CN105643643A - Five-finger end effector - Google Patents
Five-finger end effector Download PDFInfo
- Publication number
- CN105643643A CN105643643A CN201610199261.XA CN201610199261A CN105643643A CN 105643643 A CN105643643 A CN 105643643A CN 201610199261 A CN201610199261 A CN 201610199261A CN 105643643 A CN105643643 A CN 105643643A
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- China
- Prior art keywords
- motor
- base joint
- dactylus
- finger
- axle
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Classifications
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a five-finger end effector which comprises a thumb (1), a palm (2), an index finger (3), a middle finger (4), a ring finger (5) and a little finger (6). The five-finger end effector is characterized that the index finger (3), the middle finger (4), the ring finger (5) and the little finger (6) are identical in structure, each of the index finger (3), the middle finger (4), the ring finger (5) and the little finger (6) is provided with a base joint first motor (30), a base joint second motor (32) and a differential mechanism (34), each base joint first motor (30) and the corresponding base joint second motor (32) are fixed on the palm (2), a near joint of each finger is connected with the palm (2) through the corresponding differential mechanism (34), and each base joint first motor (30) and the corresponding base joint second motor (32) drive the corresponding differential mechanism (34) to lateral swing movement and pitching movement of the corresponding finger.
Description
Technical field
The invention belongs to agricultural robot equipment technology field, it is specifically related to a kind of the five fingers end effector.
Background technology
Existing circular fruit, vegetables are plucked in automatization operation, and major part adopts two fingers or three finger end effectors, but for, under multiple fruit in the case of of assembling, two refer to or three end effectors referred to, probably just can't clip fruit, it is achieved not follow-up harvesting. In addition, if circular fruit length near branch in, the angle changing rate that fruit is clamped by two fingers or three end effectors referred to is harsh, operation efficiency is not high, and follow-up harvesting operation does not also operate well, consequently, it is desirable to a kind of class staff the five fingers end effector that can carry out plucking clamping in complicated environment.
Current circular fruit vegetables classification, major part is that agricultural-food are put in a container, then left and right is rocked, then by action of gravity, allows fruit by a default circular funnel, drop in the Fruit basket of corresponding diameter, this kind of stage division, causes fruit surface to destroy, and is unfavorable for permanent preservation, the method of staff classification can be imitated, to circular fruit and vegetable classification. In classification process, circular putting of vegetables of fruit is not very regular, if continuing to adopt two fingers or three finger end effectors to accommodate classification, to the sensor identifying, classifying fruit vegetables, require just relatively high, therefore, it is also desirable to a kind of class staff the five fingers end effector that can complete sorting.
Summary of the invention
In order to solve the technical problem of above-mentioned existence, a kind of the five fingers end effector of inventive design.
In order to solve the technical problem of above-mentioned existence, present invention employs following scheme:
A kind of the five fingers end effector, comprise thumb (1), palm (2), forefinger (3), middle finger (4), nameless (5) and little finger of toe (6), it is characterized in that: forefinger (3), middle finger (4), nameless (5) are identical with the structure of little finger of toe (6), and there is base joint first motor (30) respectively, base joint the 2nd motor (32) and mixing box (34), base joint first motor (30) and base joint the 2nd motor (32) are fixed on palm (2), the nearly dactylus of finger is connected with palm (2) by mixing box (34), base joint first motor (30) and base joint the 2nd motor (32) drive mixing box (34) thus realize side pendulum movement and the luffing of finger.
Further, mixing box (34) comprises the first cone gear (340), left axle (341), the 2nd cone gear (342), upper axle (343), triconodont wheel (344), the 4th cone gear (346), right axle (347) and lower axle (348); Left axle (341) and right axle (347) are oppositely arranged on palm (2) upper composition base joint pitching rotating shaft, first cone gear (340) is relative with triconodont wheel (344) and is separately positioned on left axle (341) and the end of right axle (347), and the outer end of left axle (341) and right axle (347) is driven by base joint first motor (30) and base joint the 2nd motor (32) respectively; The outer end of upper axle (343) and lower axle (348) respectively nearly dactylus with corresponding finger connect to form base articular side rotation moving axis, 2nd cone gear (342) is relative with the 4th cone gear (346) and is separately positioned on upper axle (343) and the end of lower axle (348), 2nd cone gear (342) engages with the top of the first cone gear (340) and triconodont wheel (344), and the 4th cone gear (346) engages with the bottom of the first cone gear (340) and triconodont wheel (344).
