joint, the soft driver is a cylindrical pneumatic soft structure, and the soft driver is sleeved outside the flexible packaging bag. The variable-rigidity structure can be driven to move.
Preferably, in the above-mentioned artificial spine variable stiffness structure based on universal joints, the number of the locking lines is 3. Can be added or reduced according to actual requirements.
Preferably, in the artificial spine variable stiffness structure based on the universal joint, the locking line penetrates out of the line hole and then is connected with a power output shaft of the motor, and the length of the locking line is controlled through the forward and reverse rotation of the motor. Is convenient to control.
Preferably, in the above artificial spine variable stiffness structure based on universal joints, the air holes are connected with a vacuum pump. Can realize vacuum pumping and inflation treatment.
Preferably, in the above artificial spine variable stiffness structure based on universal joints, the universal joints are connected end to form a chain, one end of the chain is connected with the fixed seat through mechanical locking or bolts and nuts, and the other end of the chain is a free end.
The invention also provides a use method of the spine-imitating variable stiffness structure based on the universal joint, and after the soft driver runs in place, the stiffness is adjusted twice in a mode of sequentially tightening the locking wire and vacuumizing the interior of the flexible packaging bag.
According to the technical scheme, in the stiffness adjusting process, the locking wire is locked by the external motor to realize primary stiffness adjustment, and then air in the flexible packaging bag is pumped out to realize secondary stiffness adjustment in an interference mode.
Preferably, in the above method for using the artificial spine variable stiffness structure based on the universal joint, after two stiffness adjustments are completed, after the working end of the soft body driver is operated, gas is firstly introduced into the flexible packaging bag to restore the flexible packaging bag to the original state, then the locked locking line is released to enable the flexible packaging bag to be in the free state, and finally compressed gas in the soft body driver is released to restore the original shape. By controlling the cooperation of the soft mechanical arm and the intermittent motion of the spine-imitating variable-stiffness structure, the stable implementation of the motion of the soft mechanical arm, such as barrier crossing search, object grabbing and the like, is realized.
According to the technical scheme, compared with the prior art, the invention discloses a spine-imitating variable stiffness structure based on a universal joint and a using method thereof, and the spine-imitating variable stiffness structure has the following beneficial effects:
1. the invention provides a spine-imitating variable-stiffness structure based on universal joints, aiming at the problem that interference materials are extruded to generate relative sliding and weaken performance in the existing interference variable-stiffness mode.
2. Compared with the existing interference mode, the two-stage variable stiffness mode of the line locking and interference hybrid variable stiffness structure provided by the invention has higher initial stiffness and larger stiffness adjustment range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a variable stiffness structure of a simulated spine based on a universal joint according to an embodiment 1 of the invention;
FIG. 2 is a schematic structural diagram of a gimbal according to the present invention;
FIG. 3 is a schematic diagram of a control method of a variable-stiffness structure of an artificial spine based on a universal joint according to embodiment 1;
FIG. 4 is a schematic diagram of a variable stiffness structure of a simulated spine based on a universal joint according to an embodiment 2 of the invention;
fig. 5 is a schematic diagram of a control method of a variable-stiffness structure of an artificial spine based on a universal joint according to embodiment 2 of the invention.
Wherein:
1-a software driver;
2-a serpentine chain body;
21-a universal joint; 211-a housing; 2111-control hole; 212-a ball head;
3-fixing the base;
a 31-wire hole; 32-pores;
4-locked line group;
41-locking wire;
and 5-flexible packaging bags.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1 to fig. 3, the embodiment of the invention discloses a spine-imitating variable stiffness structure based on a universal joint, comprising:
a serpentine chain body 2; the serpentine chain body 2 comprises a plurality of gimbals 21 connected in series;
a fixed seat 3; the fixed seat 3 is fixedly connected with one end of the snake-shaped chain body 2; the fixed seat 3 is provided with a line hole 31 and an air hole 32;
a set of locking lines 4; the group of locking wires 4 comprises at least three locking wires 41 uniformly surrounding the axis of the serpentine chain body 2; one end of the locking wire 41 is fixed with the universal joint 21 far away from the fixed seat 3, the locking wire 41 sequentially penetrates through the universal joints 21, and the other end of the locking wire 41 penetrates through the wire hole 31;
a flexible wrapping bag 5; the flexible packaging bag 5 is a cylindrical air bag with an opening at one end and is sleeved outside the snake-shaped chain body 2; the open end of the flexible wrapping bag 5 is hermetically connected with the fixed seat 3 and is communicated with the air hole 32.
