CN105108771A - Variable-stiffness robot joint structure - Google Patents
Variable-stiffness robot joint structure Download PDFInfo
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- CN105108771A CN105108771A CN201510439726.XA CN201510439726A CN105108771A CN 105108771 A CN105108771 A CN 105108771A CN 201510439726 A CN201510439726 A CN 201510439726A CN 105108771 A CN105108771 A CN 105108771A
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- 230000009471 action Effects 0.000 claims abstract description 16
- 210000000245 forearm Anatomy 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 6
- 206010052904 Musculoskeletal stiffness Diseases 0.000 abstract description 31
- 230000008859 change Effects 0.000 abstract description 4
- 239000011664 nicotinic acid Substances 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 210000002310 elbow joint Anatomy 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 210000002027 skeletal muscle Anatomy 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
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Abstract
The invention relates to a variable-stiffness robot joint structure, belongs to the technical field of bionic robot joints, and is suitable for elbow joints of a bionic robot. Compared with the prior art, the invention designs a new robot joint structure which can simulate the joint with nonlinear variable-stiffness muscle characteristics. A spring piece is taken as a stiffness regulating component and is also taken as a force transmission component, and the stiffness of the spring piece can be changed according to the change of action length. In order to realize the regulation for the action length of the spring piece, through the matching driving of a power component and an action execution component, the action length of the spring piece can be easily regulated through the slippage of a mobile slide rest. Under the condition that the stiffness is not changed, the joint structure can rotate, so that the position regulation of the joint structure under the constant-stiffness condition is realized. Under the condition that the joint structure does not rotate, only the stiffness of the joint structure is changed, therefore the working requirement of the joint under the set stiffness condition is met.
Description
Technical field
The invention belongs to bio-robot joint technical field, particularly relate to a kind of stiffness variable robot joint structure, be applicable to the elbow joint of bio-robot.
Background technology
Along with the development of Robotics, as the robots focusing on people such as healing robot, Wearable robot, intelligent artificial limb, walking robot get more and more, physical man-machine interaction is also along with increase, and human-computer interaction security and environmental suitability are also subject to more extensive concern.In order to meet, robot is high to control accuracy, response is fast, control the requirement of simplification, the execution precision of robot end is ensured by motor drive mode, by increasing robot application, but, it also has the feature of high rigidity, and high stiffness characteristics be unfavorable for the requirement of human-computer interaction security.
From sport biomechanics angle, muscle is the power resources of human motion system, and by the strength maintenance of contraction of muscle or the execution of execution.Muscle has nonlinear variable-stiffness characteristic, certain collision can be cushioned, can also absorb and stored energy, therefore, if human skeleton muscle system can be used for reference, design has the joint of bionic muscle characteristic, just can improve the high stiffness characteristics of conventional machines people, to improve security and the environmental suitability of man-machine interaction.
At present, with the implementation of existing much imitation skeletal muscle, as electroluminescent polymer class artificial-muscle, marmem, Pneumatic artificial muscle, there is the variation rigidity driver etc. of flexible member, but the implementation of above-mentioned imitation skeletal muscle still cannot simulate the characteristic of human joint completely, and there is power output compared with the weak point such as little, weight is large, range of movement is little, rigidity is less.
Summary of the invention
For prior art Problems existing, the invention provides a kind of stiffness variable robot joint structure, the joint with nonlinear variable-stiffness muscle property can be simulated, effectively improve security and the environmental suitability of man-machine interaction.