Further, respectively by belt (33) transmission between base joint first motor (30) and base joint the 2nd motor (32) and mixing box (34), the outer end of mixing box (34) left axle (341) and right axle (347) is respectively arranged with belt wheel (345).
Further, one end that base joint first motor (30) and base joint the 2nd motor (32) are installed in motor slot (31) is also fixed on palm (2) by motor slot (31), and mixing box (34) is arranged on the other end of motor slot (31).
Further, left axle (341) is relative with right axle (347) and be separately positioned on motor slot (31) Liang Bishang.
Further, thumb (1) comprises base joint master wheel (10), base joint motor (11), base joint pinion(gear) (12) and base joint coupling shaft (13); Base joint motor (11) is fixed on palm (2), base joint master wheel (10) is arranged on the output terminal of base joint motor (11), the nearly dactylus of thumb by base joint coupling shaft (13) and palm (2) connection, base joint master wheel (10) and base joint pinion(gear) (12) cooperating that is arranged on base joint coupling shaft (13) thus the rotation realizing thumb (1) base joint.
Further, thumb (1), forefinger (3), middle finger (4), nameless (5) and little finger of toe (6) include nearly dactylus, middle dactylus, dactylus far away and coupling shaft, nearly dactylus is connected with middle dactylus by nearly dactylus motor and corresponding coupling shaft, and middle dactylus saves motor by middle finger and corresponding coupling shaft is connected with dactylus far away.
Further, nearly dactylus motor is embedded in dactylus rotation in the inner also Direct driver of nearly dactylus; Middle finger joint motor is embedded in middle dactylus inner also Direct driver dactylus far away and rotates.
Further, the length ratio of nearly dactylus, middle dactylus and dactylus far away is 4:3:2.
Forefinger in the present invention, middle finger, the third finger, little finger of toe four finger, middle finger joint motor is fixed on dactylus joint far away, is placed in finger interior, drives dactylus far away to do luffing. Nearly dactylus motor is fixed on middle dactylus joint, is placed in finger interior, and in drive, dactylus does luffing. Base joint motor is fixed in motor seat, is placed in bottom palm, drives nearly dactylus to do pitching and side pendulum movement. Thumb, middle finger joint motor is fixed on dactylus joint far away, is placed in finger interior, drives dactylus far away to do luffing. Nearly dactylus motor is fixed on middle dactylus joint, is placed in finger interior, and in drive, dactylus does luffing. Base joint motor is fixed on palm, is placed in bottom palm, drives nearly dactylus to do luffing.
According to design provided by the invention, this device has 19 degree of freedom, and each dactylus of thumb is respectively by motor direct-drive, it is achieved bending of thumb. All the other four finger dactylus far away and middle dactylus are by motor direct-drive, it is achieved bending of corresponding dactylus, and nearly dactylus by V belt translation driving mixing box and then drives nearly dactylus by base joint motor, it is achieved the bending and side pendulum of corresponding nearly dactylus. The coordinated movement of each joint motor realizes the opening and closing of picking end effector, it is possible to realize being plucked by most of fruit.
This five fingers end effector has following useful effect:
(1) the five fingers end effector of the present invention can realize the harvesting to multiple similar round fruit, reduces and plucks cost. And the present invention's campaign space is big, operation is flexibly, easy to maintenance.
(2) the present invention adopts mixing box to realize the pitch rotation of finger-base joint and side rotation is moved, and light structure is compact and symmetrical, and work safety is stablized.