In order to further optimize the above technical solution, the universal joint 21 is a cross-pin universal joint, a cross-ball universal joint, or a rzeppa universal joint.
In order to further optimize the above technical solution, the universal joint 21 includes a housing 211 and a ball 212 fixed at the end of the housing 211; the side wall of the housing 211 is opened along its axial direction with a control hole 2111 for the lock wire 41 to pass through.
In order to further optimize the above technical solution, the locking wire 41 is a metal wire with a smooth surface.
In order to further optimize the technical scheme, the soft driver 1 is a cylindrical pneumatic soft structure, and the soft driver 1 is sleeved on the outer side of the flexible packaging bag 5.
In order to further optimize the above solution, the number of locking lines 41 is 3.
In order to further optimize the technical scheme, the locking wire 41 penetrates out of the wire hole 31 and then is connected with a power output shaft of the motor, and the length control of the locking wire 41 is controlled through the positive and negative rotation control of the motor.
In order to further optimize the above technical solution, the air hole 32 is connected with a vacuum pump.
The invention provides a method for using a spine-imitating variable stiffness structure based on a universal joint, which comprises the following steps: after the soft driver 1 runs in place, the rigidity is adjusted twice by sequentially tightening the locking line 41 and vacuumizing the interior of the flexible packaging bag 5.
After the two rigidity adjustments are completed, after the working end of the soft driver 1 is operated, firstly introducing gas into the flexible packaging bag 5 to restore the flexible packaging bag, then releasing the locked locking wire 41 to enable the flexible packaging bag to be in a free state, and finally releasing the compressed gas in the soft driver 1 to restore the original shape.
Example 2:
referring to fig. 4 and 5, the variable stiffness structure in example 1 is installed in the axial cavity of the soft mechanical arm, and the soft silica gel wall of the cavity is used as a negative pressure interference variable stiffness wrapping bag.
The chamber of the soft mechanical arm is filled with air, the air passes through an object obstacle through bending and linear motion, the locking line 41 in the motion process is in a free state, and the universal joint 21 in the shaft center chamber generates the same bending deformation along with the motion of the mechanical arm.
After the movement is finished, all external motors are controlled to move simultaneously to gradually tighten the locking wire 21, so that the universal joint 21 is kept tight, and the integral rigidity is improved. After the universal joint 21 is locked by a line, air in the axis cavity is pumped by an air pump, and the silica gel wall of the axis cavity is tightly attached to the surface under the action of the internal and external pressure difference, so that the relative displacement between the universal joint 21 is limited, and the integral rigidity is improved again.