To achieve these goals, the present invention adopts following technical scheme: a kind of stiffness variable robot joint structure, comprise large arm, large arm support, forearm, forearm bracket and stiffness variable articulation mechanism, described stiffness variable articulation mechanism comprises Power Component and action executing assembly, described Power Component comprises central shaft, the first drive motors, the first worm screw, the first worm gear, the second drive motors, the second worm screw, the second worm gear and sleeve, and described action executing assembly comprises ring gear, sun gear, planetary gear, planet carrier, runner frame, moving sliding base and spring leaf;
Described large arm is fixed on large arm support, and described central shaft is arranged in large arm support by bearing, and central shaft and large arm perpendicular; Described forearm is fixed on forearm bracket, and forearm bracket is connected on center shaft by bearing, and forearm and central shaft perpendicular; Described sleeve fills on center shaft by bearing holder (housing, cover), and sleeve one side end is set to flange plate structure;
Described first worm screw is arranged in large arm support by bearing, and the first worm screw parallels with large arm, and described first drive motors is connected with first worm screw one end; Described first worm gear is fixedly set on sleeve, and the first worm gear is meshed with the first worm screw;
Described second worm screw is arranged in large arm support by bearing, and the second worm screw parallels with large arm, and described second drive motors is connected with second worm screw one end; Described second worm gear is fixedly set on central shaft, and the second worm gear is meshed with the second worm screw;
Described ring gear is enclosed within outside central shaft and with the end flange dish structure of sleeve and is connected mutually, and ring gear and the central axis heart are arranged; Described sun gear is fixedly set on central shaft, and described planetary gear is between ring gear and sun gear, and planetary gear is meshed with ring gear and sun gear simultaneously;
Described planet carrier fills on center shaft by bearing holder (housing, cover), is connected with planet wheel spindle between described planetary gear and planet carrier, and planet wheel spindle one end is fixed in planetary gear center, and the planet wheel spindle other end is connected on planet carrier by bearing;
Described runner frame to be enclosed within outside central shaft and to be connected mutually with planet carrier, in runner frame, be provided with slideway, and slideway and central shaft perpendicular; Described moving sliding base is arranged on runner frame by slideway, moving sliding base and slideway are slidably matched, between moving sliding base and planet wheel spindle, be provided with crank, and crank one end is fixedly connected on planet wheel spindle, the crank other end is provided with bearing pin, and bearing pin parallels with central shaft; Described moving sliding base is provided with cotter way of stepping down, and described bearing pin is positioned at cotter way of stepping down;
In described moving sliding base, be provided with two gag lever posts paralleled, between two gag lever posts, leave gap; Described spring leaf one end is fixedly connected on runner frame, and the spring leaf other end is connected with chuck through the gap gag lever post; Described forearm bracket is provided with chute of stepping down, and be provided with slide bar stepping down in chute, described chuck is connected mutually with the body of rod of slide bar.
Described planetary gear quantity is two, and two planetary gears are symmetrical arranged relative to the longitudinal center line of central shaft.
By described planetary gear, planet wheel spindle, crank, bearing pin, moving sliding base, gag lever post, spring leaf, chuck and slide bar form stiffness variable executive module jointly, stiffness variable executive module is two covers, and two cover stiffness variable executive modules are symmetrical arranged relative to the longitudinal center line of central shaft.
Described forearm bracket adopts U-shaped support frame structure.
Beneficial effect of the present invention:
The present invention compared with prior art, devise a kind of brand-new robot joint structure, the joint with nonlinear variable-stiffness muscle property can be simulated, the present invention adopts spring leaf as stiffness tuning parts, and spring leaf is as force transmission member, its rigidity can change, for meeting the adjustment of spring leaf action length according to action length change, the present invention by Power Component and action executing assembly with the use of, just easily can be adjusted the action length of spring leaf by the slippage of moving sliding base.Present invention can be implemented in rigidity constant when, only make articulation structure rotate, namely meet permanent rigidity condition hypozygal structure position adjustment; The present invention also can realize when articulation structure does not rotate, and only changes the rigidity of articulation structure, thus meets the joint operation requirement under setting rigidity condition.
