CN106695870B - 一种柔性关节变刚度机构 - Google Patents
一种柔性关节变刚度机构 Download PDFInfo
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- CN106695870B CN106695870B CN201710043479.0A CN201710043479A CN106695870B CN 106695870 B CN106695870 B CN 106695870B CN 201710043479 A CN201710043479 A CN 201710043479A CN 106695870 B CN106695870 B CN 106695870B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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CN201710043479.0A CN106695870B (zh) | 2017-01-19 | 2017-01-19 | 一种柔性关节变刚度机构 |
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CN106695870A CN106695870A (zh) | 2017-05-24 |
CN106695870B true CN106695870B (zh) | 2019-01-25 |
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Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107234632B (zh) * | 2017-06-26 | 2020-04-07 | 哈尔滨工业大学 | 一种基于差动轮系的节能变刚度弹性关节 |
CN108000554B (zh) * | 2017-11-30 | 2021-07-06 | 中国矿业大学 | 一种基于片簧的可变刚度柔性关节及其控制方法 |
CN108453723B (zh) * | 2018-04-28 | 2020-11-06 | 清华大学 | 一种基于六杆机构的板簧式变刚度柔性驱动器 |
CN109465848B (zh) * | 2018-11-30 | 2023-10-03 | 广东工业大学 | 一种基于凸轮式杠杆结构的机器人关节变刚度模块 |
CN109483590B (zh) * | 2018-12-29 | 2021-06-29 | 重庆大学 | 空间可控时变刚度柔性关节装置 |
CN115741771B (zh) * | 2022-11-16 | 2024-04-12 | 安徽工程大学 | 一种单向压紧双边摩擦变刚度柔顺关节及工作方法 |
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KR100912104B1 (ko) * | 2008-02-14 | 2009-08-13 | 한국과학기술연구원 | 강성 발생 장치, 강성 제어 방법 및 이를 구비하는 로봇머니퓰레이터의 조인트 |
IT1402194B1 (it) * | 2010-09-23 | 2013-08-28 | Fond Istituto Italiano Di Tecnologia | Giunto rotante a rigidezza regolabile. |
CN103192406B (zh) * | 2013-04-08 | 2015-10-28 | 北京航空航天大学 | 一种可变刚度的机器人关节驱动器 |
CN103753598B (zh) * | 2013-11-05 | 2016-01-20 | 上海大学 | 刚柔自动切换可变刚度柔性驱动器装置 |
CN104260106B (zh) * | 2014-08-18 | 2016-03-23 | 北京航空航天大学 | 一种可变刚度的关节模块 |
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Effective date of registration: 20210414 Address after: 362000 1st floor, building 7, R & D start area, Quanzhou Software Park, Beifeng street, Fengze District, Quanzhou City, Fujian Province Patentee after: Quanzhou Wanzhi technology partnership (L.P.) Address before: 150006 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY |
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Effective date of registration: 20220920 Address after: 362000 1st floor, building 7, R & D start area, Quanzhou Software Park, Beifeng street, Fengze District, Quanzhou City, Fujian Province Patentee after: Quanzhou Tongwei Technology Co.,Ltd. Address before: 362000 1st floor, building 7, R & D start area, Quanzhou Software Park, Beifeng street, Fengze District, Quanzhou City, Fujian Province Patentee before: Quanzhou Wanzhi technology partnership (L.P.) |
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