(3) base joint motor of the present invention and mixing box adopt V belt translation, antidetonation, strong shock resistance, working process can adapt to various diameter difference difference big plucked fruit, and fruit is not damaged.
(4) in the present invention, the length ratio of nearly dactylus, middle dactylus and dactylus far away is 4:3:2, optimizes the structure of finger, not only flexible but also strong.
(5) the present invention is directed to different fruit, utilize mixing box to realize the fine setting in its pendulum direction, side, avoid the damage to fruit surface.
(6) the present invention utilizes the mode that mixing box and V belt translation combine, it is achieved that the longer-distance transmission of power, reduces the volume in base joint, also motor and mechanical manipulator is served certain provide protection simultaneously.
(7) the five fingers end effector degree of freedom of the present invention is many, it is possible to a kind of end effector realizes the similar round fruit to different sorts, different varieties, the harvesting of vegetables, sorting, reduces the input of equipment.
(8) fruit that the present invention is complex-shaped for some mushroom, strawberries etc. and volume is less, by the cooperation in each joint, it is also possible to realize tentatively plucking.
Accompanying drawing explanation
Fig. 1: the perspective view of the five fingers end effector of the present invention;
Fig. 2: the front view of forefinger structure in the present invention;
Fig. 3: the structural representation of mixing box in the present invention;
The partial cutaway enlarged view in nearly dactylus joint in Fig. 4: Fig. 2;
Fig. 5: the sectional view of middle finger structure of the present invention.
Description of reference numerals:
1 thumb; 10 base joint master wheels; 11 base joint motors; 12 base joint pinion(gear)s; 13 base joint coupling shafts; 2 palms; 3 forefingers; 30 base joint first motors; 31 motor slots; 32 base joint the 2nd motors; 33 belts; 34 mixing boxs; 340 first cone gears; 341 left axles; 342 the 2nd cone gears; Axle on 343; 344 triconodont wheels; 345 belt wheels; 346 the 4th cone gears; 347 right axles; 348 times axles; 35 nearly dactylus; 36 nearly dactylus motors; Dactylus in 37; 38 middle finger joint motors; 39 dactylus far away; 40 coupling shafts; 4 middle fingers; 5 is nameless; 6 little fingers of toe.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described:
Fig. 1 to Fig. 5 shows a kind of the five fingers end effector, comprises thumb 1, palm 2, forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6. Thumb 1, forefinger 3, middle finger 4, the third finger 5, little finger of toe 6 and palm 2 are connected. Wherein, forefinger 3, middle finger 4, nameless 5 identical with little finger of toe 6 structure, their constructional feature is described for forefinger 3 in the present embodiment as shown in Figure 2. Forefinger 3 comprises base joint first motor 30, motor slot 31, base joint the 2nd motor 32, belt 33, mixing box 34, nearly dactylus 35, nearly dactylus motor 36, middle dactylus 37, middle finger joint motor 38, dactylus 39 far away and two coupling shafts 40. Base joint first motor 30 and base joint the 2nd motor 32 are installed in motor slot 31 and are positioned at one end of motor slot 31, and motor slot 31 is fixed on the back side of palm 2, and mixing box 34 is arranged on the other end of motor slot 31. Mixing box 34 and nearly dactylus 35 are connected, and nearly dactylus 35 is connected with middle dactylus 37 by nearly dactylus motor 36 and coupling shaft 40, and middle dactylus 37 saves motor 38 by middle finger and another coupling shaft 40 is connected with dactylus 39 far away. The output terminal of base joint first motor 30 and base joint the 2nd motor 32 is connected by the input terminus belt wheel 345 of belt 33 and mixing box 34 respectively thus drives mixing box 34 to drive rotation and the side pendulum movement of nearly dactylus 35. The length ratio of nearly dactylus 35, middle dactylus 37 and dactylus 39 far away is 4:3:2.
The nearly dactylus joint of forefinger 3 is identical with the structure in middle dactylus joint, is illustrated in figure 4 the partial cutaway structure iron in nearly dactylus joint, and nearly dactylus motor 36 is embedded in nearly dactylus 35 inside and in Direct driver, dactylus 37 rotates. With reason, middle finger joint motor 38 is embedded in the inner also Direct driver dactylus 39 far away of middle dactylus 37 and rotates.