Accompanying drawing explanation
Fig. 1 is a kind of stiffness variable robot joint structure structural representation of the present invention;
Fig. 2 is the action executing modular construction schematic diagram being provided with central shaft;
Fig. 3 is the structural representation after forearm and forearm bracket and action executing assembly combine;
Fig. 4 is the structural representation of moving sliding base;
In figure, 1-large arm, 2-large arm support, 3-forearm, 4-forearm bracket, 5-central shaft, 6-the first drive motors, 7-the first worm screw, 8-the first worm gear, 9-the second drive motors, 10-the second worm screw, 11-the second worm gear, 12-sleeve, 13-ring gear, 14-sun gear, 15-planetary gear, 16-planet carrier, 17-runner frame, 18-moving sliding base, 19-spring leaf, 20-planet wheel spindle, 21-slideway, 22-crank, 23-bearing pin, 24-cotter way of stepping down, 25-gag lever post, 26-gap, 27-chute of stepping down, 28-slide bar, 29-chuck.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As Fig. 1, 2, 3, shown in 4, a kind of stiffness variable robot joint structure, comprise large arm 1, large arm support 2, forearm 3, forearm bracket 4 and stiffness variable articulation mechanism, described stiffness variable articulation mechanism comprises Power Component and action executing assembly, described Power Component comprises central shaft 5, first drive motors 6, first worm screw 7, first worm gear 8, second drive motors 9, second worm screw 10, second worm gear 11 and sleeve 12, described action executing assembly comprises ring gear 13, sun gear 14, planetary gear 15, planet carrier 16, runner frame 17, moving sliding base 18 and spring leaf 19,
Described large arm 1 is fixed on large arm support 2, and described central shaft 5 is arranged in large arm support 2 by bearing, and central shaft 5 is perpendicular with large arm 1; Described forearm 3 is fixed on forearm bracket 4, and forearm bracket 4 is connected on central shaft 5 by bearing, and forearm 3 is perpendicular with central shaft 5; Described sleeve 12 is contained on central shaft 5 by bearing holder (housing, cover), and sleeve 12 1 side end is set to flange plate structure;
Described first worm screw 7 is arranged in large arm support 2 by bearing, and the first worm screw 7 parallels with large arm 1, and described first drive motors 6 is connected with first worm screw 7 one end; Described first worm gear 8 is fixedly set on sleeve 12, and the first worm gear 8 is meshed with the first worm screw 7;
Described second worm screw 10 is arranged in large arm support 2 by bearing, and the second worm screw 10 parallels with large arm 1, and described second drive motors 9 is connected with second worm screw 10 one end; Described second worm gear 11 is fixedly set on central shaft 5, and the second worm gear 11 is meshed with the second worm screw 10;
Described ring gear 13 is enclosed within outside central shaft 5 and with the end flange dish structure of sleeve 12 and is connected mutually, and ring gear 13 and central shaft 5 concentric are arranged; Described sun gear 14 is fixedly set on central shaft 5, and described planetary gear 15 is between ring gear 13 and sun gear 14, and planetary gear 15 is meshed with ring gear 13 and sun gear 14 simultaneously;
Described planet carrier 16 is contained on central shaft 5 by bearing holder (housing, cover), is connected with planet wheel spindle 20 between described planetary gear 15 and planet carrier 16, and planet wheel spindle 20 one end is fixed in planetary gear 15 center, and planet wheel spindle 20 other end is connected on planet carrier 16 by bearing;
Described runner frame 17 to be enclosed within outside central shaft 5 and to be connected mutually with planet carrier 16, is provided with slideway 21 in runner frame 17, and slideway 21 is perpendicular with central shaft 5; Described moving sliding base 18 is arranged on runner frame 17 by slideway 21, moving sliding base 18 and slideway 21 are slidably matched, crank 22 is provided with between moving sliding base 18 and planet wheel spindle 20, crank 22 one end is fixedly connected on planet wheel spindle 20, crank 22 other end is provided with bearing pin 23, and bearing pin 23 parallels with central shaft 5; Described moving sliding base 18 is provided with cotter way 24 of stepping down, and described bearing pin 23 is positioned at cotter way 24 of stepping down;
Be provided with in described moving sliding base 18 between two gag lever posts, 25, two gag lever posts 25 of paralleling and leave gap 26; Described spring leaf 19 one end is fixedly connected on runner frame 17, and spring leaf 19 other end is connected with chuck 29 through the gap 26 gag lever post 25; Described forearm bracket 4 is provided with chute 27 of stepping down, and be provided with slide bar 28 stepping down in chute 27, described chuck 29 is connected mutually with the body of rod of slide bar 28.
Described planetary gear 15 quantity is two, and two planetary gears 15 are symmetrical arranged relative to the longitudinal center line of central shaft 5.