After the two rigidity adjustments are completed, after the mechanical arm completes the movement, gas is firstly introduced into the wrapping bag to restore the wrapping bag to the original shape, then the locked locking line 41 is released to enable the wrapping bag to be in a free state, and finally compressed gas in the soft mechanical arm is released to restore the original shape. By controlling the cooperation of the soft mechanical arm and the intermittent motion of the spine-imitating variable-stiffness structure, the stable implementation of the motion of the soft mechanical arm, such as barrier crossing search, object grabbing and the like, is realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153821.5A CN113752243A (en) | 2021-09-29 | 2021-09-29 | Spine-imitating variable-stiffness structure based on universal joint and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153821.5A CN113752243A (en) | 2021-09-29 | 2021-09-29 | Spine-imitating variable-stiffness structure based on universal joint and use method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113752243A true CN113752243A (en) | 2021-12-07 |
Family
ID=78798256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111153821.5A Pending CN113752243A (en) | 2021-09-29 | 2021-09-29 | Spine-imitating variable-stiffness structure based on universal joint and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113752243A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852292A (en) * | 2022-04-18 | 2022-08-05 | 武汉大学 | Hybrid-actuated underwater unmanned vehicle incorporating a bionic spine |
| CN115476390A (en) * | 2022-09-29 | 2022-12-16 | 西安交通大学 | Variable-rigidity structure for continuum mechanical arm |
| CN115092280B (en) * | 2022-06-21 | 2024-03-22 | 中南大学 | Soft flexible trunk and soft flexible bionic wall-climbing robot |
| EP4450828A4 (en) * | 2021-12-17 | 2025-04-02 | Bridgestone Corporation | HYDRAULIC ACTUATOR |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4107948A (en) * | 1976-01-30 | 1978-08-22 | Trallfa Nils Underhaug A/S | Flexible robot arm |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN107598896A (en) * | 2017-10-16 | 2018-01-19 | 浙江大学 | A kind of anthropomorphic robot spine structure of hard and soft soft coupling |
| CN208289885U (en) * | 2018-05-24 | 2018-12-28 | 枣庄学院 | A kind of Bionic flexible mechanical arm |
| CN109940597A (en) * | 2019-04-19 | 2019-06-28 | 中国民航大学 | A continuous robotic arm imitating snake vertebrae |
| CN110253562A (en) * | 2019-06-04 | 2019-09-20 | 广东省智能制造研究所 | A flexible spine for a quadruped robot based on pneumatic muscles |
| CN211220701U (en) * | 2019-08-29 | 2020-08-11 | 南京理工大学 | A Variable Stiffness Enhanced Pneumatic Soft Actuator |
| CN112936244A (en) * | 2021-01-26 | 2021-06-11 | 南开大学 | Rigidity-adjustable spherical hinge, rigidity-adjustable elastic spine and soft robot |
| CN113290563A (en) * | 2021-05-31 | 2021-08-24 | 哈尔滨工业大学 | Space target capturing method of variable-rigidity rope-driven snakelike mechanical arm |
| CN113334427A (en) * | 2021-04-09 | 2021-09-03 | 北京理工大学 | Flexible robot and preparation method thereof |
| CN215968746U (en) * | 2021-09-29 | 2022-03-08 | 江西理工大学 | Spine-imitating variable-stiffness structure based on universal joint |
-
2021
- 2021-09-29 CN CN202111153821.5A patent/CN113752243A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4107948A (en) * | 1976-01-30 | 1978-08-22 | Trallfa Nils Underhaug A/S | Flexible robot arm |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN107598896A (en) * | 2017-10-16 | 2018-01-19 | 浙江大学 | A kind of anthropomorphic robot spine structure of hard and soft soft coupling |
| CN208289885U (en) * | 2018-05-24 | 2018-12-28 | 枣庄学院 | A kind of Bionic flexible mechanical arm |
| CN109940597A (en) * | 2019-04-19 | 2019-06-28 | 中国民航大学 | A continuous robotic arm imitating snake vertebrae |
