CN102310411B - 三轴齿轮齿条复合欠驱动双关节机器人手指装置 - Google Patents
三轴齿轮齿条复合欠驱动双关节机器人手指装置 Download PDFInfo
- Publication number
- CN102310411B CN102310411B CN 201110194977 CN201110194977A CN102310411B CN 102310411 B CN102310411 B CN 102310411B CN 201110194977 CN201110194977 CN 201110194977 CN 201110194977 A CN201110194977 A CN 201110194977A CN 102310411 B CN102310411 B CN 102310411B
- Authority
- CN
- China
- Prior art keywords
- gear
- finger
- shaft
- pedestal
- joint shaft
- 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.)
- Expired - Fee Related
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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201110194977 CN102310411B (zh) | 2011-07-12 | 2011-07-12 | 三轴齿轮齿条复合欠驱动双关节机器人手指装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201110194977 CN102310411B (zh) | 2011-07-12 | 2011-07-12 | 三轴齿轮齿条复合欠驱动双关节机器人手指装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102310411A CN102310411A (zh) | 2012-01-11 |
CN102310411B true CN102310411B (zh) | 2013-09-25 |
Family
ID=45424174
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN 201110194977 Expired - Fee Related CN102310411B (zh) | 2011-07-12 | 2011-07-12 | 三轴齿轮齿条复合欠驱动双关节机器人手指装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102310411B (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102583042B (zh) * | 2012-03-12 | 2014-01-08 | 楚天科技股份有限公司 | 用于冻干机的推瓶装置 |
CN104015196B (zh) * | 2014-05-29 | 2016-08-24 | 南开大学 | 机械手及其传动结构 |
CN106393161A (zh) * | 2016-10-12 | 2017-02-15 | 清华大学 | 双齿条平夹间接自适应机器人手指装置 |
CN106671113B (zh) * | 2017-02-10 | 2023-11-10 | 清华大学 | 平动空程传动耦合自适应机器人手指装置 |
CN106826899A (zh) * | 2017-04-11 | 2017-06-13 | 东南大学 | 一种基于轴传动的仿人机械手指结构 |
CN109202877B (zh) * | 2018-07-09 | 2023-12-05 | 许志宏 | 仿生机械手指的传动结构及仿生机械手 |
CN110900641B (zh) * | 2019-12-11 | 2021-04-27 | 北京工业大学 | 一种平夹自适应三指欠驱动机器人手 |
CN112720554B (zh) * | 2020-12-21 | 2022-04-22 | 哈尔滨工业大学 | 一种机器人的灵巧手手指及机械手 |
CN114800582B (zh) * | 2022-04-06 | 2023-04-14 | 中山大学 | 一种仿鳄鱼爪的适应性足端机构 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101664929A (zh) * | 2009-09-11 | 2010-03-10 | 清华大学 | 齿条式并联耦合欠驱动机器人手指装置 |
CN101774176A (zh) * | 2010-01-21 | 2010-07-14 | 清华大学 | 齿条-柔性件耦合欠驱动两关节机器人手指装置 |
CN101829992A (zh) * | 2010-04-23 | 2010-09-15 | 清华大学 | 三齿条滑块耦合自适应欠驱动机器人手指装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4957320A (en) * | 1988-08-31 | 1990-09-18 | Trustees Of The University Of Pennsylvania | Methods and apparatus for mechanically intelligent grasping |
-
2011
- 2011-07-12 CN CN 201110194977 patent/CN102310411B/zh not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101664929A (zh) * | 2009-09-11 | 2010-03-10 | 清华大学 | 齿条式并联耦合欠驱动机器人手指装置 |
CN101774176A (zh) * | 2010-01-21 | 2010-07-14 | 清华大学 | 齿条-柔性件耦合欠驱动两关节机器人手指装置 |
CN101829992A (zh) * | 2010-04-23 | 2010-09-15 | 清华大学 | 三齿条滑块耦合自适应欠驱动机器人手指装置 |
Non-Patent Citations (2)
Title |
---|
一种自适应拟人手指抓持力分析与结构优化;张文增等;《机械设计与研究》;20031031;第19卷(第05期);16-18 * |
张文增等.一种自适应拟人手指抓持力分析与结构优化.《机械设计与研究》.2003,第19卷(第05期), |
Also Published As
Publication number | Publication date |
---|---|
CN102310411A (zh) | 2012-01-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102310411B (zh) | 三轴齿轮齿条复合欠驱动双关节机器人手指装置 | |
CN102205542B (zh) | 多路柔性件两关节复合型机器人手指装置 | |
CN101653941B (zh) | 变抓力的滑块式直接欠驱动仿生手装置 | |
CN102166753B (zh) | 锥齿轮柔性件复合抓取机器人手指装置 | |
CN101486191B (zh) | 变位欠驱动机器人手装置 | |
CN101474794B (zh) | 仿生机器人欠驱动灵巧手装置 | |
CN101716767B (zh) | 耦合欠驱动一体化仿生手装置 | |
CN102179818A (zh) | 差动锥齿轮系复合欠驱动双关节机器人手指装置 | |
CN100551641C (zh) | 交叉腱绳欠驱动模块化拟人机器人手装置 | |
CN102284957A (zh) | 差动锥齿轮齿条式复合欠驱动机器人手指装置 | |
CN104015193B (zh) | 抓取锁定自适应机器人手指装置 | |
CN102161204B (zh) | 双关节同向传动复合欠驱动机器人手指装置 | |
CN100581756C (zh) | 双联锥齿轮欠驱动机器人手指 | |
CN101722514B (zh) | 耦合欠驱动一体化三关节机器人手指装置 | |
CN103846922A (zh) | 齿条止回自适应欠驱动机器人手指装置 | |
CN101774175B (zh) | 双关节轮式并联耦合欠驱动仿生机械手指装置 | |
CN102179817B (zh) | 双柔性件复合欠驱动双关节机器人手指装置 | |
CN202241307U (zh) | 连杆滑块式欠驱动仿生机器人手装置 | |
CN100551637C (zh) | 齿条欠驱动机器人手指装置 | |
CN102267137B (zh) | 双关节三轴轮式复合欠驱动机器人手指装置 | |
CN101444917A (zh) | 仿生变位及自适应抓取机械手指装置 | |
CN101664930B (zh) | 耦合欠驱动一体化双关节机器人手指装置 | |
CN102328316B (zh) | 双关节斜带式传动复合欠驱动机器人手指装置 | |
CN111761599B (zh) | 齿轮竞速双驱动平夹与耦合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 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: WUXI APPLICATION TECHNOLOGY RESEARCH INSTITUTE OF Free format text: FORMER OWNER: TSINGHUA UNIVERSITY Effective date: 20131118 Owner name: TSINGHUA UNIVERSITY Effective date: 20131118 |
|
C41 | Transfer of patent application or patent right or utility model | ||
COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100084 HAIDIAN, BEIJING TO: 214072 WUXI, JIANGSU PROVINCE |
|
TR01 | Transfer of patent right |
Effective date of registration: 20131118 Address after: 214072 Jiangsu Province Road DiCui Binhu District of Wuxi City No. 100, No. 1 building, 530 floor 12 Patentee after: WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY Patentee after: Tsinghua University Address before: 100084 Beijing, Haidian District, South China, 100084 mailbox, 82 boxes, Tsinghua University Patent Office Patentee before: Tsinghua University |
|
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130925 Termination date: 20150712 |
|
EXPY | Termination of patent right or utility model |