By described planetary gear 15, planet wheel spindle 20, crank 22, bearing pin 23, moving sliding base 18, gag lever post 25, spring leaf 19, chuck 29 and slide bar 28 form stiffness variable executive module jointly, stiffness variable executive module is two covers, and two cover stiffness variable executive modules are symmetrical arranged relative to the longitudinal center line of central shaft 5.
Described forearm bracket 4 adopts U-shaped support frame structure.
Below in conjunction with accompanying drawing, a use procedure of the present invention is described:
Embodiment one: when rigidity is constant, only makes articulation structure of the present invention rotate.
Start the first drive motors 6 and the second drive motors 9 simultaneously, drive the first worm screw 7 to rotate by the first drive motors 6, and then drive the first worm gear 8 to rotate, rotated by the rotating band moving sleeve 12 of the first worm gear 8, and then drive ring gear 13 to rotate; Drive the second worm screw 10 to rotate by the second drive motors 9, and then drive the second worm gear 11 to rotate, rotated by the rotating band central shaft 5 of the second worm gear 11, and then drive sun gear 14 to rotate;
Make ring gear 13 and sun gear 14 constant speed rotating in same direction, now planetary gear 15 only revolves round the sun around sun gear 14 and rotation does not occur, because planetary gear 15 does not carry out rotation, stiffness variable executive module is also failure to actuate, therefore rigidity does not change, at planetary gear 15 in sun gear 14 process of revolution, planet carrier 16 is driven to rotate around central shaft 5 by means of only planetary gear 15, and then drive runner frame 17 to rotate around central shaft 5, in runner frame 17 rotation process, drive forearm bracket 4 to rotate by spring leaf 19, and then drive forearm 3 to rotate, the object that final realization makes articulation structure rotate when rigidity is constant.
Embodiment two: when articulation structure of the present invention does not rotate, changes the rigidity of articulation structure.
Start the first drive motors 6 and the second drive motors 9 simultaneously, drive the first worm screw 7 to rotate by the first drive motors 6, and then drive the first worm gear 8 to rotate, rotated by the rotating band moving sleeve 12 of the first worm gear 8, and then drive ring gear 13 to rotate; Drive the second worm screw 10 to rotate by the second drive motors 9, and then drive the second worm gear 11 to rotate, rotated by the rotating band central shaft 5 of the second worm gear 11, and then drive sun gear 14 to rotate;
Ring gear 13 and sun gear 14 rotating ratio is made to equal the gear ratio of sun gear 14 and ring gear 13, and ring gear 13 and sun gear 14 rotate backward, now planetary gear 15 only carries out from then can not revolve round the sun around sun gear 14, and therefore planet carrier 16 also can not rotate.
Only carry out in rotation process at planetary gear 15, first planet wheel spindle 20 is driven to rotate by the rotation of planetary gear 15, drive crank 22 that rotation occurs by the rotation of planet wheel spindle 20, in crank 22 rotation process, stir moving sliding base 18 by bearing pin 23 to slide in slideway 21, the length of spring leaf 19 between gag lever post 25 and slide bar 28 is changed by the slip of moving sliding base 18, because the spring leaf 19 between gag lever post 25 and slide bar 28 is for transmitting forces, and spring leaf 19 is in power transmittance process, its rigidity is determined by its length completely, when moving sliding base 18 moves to central shaft 5 direction, spring leaf 19 length between gag lever post 25 and slide bar 28, its rigidity diminishes, otherwise, when moving sliding base 18 moves away from central shaft 5 direction, spring leaf 19 length between gag lever post 25 and slide bar 28 shortens, its rigidity becomes large.
After adjusting spring leaf 19 corresponding length between gag lever post 25 and slide bar 28 by the way, when forearm 3 be subject to external force make articulation structure be forced to rotate time, spring leaf 19 can bend, now slide bar 28 can realize servo-actuated in slip in chute 27 of stepping down, until the degree of crook of spring leaf 19 is stablized, now, articulation structure of the present invention meet completely setting rigidity condition under joint operation requirement.
Scheme in embodiment is also not used to limit scope of patent protection of the present invention, and the equivalence that all the present invention of disengaging do is implemented or changed, and is all contained in the scope of the claims of this case.