Mixing box 34 as shown in Figure 3, comprises the first cone gear 340, left axle 341, the 2nd cone gear 342, upper axle 343, triconodont wheel 344, two belt wheels 345, the 4th cone gear 346, right axle 347 and lower axle 348. Left axle 341 and right axle 347 are separately positioned on motor slot 31 liang of walls. One of them belt wheel 345 is arranged on left axle 341 outer end, and left axle 341 end is also provided with the first cone gear 340, and wherein another belt wheel 345 is arranged on right axle 347 outer end, and right axle 347 end is also provided with triconodont wheel 344. First cone gear 340 and triconodont wheel 344 are oppositely arranged, the upper and lower that the 2nd cone gear 342 and the 4th cone gear 346 are separately positioned between the first cone gear 340 and triconodont wheel 344. 2nd cone gear 342 engages with the top of the first cone gear 340 and triconodont wheel 344,4th cone gear 346 engages with the bottom of the first cone gear 340 and triconodont wheel 344,2nd cone gear 342 is arranged on axle 343, and the 4th cone gear 346 is arranged on lower axle 348. Upper axle 343 and lower axle 348 connect with nearly dactylus 35 respectively. Nearly dactylus and upper axle 343 are connected, and nearly dactylus is rotationally connected only to play with lower axle 348 and coordinates effect.
In mixing box 34, the first cone gear 340 and triconodont wheel 344 are motion-work wheel, and the 2nd cone gear 342 and the 4th cone gear 346 are driven wheels. Base joint first motor 30 and base joint the 2nd motor 32 drive corresponding belt 33 and band movable belt pulley 345 respectively, motion is sent to left axle 341 and right axle 347, and then pass to the first cone gear 340 and triconodont wheel 344, first cone gear 340 and triconodont wheel 344 are by engaging with the 2nd cone gear 342 and the 4th cone gear 346, pass motion to the 2nd cone gear 342 and the 4th cone gear 346, and then pass to axle 343 and lower axle 348. In the present embodiment, the 4th cone gear 346 and lower axle 348 in mixing box 34 mainly play the effect balancing whole mechanism.
When base joint first motor 30 and base joint the 2nd motor 32 rotate forward or reverse simultaneously simultaneously, left axle 341 and right axle 347 also simultaneously rotate forward or simultaneously reversion thus drive the first cone gear 340 and triconodont wheel 344 simultaneously rotate forward or reverse simultaneously; 2nd cone gear 342 and the 4th cone gear 346 are subject to the moment loading that size is equal, direction is contrary, keep running balance not produce rotation, and the rotation of the first cone gear 340 and triconodont wheel 344 drives whole finger to carry out luffing. When base joint first motor 30 and base joint the 2nd motor 32 1 main storys, a reversion, thus drive the first cone gear 340 and triconodont to take turns 344 1 rotating forwards, a reversion, 2nd cone gear 342 and the 4th cone gear 346 have been applied the reversion of twice respectively, have rotated forward torsional torque, reverse around upper axle 343, lower axle 348, rotate forward respectively, owing to nearly dactylus and upper axle 343 are connected, nearly dactylus is rotationally connected only to play with lower axle 348 and coordinates effect, thus drives finger to carry out side pendulum movement.
The structural representation of thumb 1 as shown in Figure 5, comprises base joint master wheel 10, base joint motor 11, base joint pinion(gear) 12, base joint coupling shaft 13, nearly dactylus 35, nearly dactylus motor 36, middle dactylus 37, middle finger joint motor 38, dactylus 39 far away and two coupling shafts 40. Base joint motor 11 is fixed on palm 2 back side, and the output terminal of base joint motor 11 is provided with base joint master wheel 10; Nearly dactylus 35 is connected by base joint coupling shaft 13 and palm 2; Base joint master wheel 10 and base joint pinion(gear) 12 cooperating that is arranged on base joint coupling shaft 13 thus the rotation realizing thumb 1 base joint. Nearly dactylus 35 is connected with middle dactylus 37 by nearly dactylus motor 36 and coupling shaft 40, and middle dactylus 37 saves motor 38 by middle finger and another coupling shaft 40 is connected with dactylus 39 far away. Nearly dactylus motor 36 is embedded in nearly dactylus 35 inside and in Direct driver, dactylus 37 rotates. Middle finger joint motor 38 is embedded in the inner also Direct driver dactylus 39 far away of middle dactylus 37 and rotates. Base joint motor 11 drives base joint master wheel 10 to drive base joint pinion(gear) 12 to rotate, and in nearly dactylus motor 36 Direct driver, dactylus 37 rotates, and middle finger joint motor 38 Direct driver dactylus 39 far away rotates, thus realizes the rotation of thumb 1.
End effector of the present invention has 19 degree of freedom, forefinger 3, middle finger 4, and nameless 5, each four degree of freedom of little finger of toe 6, thumb 1 has three degree of freedom. Forefinger, middle finger, nameless, base joint first motor 30 of little finger of toe, base joint the 2nd motor 32 by belt 33 transmission by power transmission to the left axle 341 of mixing box 34 and right axle 347, thus drive the 2nd cone gear 342 and the 4th cone gear 346 in the same way or rotate backward, it is achieved the rotation in its base joint or side pendulum movement. In nearly dactylus motor 36 Direct driver, dactylus 37 rotates, and middle finger joint motor 38 Direct driver dactylus 39 far away rotates.
In the present embodiment, the forefinger of end effector, middle finger, the third finger, little finger of toe, structure is consistent, respectively has 4 degree of freedom, is respectively the pitching in articulations digitorum manus far away, middle joint, base joint, and the side pendulum movement in base joint, and each points interval 18mm. Wherein, dactylus length 20mm far away, wide 18mm, the long 30mm of middle dactylus, wide 24mm, the long 40mm of nearly dactylus, wide 18mm. Thumb does not need side pendulum movement, therefore thumb has 3 pitching degree of freedom, the length of each dactylus, width, identical with all the other four fingers.
The present invention is by the rotation of each motor and cooperatively interacts and realizes the opening and closing of end effector, enables end effector complete complicated action, thus completes the harvesting of multiple fruit.
The five fingers end effector of the present invention, structure is simple, it may also be useful to convenient, with low cost, flexible movements, can complete the harvesting of multiple fruit.
Above in conjunction with accompanying drawing to invention has been exemplary description; the realization of obvious the present invention is not subject to the restrictions described above; as long as have employed the various improvement that the design of the method for the present invention carries out with technical scheme; or without improving, the design of the present invention and technical scheme directly applied to other occasion, all in protection scope of the present invention.
Claims (9)
1. a five fingers end effector, comprise thumb (1), palm (2), forefinger (3), middle finger (4), nameless (5) and little finger of toe (6), it is characterized in that: forefinger (3), middle finger (4), nameless (5) are identical with the structure of little finger of toe (6), and there is base joint first motor (30) respectively, base joint the 2nd motor (32) and mixing box (34), base joint first motor (30) and base joint the 2nd motor (32) are fixed on palm (2), the nearly dactylus of finger is connected with palm (2) by mixing box (34), base joint first motor (30) and base joint the 2nd motor (32) drive mixing box (34) thus realize side pendulum movement and the luffing of finger.
