CN101486191A - 变位欠驱动机器人手装置 - Google Patents
变位欠驱动机器人手装置 Download PDFInfo
- Publication number
- CN101486191A CN101486191A CNA2009100094760A CN200910009476A CN101486191A CN 101486191 A CN101486191 A CN 101486191A CN A2009100094760 A CNA2009100094760 A CN A2009100094760A CN 200910009476 A CN200910009476 A CN 200910009476A CN 101486191 A CN101486191 A CN 101486191A
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- CN
- China
- Prior art keywords
- forefinger
- thumb
- finger
- joint shaft
- transmission mechanism
- 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.)
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-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009100094760A CN101486191B (zh) | 2009-02-26 | 2009-02-26 | 变位欠驱动机器人手装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009100094760A CN101486191B (zh) | 2009-02-26 | 2009-02-26 | 变位欠驱动机器人手装置 |
Publications (2)
Publication Number | Publication Date |
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CN101486191A true CN101486191A (zh) | 2009-07-22 |
CN101486191B CN101486191B (zh) | 2012-11-21 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN2009100094760A Expired - Fee Related CN101486191B (zh) | 2009-02-26 | 2009-02-26 | 变位欠驱动机器人手装置 |
Country Status (1)
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CN (1) | CN101486191B (zh) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102896639A (zh) * | 2012-03-08 | 2013-01-30 | 中南大学 | 一种人工假手的大拇指机构 |
CN103101055A (zh) * | 2013-02-28 | 2013-05-15 | 何广平 | 一种腱式欠驱动自适应多指手装置 |
CN103231385A (zh) * | 2013-05-07 | 2013-08-07 | 南京航空航天大学 | 绳驱动的灵巧指及其灵巧手 |
CN107584507A (zh) * | 2017-10-25 | 2018-01-16 | 武汉科技大学 | 一种机器人灵巧手 |
CN107598951A (zh) * | 2017-10-25 | 2018-01-19 | 武汉科技大学 | 一种机器手 |
CN108161958A (zh) * | 2017-12-29 | 2018-06-15 | 嘉兴学院 | 一种基于气动肌肉的仿人手指*** |
CN108972515A (zh) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | 一种仿生运动功能上肢 |
WO2018227402A1 (zh) * | 2017-06-14 | 2018-12-20 | 深圳鼎极智慧科技有限公司 | 机器人手 |
CN109822618A (zh) * | 2019-04-18 | 2019-05-31 | 北京因时机器人科技有限公司 | 手腕结构和机器人 |
CN110640774A (zh) * | 2019-10-22 | 2020-01-03 | 上海理工大学 | 一种六自由度五指机械手 |
CN114102643A (zh) * | 2021-12-06 | 2022-03-01 | 之江实验室 | 一种欠驱动仿人机器人手爪及其他指的设计方法 |
EP4234183A3 (en) * | 2018-12-31 | 2023-09-13 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11926044B2 (en) | 2016-11-11 | 2024-03-12 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US11981027B2 (en) | 2016-11-11 | 2024-05-14 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
CN1410234A (zh) * | 2002-11-29 | 2003-04-16 | 清华大学 | 机器人拟人多指手装置 |
CN1418765A (zh) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | 机器人灵巧手机构 |
CN101214654A (zh) * | 2008-01-11 | 2008-07-09 | 清华大学 | 齿轮带轮欠驱动拟人机器人手装置 |
CN101214649A (zh) * | 2008-01-04 | 2008-07-09 | 清华大学 | 带轮多关节高欠驱动机器人手指装置 |
CN101214659A (zh) * | 2008-01-18 | 2008-07-09 | 清华大学 | 腱绳齿轮欠驱动机器人手指装置 |
-
2009
- 2009-02-26 CN CN2009100094760A patent/CN101486191B/zh not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
CN1410234A (zh) * | 2002-11-29 | 2003-04-16 | 清华大学 | 机器人拟人多指手装置 |
CN1231332C (zh) * | 2002-11-29 | 2005-12-14 | 清华大学 | 机器人拟人多指手装置 |
CN1418765A (zh) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | 机器人灵巧手机构 |
CN101214649A (zh) * | 2008-01-04 | 2008-07-09 | 清华大学 | 带轮多关节高欠驱动机器人手指装置 |
CN101214654A (zh) * | 2008-01-11 | 2008-07-09 | 清华大学 | 齿轮带轮欠驱动拟人机器人手装置 |
CN101214659A (zh) * | 2008-01-18 | 2008-07-09 | 清华大学 | 腱绳齿轮欠驱动机器人手指装置 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102896639A (zh) * | 2012-03-08 | 2013-01-30 | 中南大学 | 一种人工假手的大拇指机构 |
CN103101055A (zh) * | 2013-02-28 | 2013-05-15 | 何广平 | 一种腱式欠驱动自适应多指手装置 |
CN103101055B (zh) * | 2013-02-28 | 2016-08-03 | 何广平 | 一种腱式欠驱动自适应多指手装置 |
CN103231385A (zh) * | 2013-05-07 | 2013-08-07 | 南京航空航天大学 | 绳驱动的灵巧指及其灵巧手 |
US11981027B2 (en) | 2016-11-11 | 2024-05-14 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US11926044B2 (en) | 2016-11-11 | 2024-03-12 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
WO2018227402A1 (zh) * | 2017-06-14 | 2018-12-20 | 深圳鼎极智慧科技有限公司 | 机器人手 |
CN107584507A (zh) * | 2017-10-25 | 2018-01-16 | 武汉科技大学 | 一种机器人灵巧手 |
CN107598951A (zh) * | 2017-10-25 | 2018-01-19 | 武汉科技大学 | 一种机器手 |
CN108161958A (zh) * | 2017-12-29 | 2018-06-15 | 嘉兴学院 | 一种基于气动肌肉的仿人手指*** |
CN108972515A (zh) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | 一种仿生运动功能上肢 |
CN108972515B (zh) * | 2018-09-10 | 2024-02-06 | 河南翔宇医疗设备股份有限公司 | 一种仿生运动功能上肢 |
EP4234183A3 (en) * | 2018-12-31 | 2023-09-13 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
CN109822618A (zh) * | 2019-04-18 | 2019-05-31 | 北京因时机器人科技有限公司 | 手腕结构和机器人 |
CN109822618B (zh) * | 2019-04-18 | 2023-08-22 | 北京因时机器人科技有限公司 | 手腕结构和机器人 |
CN110640774A (zh) * | 2019-10-22 | 2020-01-03 | 上海理工大学 | 一种六自由度五指机械手 |
CN114102643A (zh) * | 2021-12-06 | 2022-03-01 | 之江实验室 | 一种欠驱动仿人机器人手爪及其他指的设计方法 |
CN114102643B (zh) * | 2021-12-06 | 2023-10-03 | 之江实验室 | 一种欠驱动仿人机器人手爪及其他指的设计方法 |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Also Published As
Publication number | Publication date |
---|---|
CN101486191B (zh) | 2012-11-21 |
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