Claims (4)
1. a stiffness variable robot joint structure, it is characterized in that: comprise large arm, large arm support, forearm, forearm bracket and stiffness variable articulation mechanism, described stiffness variable articulation mechanism comprises Power Component and action executing assembly, described Power Component comprises central shaft, the first drive motors, the first worm screw, the first worm gear, the second drive motors, the second worm screw, the second worm gear and sleeve, and described action executing assembly comprises ring gear, sun gear, planetary gear, planet carrier, runner frame, moving sliding base and spring leaf;
Described large arm is fixed on large arm support, and described central shaft is arranged in large arm support by bearing, and central shaft and large arm perpendicular; Described forearm is fixed on forearm bracket, and forearm bracket is connected on center shaft by bearing, and forearm and central shaft perpendicular; Described sleeve fills on center shaft by bearing holder (housing, cover), and sleeve one side end is set to flange plate structure;
Described first worm screw is arranged in large arm support by bearing, and the first worm screw parallels with large arm, and described first drive motors is connected with first worm screw one end; Described first worm gear is fixedly set on sleeve, and the first worm gear is meshed with the first worm screw;
Described second worm screw is arranged in large arm support by bearing, and the second worm screw parallels with large arm, and described second drive motors is connected with second worm screw one end; Described second worm gear is fixedly set on central shaft, and the second worm gear is meshed with the second worm screw;
Described ring gear is enclosed within outside central shaft and with the end flange dish structure of sleeve and is connected mutually, and ring gear and the central axis heart are arranged; Described sun gear is fixedly set on central shaft, and described planetary gear is between ring gear and sun gear, and planetary gear is meshed with ring gear and sun gear simultaneously;
Described planet carrier fills on center shaft by bearing holder (housing, cover), is connected with planet wheel spindle between described planetary gear and planet carrier, and planet wheel spindle one end is fixed in planetary gear center, and the planet wheel spindle other end is connected on planet carrier by bearing;
Described runner frame to be enclosed within outside central shaft and to be connected mutually with planet carrier, in runner frame, be provided with slideway, and slideway and central shaft perpendicular; Described moving sliding base is arranged on runner frame by slideway, moving sliding base and slideway are slidably matched, between moving sliding base and planet wheel spindle, be provided with crank, and crank one end is fixedly connected on planet wheel spindle, the crank other end is provided with bearing pin, and bearing pin parallels with central shaft; Described moving sliding base is provided with cotter way of stepping down, and described bearing pin is positioned at cotter way of stepping down;
In described moving sliding base, be provided with two gag lever posts paralleled, between two gag lever posts, leave gap; Described spring leaf one end is fixedly connected on runner frame, and the spring leaf other end is connected with chuck through the gap gag lever post; Described forearm bracket is provided with chute of stepping down, and be provided with slide bar stepping down in chute, described chuck is connected mutually with the body of rod of slide bar.
2. a kind of stiffness variable robot joint structure according to claim 1, it is characterized in that: described planetary gear quantity is two, two planetary gears are symmetrical arranged relative to the longitudinal center line of central shaft.
3. a kind of stiffness variable robot joint structure according to claim 1, it is characterized in that: by described planetary gear, planet wheel spindle, crank, bearing pin, moving sliding base, gag lever post, spring leaf, chuck and slide bar form stiffness variable executive module jointly, stiffness variable executive module is two covers, and two cover stiffness variable executive modules are symmetrical arranged relative to the longitudinal center line of central shaft.
4. a kind of stiffness variable robot joint structure according to claim 1, is characterized in that: described forearm bracket adopts U-shaped support frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510439726.XA CN105108771B (en) | 2015-07-23 | 2015-07-23 | A kind of stiffness variable robot joint structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510439726.XA CN105108771B (en) | 2015-07-23 | 2015-07-23 | A kind of stiffness variable robot joint structure |
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| CN105108771A true CN105108771A (en) | 2015-12-02 |
| CN105108771B CN105108771B (en) | 2016-08-31 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599004A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Rigidity-adjustable robot elastic joint |
| CN106078712A (en) * | 2016-07-18 | 2016-11-09 | 佛山市联智新创科技有限公司 | A kind of robot being provided with fixing anglec of rotation execution end |
| CN106137687A (en) * | 2016-08-17 | 2016-11-23 | 中国人民解放军63908部队 | A kind of lower limb exoskeleton robot |
| CN106737821A (en) * | 2017-01-12 | 2017-05-31 | 哈尔滨工业大学 | A kind of variation rigidity mechanism based on geometrical property |
| CN107030729A (en) * | 2017-06-14 | 2017-08-11 | 东北大学 | A kind of apery elbow joint |
| CN108297126A (en) * | 2018-02-05 | 2018-07-20 | 歌思（天津）低温设备有限公司 | A kind of joint of mechanical arm structure |
| CN108527436A (en) * | 2018-05-11 | 2018-09-14 | 吉林大学 | A kind of imitative ostrich high stability joint |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| CN109227596A (en) * | 2018-10-22 | 2019-01-18 | 哈尔滨工业大学（深圳） | A kind of variation rigidity flexible joint device |
| CN110356846A (en) * | 2018-09-03 | 2019-10-22 | 上海北昂医药科技股份有限公司 | Automatically it grabs and send device and its automatic catching mechanism |
| CN111015729A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Human elbow joint-simulated robot variable-stiffness joint |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN113414760A (en) * | 2020-07-20 | 2021-09-21 | 郑州轻工业大学 | Variable rigidity elastic driver |
| CN115847390A (en) * | 2022-12-21 | 2023-03-28 | 四川大学 | Joint driver with adjustable rigidity of conducting structure |
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2015
- 2015-07-23 CN CN201510439726.XA patent/CN105108771B/en not_active Expired - Fee Related
Non-Patent Citations (3)
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| JUNHO CHOI等: "A Robot Joint With Variable Stiffness Using", 《IEEE TRANSACTIONS ON ROBOTICS》 * |
| 孟西闻: "变刚度柔性关节的动态刚度辨识和控制方法研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599004A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Rigidity-adjustable robot elastic joint |
| CN106078712A (en) * | 2016-07-18 | 2016-11-09 | 佛山市联智新创科技有限公司 | A kind of robot being provided with fixing anglec of rotation execution end |
| CN106137687A (en) * | 2016-08-17 | 2016-11-23 | 中国人民解放军63908部队 | A kind of lower limb exoskeleton robot |
| CN106137687B (en) * | 2016-08-17 | 2017-09-05 | 中国人民解放军63908部队 | A kind of lower limb exoskeleton robot |
| CN106737821A (en) * | 2017-01-12 | 2017-05-31 | 哈尔滨工业大学 | A kind of variation rigidity mechanism based on geometrical property |
| CN107030729B (en) * | 2017-06-14 | 2019-11-29 | 东北大学 | A kind of apery elbow joint |
| CN107030729A (en) * | 2017-06-14 | 2017-08-11 | 东北大学 | A kind of apery elbow joint |
| CN108297126A (en) * | 2018-02-05 | 2018-07-20 | 歌思（天津）低温设备有限公司 | A kind of joint of mechanical arm structure |
| CN108527436A (en) * | 2018-05-11 | 2018-09-14 | 吉林大学 | A kind of imitative ostrich high stability joint |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| CN110356846A (en) * | 2018-09-03 | 2019-10-22 | 上海北昂医药科技股份有限公司 | Automatically it grabs and send device and its automatic catching mechanism |
| CN109227596A (en) * | 2018-10-22 | 2019-01-18 | 哈尔滨工业大学（深圳） | A kind of variation rigidity flexible joint device |
| CN109227596B (en) * | 2018-10-22 | 2022-02-22 | 哈尔滨工业大学（深圳） | Variable-rigidity flexible joint device |
| CN111015729A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Human elbow joint-simulated robot variable-stiffness joint |
| CN113414760A (en) * | 2020-07-20 | 2021-09-21 | 郑州轻工业大学 | Variable rigidity elastic driver |
| CN113414760B (en) * | 2020-07-20 | 2022-03-01 | 郑州轻工业大学 | Variable rigidity elastic driver |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN115847390A (en) * | 2022-12-21 | 2023-03-28 | 四川大学 | Joint driver with adjustable rigidity of conducting structure |
| CN115847390B (en) * | 2022-12-21 | 2024-06-25 | 四川大学 | Joint driver with adjustable rigidity of conductive structure |
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