2. the five fingers end effector according to claim 1, it is characterised in that: mixing box (34) comprises the first cone gear (340), left axle (341), the 2nd cone gear (342), upper axle (343), triconodont wheel (344), the 4th cone gear (346), right axle (347) and lower axle (348); Left axle (341) and right axle (347) are oppositely arranged on palm (2) upper composition base joint pitching rotating shaft, first cone gear (340) is relative with triconodont wheel (344) and is separately positioned on left axle (341) and the end of right axle (347), and the outer end of left axle (341) and right axle (347) is driven by base joint first motor (30) and base joint the 2nd motor (32) respectively; The outer end of upper axle (343) and lower axle (348) respectively nearly dactylus with corresponding finger connect to form base articular side rotation moving axis, 2nd cone gear (342) is relative with the 4th cone gear (346) and is separately positioned on upper axle (343) and the end of lower axle (348), 2nd cone gear (342) engages with the top of the first cone gear (340) and triconodont wheel (344), and the 4th cone gear (346) engages with the bottom of the first cone gear (340) and triconodont wheel (344).
3. the five fingers end effector according to claim 2, it is characterized in that: respectively by belt (33) transmission between base joint first motor (30) and base joint the 2nd motor (32) and mixing box (34), the outer end of mixing box (34) left axle (341) and right axle (347) is respectively arranged with belt wheel (345).
4. the five fingers end effector according to claim 1,2 or 3, it is characterized in that: one end that base joint first motor (30) and base joint the 2nd motor (32) are installed in motor slot (31) is also fixed on palm (2) by motor slot (31), and mixing box (34) is arranged on the other end of motor slot (31).
5. the five fingers end effector according to claim 4, it is characterised in that: left axle (341) is relative with right axle (347) and is separately positioned on motor slot (31) Liang Bishang.
6. according to the arbitrary described the five fingers end effector of claim 1 to 5, it is characterised in that: thumb (1) comprises base joint master wheel (10), base joint motor (11), base joint pinion(gear) (12) and base joint coupling shaft (13); Base joint motor (11) is fixed on palm (2), base joint master wheel (10) is arranged on the output terminal of base joint motor (11), the nearly dactylus of thumb by base joint coupling shaft (13) and palm (2) connection, base joint master wheel (10) and base joint pinion(gear) (12) cooperating that is arranged on base joint coupling shaft (13) thus the rotation realizing thumb (1) base joint.
7. according to the arbitrary described the five fingers end effector of claim 1 to 6, it is characterized in that: thumb (1), forefinger (3), middle finger (4), nameless (5) and little finger of toe (6) include nearly dactylus, middle dactylus, dactylus far away and coupling shaft, nearly dactylus is connected with middle dactylus by nearly dactylus motor and corresponding coupling shaft, and middle dactylus saves motor by middle finger and corresponding coupling shaft is connected with dactylus far away.
8. the five fingers end effector according to claim 7, it is characterised in that: nearly dactylus motor is embedded in dactylus rotation in the inner also Direct driver of nearly dactylus; Middle finger joint motor is embedded in middle dactylus inner also Direct driver dactylus far away and rotates.
9. the five fingers end effector according to claim 7, it is characterised in that: the length ratio of nearly dactylus, middle dactylus and dactylus far away is 4:3:2.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199261.XA CN105643643A (en) | 2016-04-02 | 2016-04-02 | Five-finger end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199261.XA CN105643643A (en) | 2016-04-02 | 2016-04-02 | Five-finger end effector |
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| CN105643643A true CN105643643A (en) | 2016-06-08 |
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| CN201610199261.XA Pending CN105643643A (en) | 2016-04-02 | 2016-04-02 | Five-finger end effector |
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| CN107745391A (en) * | 2017-11-07 | 2018-03-02 | 西北农林科技大学 | A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor |
| CN108908382A (en) * | 2018-08-15 | 2018-11-30 | 哈尔滨工业大学 | The coupling adaptive three of tendon rope drive refers to differential mechanism manpower jaw arrangement |
| CN109590981A (en) * | 2019-01-22 | 2019-04-09 | 山东蝰蛇智能装备有限公司 | A kind of micromachine arm and its application method |
| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
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| CN107745391A (en) * | 2017-11-07 | 2018-03-02 | 西北农林科技大学 | A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor |
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| CN109590981B (en) * | 2019-01-22 | 2024-05-28 | 山东蝰蛇智能装备有限公司 | Micro mechanical arm and use method thereof |
| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
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Application publication date: 20160608 |