| CN110253562A (en) * | 2019-06-04 | 2019-09-20 | 广东省智能制造研究所 | A flexible spine for a quadruped robot based on pneumatic muscles |
| CN211220701U (en) * | 2019-08-29 | 2020-08-11 | 南京理工大学 | A Variable Stiffness Enhanced Pneumatic Soft Actuator |
| CN112936244A (en) * | 2021-01-26 | 2021-06-11 | 南开大学 | Rigidity-adjustable spherical hinge, rigidity-adjustable elastic spine and soft robot |
| CN113334427A (en) * | 2021-04-09 | 2021-09-03 | 北京理工大学 | Flexible robot and preparation method thereof |
| CN113290563A (en) * | 2021-05-31 | 2021-08-24 | 哈尔滨工业大学 | Space target capturing method of variable-rigidity rope-driven snakelike mechanical arm |
| CN215968746U (en) * | 2021-09-29 | 2022-03-08 | 江西理工大学 | Spine-imitating variable-stiffness structure based on universal joint |
Non-Patent Citations (3)
| Title |
|---|
| 徐晓亮等: "基于纤维包覆式气动结构的柔性手术臂刚度调节性能研究", 机械工程学报, 31 March 2019 (2019-03-31), pages 46 - 52 * |
| 鲍官军;张亚琪;许宗贵;蔡世波;胥芳;杨庆华;张立彬;: "软体机器人气压驱动结构研究综述", 高技术通讯, no. 05, 15 May 2019 (2019-05-15), pages 46 - 52 * |
| 鲍官军等: "软体机器人气压驱动结构研究综述", 高技术通讯, 14 June 2019 (2019-06-14), pages 467 - 479 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4450828A4 (en) * | 2021-12-17 | 2025-04-02 | Bridgestone Corporation | HYDRAULIC ACTUATOR |
| CN114852292A (en) * | 2022-04-18 | 2022-08-05 | 武汉大学 | Hybrid-actuated underwater unmanned vehicle incorporating a bionic spine |
| CN115092280B (en) * | 2022-06-21 | 2024-03-22 | 中南大学 | Soft flexible trunk and soft flexible bionic wall-climbing robot |
| CN115476390A (en) * | 2022-09-29 | 2022-12-16 | 西安交通大学 | Variable-rigidity structure for continuum mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113752243A (en) | Spine-imitating variable-stiffness structure based on universal joint and use method thereof | |
| CN110270987B (en) | Pneumatic soft crawling robot and manufacturing and control method thereof | |
| CN215968746U (en) | Spine-imitating variable-stiffness structure based on universal joint | |
| CN106346464B (en) | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection | |
| Tondu et al. | Naturally compliant robot-arms actuated by McKibben artificial muscles | |
| CN108044613A (en) | Flexible pneumatic unit is connected mechanical arm with multiple-unit | |
| CN201295928Y (en) | Side-sway joint based on flexible pneumatic actuator | |
| CN106313037B (en) | Pneumatic concatenated flexible mechanical arm | |
| CN211682131U (en) | Multi-degree-of-freedom pneumatic flexible driver | |
| CN101402201B (en) | Side-sway joint based on pneumatic flexible driver | |
| CN111805528A (en) | A variable stiffness three-degree-of-freedom pneumatic flexible actuator and preparation method thereof | |
| Yang et al. | Research on novel flexible pneumatic actuator FPA | |
| CN114012781A (en) | Continuous spiral nesting restraint pneumatic variable stiffness flexible arm | |
| CN112758208B (en) | A multi-degree-of-freedom quadruped soft robot | |
| Guanjun et al. | Pneumatic bio-soft robot module: Structure, elongation and experiment | |
| Oh et al. | Hybrid hard-soft robotic joint and robotic arm based on pneumatic origami chambers | |
| Park et al. | Cooperative antagonistic mechanism driven by bidirectional pneumatic artificial muscles for soft robotic joints | |
| CN109227530B (en) | Rigidity-variable robot | |
| CN110480668A (en) | A kind of bulb joint finger mechanism of flexible connection and hydraulic-driven | |
| CN116442207B (en) | A software drive unit and a modular software robot arm having the same | |
| CN110355741B (en) | Parallel mechanism with two motion modes 3T1R and 2T2R | |
| CN217097850U (en) | Robot and its robotic arm | |
| CN107322631B (en) | Humanoid shoulder joint based on dielectric elastomer actuator | |
| Chen et al. | Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles | |
| CN214560908U (en) | Parallel type torsion soft robot module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |