CN106737818A - A kind of flexible machine person joint of stiffness variable - Google Patents
A kind of flexible machine person joint of stiffness variable Download PDFInfo
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- CN106737818A CN106737818A CN201611217657.9A CN201611217657A CN106737818A CN 106737818 A CN106737818 A CN 106737818A CN 201611217657 A CN201611217657 A CN 201611217657A CN 106737818 A CN106737818 A CN 106737818A
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- transmission shaft
- power transmission
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- motion bar
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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
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Abstract
A kind of flexible machine person joint of stiffness variable, it is related to a kind of joint of robot, the impulsive force produced during solving existing legged type robot foot with ground rigid contact, cause very big energy loss, the problem of robot motion's performance reduction, it includes position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusting mechanism includes power driving mechanism, link and two sets of rectilinear movement devices；The transmission mechanism includes power transmission shaft, foot connecting seat, two motion bars, two limited blocks and two joint bearing blocks；The stiffness tuning mechanism includes two flexible members and two connecting rods；The link is fixedly connected on the foot connecting seat, the foot connecting seat is fixedly mounted on the power transmission shaft, the both sides of the foot connecting seat are respectively arranged with a motion bar perpendicular to power transmission shaft, and two sets of rectilinear movement devices are slidably mounted on link.The present invention is used for biped robot.
Description
Technical field
The present invention relates to a kind of joint of robot, belong to robot field.
Background technology
Joint of robot is the important component of robot, and very important effect is played to legged type robot motion.
The moment that the legged type robot in rigid joint is contacted in foot with ground in the process of walking can produce huge impulse force, this wink
Between impulsive force can cause certain infringement to the component for constituting robot, and the stability of robot motion can be influenceed, and
And this rigid contact can make robot that very big energy loss is caused in motion process, reduce further legged type robot
Sport efficiency.Therefore, it is to avoid robot carries out rigid contact reduction and contacts rushing for generation in motion process between ground
Research of the power to legged type robot is significant.Scholars have found that mankind's lower limb have by studying mankind's lower extremity movement
Enough flexibilities, can not only allow people to realize smooth, labour-saving double feet walking, and can protect the joint of lower limb.Under the mankind
Limb flexibly, energy-conservation, absorb impact the characteristics of for legged type robot, with highly important reference.Based on this, this
Inventing a kind of stiffness variable flexible machine person joint for proposing has the ability that can actively adjust joint stiffness, is conducive to reducing foot
The impulsive force that formula robot foot section is produced when being contacted with ground, and further improve the energy efficiency of robot.
The content of the invention
The present invention is the impulsive force to be produced when solving existing legged type robot foot with ground rigid contact, causes very big
Energy loss, the problem of robot motion's performance reduction, and then a kind of flexible machine person joint of stiffness variable is provided.
The present invention is adopted the technical scheme that to solve the above problems：A kind of flexible machine person joint of stiffness variable includes
Position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusting mechanism include power driving mechanism, link and
Two sets of rectilinear movement devices；The transmission mechanism includes power transmission shaft, foot connecting seat, two motion bars, two limited blocks and two
Joint bearing block；The stiffness tuning mechanism includes two flexible members and two connecting rods；
The link is fixedly connected on the foot connecting seat, and the foot connecting seat is fixedly mounted on the transmission
On axle, the both sides of the foot connecting seat are respectively arranged with a motion bar perpendicular to power transmission shaft, two activities
One end of bar is rotatably installed on the power transmission shaft, and the two ends of the power transmission shaft on the outside of two motion bars are respectively installed
There is an ankle-joint bearing block, and the ankle-joint power transmission shaft can be relative to the rotation of ankle-joint bearing block, the ankle-joint axle
The both sides of bearing fixedly mount a limited block of the restricted motion bar rotation respectively, and two motion bars are with the biography
The axle center of moving axis is in a center of symmetry；Two tops of the motion bar are respectively disposed with the company parallel with the motion bar
Extension bar, is disposed with the flexible member being fixedly connected with the two between the other end of the motion bar and one end of the connecting rod；
Two sets of rectilinear movement devices are slidably mounted on link, the axial direction of the power transmission shaft and the rectilinear movement device
Moving direction it is vertical, two motion bars and two rectilinear movement devices correspond arrangement, the power-driven machine
The output end of structure drives two sets of rectilinear movements device opposite frictional movement on each self-corresponding motion bar.
Further, the power driving mechanism includes motor and gear, and often set rectilinear movement device includes tooth bar, cunning
Moving part and contact bar, are set side by side with two slide rails on the link；The power transmission shaft is vertically arranged with two slide rails,
The sliding part is slidably mounted on the slide rail, and the tooth bar is connected with the sliding part, the end connection of the sliding part
There is the contact bar for contacting the motion bar, the axial direction of the motor is vertically arranged, the output end connection of the motor
There is the gear, the gear is engaged with two tooth bars.
Further, the link also includes two sets of positioners, and the slide rail is cylindrical guide bars, the slip
Part is linear bearing, and the linear bearing is arranged on the cylindrical guide bars, two sets of positioners and two sets of straight lines
Shifter is corresponded and set, and often covering the positioner includes upper plate, lower plate and connecting plate；Between the upper plate and the lower plate
It is connected away from setting and respectively with the link, the tooth bar is arranged between the upper half plate and the lower plate and is supported on institute
State in lower plate, the tooth bar is connected by connecting plate with the linear bearing.
Further, the position adjusting mechanism also includes shaft coupling；The output end of the motor and the gear
Between be disposed with the shaft coupling being connected with the two.
Further, the flexible member is helical spring.
Further, each described motion bar is L-shaped, and the long-armed of the motion bar is rotatably installed on the power transmission shaft,
The both sides of the ankle-joint bearing block fixedly mount the restricted motion bar respectively adjacent to long-armed one end of the motion bar
One limited block of rotation, the long-armed other end of the motion bar is connected with one end of the galianconism of the motion bar, the work
The helical spring being fixedly connected with the two is disposed between the other end of the galianconism of lever and one end of the connecting rod.
Further, the foot connecting seat includes connect base and U-shaped foot connector；The connect base fixes peace
On the power transmission shaft, the link is fixedly connected in the connect base, and the connect base is fixedly mounted on institute
State in U-shaped foot connector.
Further, a kind of flexible machine person joint of stiffness variable also includes servo-actuated belt wheel, the power transmission shaft
One end is provided with a servo-actuated belt wheel.
The beneficial effects of the invention are as follows：The present invention is based on lever principle, using the method for changing load active position come real
The regulation of existing rigidity, is moved by motor-driven gear tooth bar and changes the position that load applies, so as to change rigidity；Work as power transmission shaft
When rotation, the contact bar of importation can push down motion bar, motion bar will draft helical spring, this process closes ankle
The rotation of section produces the moment of resistance, shows as the rigidity of robot anklebone.
The flexible machine person joint that the present invention is developed can active regulation joint rigidity, and then realize joint of robot
Soft drive.The joint stiffness can realize real-time on-line control in robot kinematics so that robot motion's property
Can be improved.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the position adjusting mechanism with driving pulley, stiffness tuning mechanism and transmission mechanism annexation figure；
Fig. 3 is position adjusting mechanism sectional structure chart；
Fig. 4 is stiffness tuning mechanism and transmission mechanism annexation figure；
Fig. 5 is transmission mechanism structural representation.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
As Fig. 1-Fig. 5 is illustrated, a kind of flexible machine person joint of stiffness variable of present embodiment includes position adjustments machine
Structure, stiffness tuning mechanism and transmission mechanism；
The position adjusting mechanism includes power driving mechanism 11, link 12 and two sets of rectilinear movement devices 13；The biography
Motivation structure includes power transmission shaft 21, the limited block 24 of motion bar 23, two of foot connecting seat 22, two and two joint bearing blocks 35；
The stiffness tuning mechanism includes two flexible members 31 and two connecting rods 32；
The link 12 is fixedly connected on the foot connecting seat 22, and the foot connecting seat 22 is fixedly mounted on institute
State on power transmission shaft 21, the both sides of the foot connecting seat 22 are respectively arranged with a motion bar perpendicular to power transmission shaft 21
23, one end of two motion bars 23 is rotatably installed on the power transmission shaft 21, on the outside of two motion bars 23
The two ends of the power transmission shaft 21 are respectively provided with an ankle-joint bearing block 25, and the ankle-joint power transmission shaft 21 can relative ankle
Joint bearing block 35 rotates, and the both sides of the ankle-joint bearing block 35 fixedly mount the restricted rotation of the motion bar 23 respectively
One limited block 24, two motion bars 23 are in a center of symmetry with the axle center of the power transmission shaft 21；Two motion bars 23
Top be respectively disposed with the connecting rod 32 parallel with the motion bar 23, the other end of the motion bar 23 with it is described
The flexible member 31 being fixedly connected with the two is disposed between one end of connecting rod 32；
Two sets of rectilinear movement devices 13 are slidably mounted on link 12, the axial direction of the power transmission shaft 21 and the straight line
The moving direction of shifter 13 is vertical, and two motion bars 23 and two rectilinear movement devices 13 correspond arrangement, institute
The output end for stating power-driven mechanism 11 drives two sets of rectilinear movements phase on each self-corresponding motion bar 23 of device 13
To frictional movement.
, equivalent to the fulcrum of lever, equivalent to lever, the contact of the device 13 that moves linearly is in lever for motion bar 23 for power transmission shaft 21
Upper position is exactly the position that load applies, and position of the flexible member 31 on lever is changeless.When contact is along activity
Bar 23 is moved equivalent to the application point of power when moving along motion bar, the rigidity of linear stretch flexible member 31 be it is constant, from
And the rotational stiffness for showing as whole joint changes with the movement of contact.From the foregoing, when we drive power transmission shaft 21
The rigidity in joint can be made to change during rotation, it is achieved thereby that actively adjusting the purpose of design of joint stiffness.
In order to improve the reliability of power driving mechanism operational efficiency and rectilinear movement device, present embodiment employs driving
The kind of drive that motor and rack-and-pinion are combined, it is preferable that power driving mechanism 11 includes motor 11-1 and gear 11-
2, often set rectilinear movement device 13 includes tooth bar 13-1, sliding part 13-2 and contact bar 13-3, is set up in parallel on the link 12
There are two slide rail 12-1；The slide rail 12-1 described with two of the power transmission shaft 21 is vertically arranged, and the sliding part 13-2 is slidably installed
On the slide rail 12-1, the tooth bar 13-1 is connected with the sliding part 13-2, and the end of the sliding part 13-2 is connected with
The contact bar 13-3 of the motion bar 23 is contacted, the axial direction of the motor 11-1 is vertically arranged, the motor 11-1
Output end be connected with the gear 11-2, gear 11-2 tooth bar 11-2s described with two is engaged.It is arranged such, drives
Motor 11-1 drive gears 11-2 rotates, so as to drive the tooth bar 13-1 engaged with gear 11-2 both sides in mutually opposite directions
Move along a straight line.Tooth bar 13-1 is connected with sliding part 13-2, the motion of tooth bar 13-1 drive sliding part 13-2 prolong slide rail 12-1 with
It is dynamic, it is achieved thereby that the linear motion of contact bar 13-3 on sliding part 13-2 along slide rail 12-1 directions, by driving
Dynamic motor 11-1 drive gears 11-2 and tooth bar 13-1 motion changes the position that load applies, so as to change rigidity.
Such as Fig. 3 explanations, it is preferable that link 12 also includes two sets of positioners, the slide rail 12-1 is oriented to for cylinder
Bar, the sliding part 13-2 is linear bearing, and the linear bearing 13-2 is arranged on the cylindrical guide bars, and two sets described
Positioner and two sets of rectilinear movement devices 13 are corresponded and set, and often covering the positioner includes upper plate 12-2, lower plate 12-3
With connecting plate 12-4；The upper plate 12-2 and the lower plate 12-3 spacing set and are connected with the link 12 respectively, described
Tooth bar 13-1 is arranged between the upper half plate 12-2 and the lower plate 12-3 and is supported on the lower plate 12-3, the tooth bar
13-1 is connected with by connecting plate 12-4 with the linear bearing.It is arranged such, running precision and can is improved using linear bearing
By property, positioner realizes the fixation to the device that moves linearly.
Such as Fig. 3 explanations, in order to overcome motor to directly drive rigid motion, torsion problem is reduced, set up shaft coupling, with
The stability of operation is improved, position adjusting mechanism also includes shaft coupling 33；The output end of the motor 11-1 and the tooth
The shaft coupling 33 being connected with the two is disposed between wheel 11-2.It is arranged such, shaft coupling is improving dynamic performance.Drive electricity
Machine 11-1 is rotated by the drive gear 11-2 of shaft coupling 33, so as to drive the tooth bar 13-1 engaged with gear 11-2 both sides along each other
Opposite direction moves along a straight line.Tooth bar 13-1 is connected by connecting plate 12-4 with linear bearing, the motion band of tooth bar 13-1
Dynamic linear bearing prolongs the servo-actuated of cylindrical guide bars, it is achieved thereby that the contact bar on linear bearing is led along cylinder
To the linear motion in bar direction.As shown in figure 4, fulcrum of the power transmission shaft 21 equivalent to lever, motion bar 23 is equivalent to lever, contact
Positions of the bar 13-3 on lever is exactly the position that load applies, and position of the helical spring on lever is changeless.When
Application point when contact bar 13-3 is moved along motion bar 23 equivalent to power is moved along motion bar 23, the spiral bullet of linear stretch
The rigidity of spring is constant, so as to the rotational stiffness for showing as whole joint changes with the movement of contact bar.From it is above-mentioned can
Know, when our motor 11-1 rotate the rigidity in joint can be made to change, it is achieved thereby that it is firm actively to adjust joint
The purpose of design of degree.
Such as Fig. 4 explanations, it is preferable that flexible member 31 is helical spring.It is arranged such, cheap and easy to get, easy disassembly.
Application point when contact bar 13-3 is moved along motion bar 23 equivalent to power is moved along motion bar 23, the spiral of linear stretch
The rigidity of spring is constant, so as to the rotational stiffness for showing as whole joint changes with the movement of contact.
Such as Fig. 4 explanations, more highlighted to ensure that motion bar plays a part of lever, each described motion bar 23 is L-shaped,
The long-armed of the motion bar 23 is rotatably installed on the power transmission shaft 21, the neighbouring work on the both sides of the foot connecting seat 22
Long-armed one end of lever 23 is respectively mounted a limited block 24 of the restricted rotation of the motion bar 23, the motion bar 23
The long-armed other end is connected with one end of the galianconism of the motion bar 23, the other end of the galianconism of the motion bar 23 and the company
The helical spring being fixedly connected with the two is disposed between one end of extension bar 32.It is arranged such, the motion bar of L-shaped plays transmission power
Effect, to ensure lever effect.
Such as Fig. 5 explanations, in order to the joint for ensureing present embodiment is used for biped robot, realize that robot ambulation is moved,
Foot connecting seat 22 includes connect base 22-1 and U-shaped foot connector 22-2；The connect base 22-1 is fixedly mounted on institute
State on power transmission shaft 21, the link 12 is fixedly connected on the connect base 22-1, the connect base 22-1 fixes peace
In the U-shaped foot connector 22-2.It is arranged such, easy to use, robot is stable.
Such as Fig. 2 explanations, in order to the joint for ensureing present embodiment is used for biped robot, realize that robot ambulation is moved,
A kind of flexible machine person joint of stiffness variable also includes servo-actuated belt wheel 34, and one end of the power transmission shaft 21 is provided with one and is servo-actuated
Belt wheel 34.It is arranged such, robot shank and joint of robot are connected by bearing block 35, and simple structure is easy to use and reliable.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when can utilize the disclosure above structure and technology contents do
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, according to any simple modification, equivalent variations and modification that technical spirit of the invention is made to above case study on implementation, still belong to
Technical solution of the present invention scope.
Claims (8)
1. the flexible machine person joint of a kind of stiffness variable, it is characterised in that：It includes position adjusting mechanism, stiffness tuning mechanism
And transmission mechanism；The position adjusting mechanism includes power driving mechanism (11), link (12) and two sets of rectilinear movement devices
(13)；The transmission mechanism includes power transmission shaft (21), foot connecting seat (22), two motion bars (23), two limited blocks (24)
With two joint bearing blocks (35)；The stiffness tuning mechanism includes two flexible members (31) and two connecting rods (32)；
The link (12) is fixedly connected on the foot connecting seat (22), and the foot connecting seat (22) is fixedly mounted on
On the power transmission shaft (21), the both sides of the foot connecting seat (22) are respectively arranged with described in one perpendicular to power transmission shaft (21)
Motion bar (23), one end of two motion bars (23) is rotatably installed on the power transmission shaft (21), positioned at two work
The two ends of the power transmission shaft (21) on the outside of lever (23) are respectively provided with an ankle-joint bearing block (35), and the ankle is closed
Section power transmission shaft (21) can be relative to ankle-joint bearing block (35) rotation, and the both sides of the ankle-joint bearing block (35) fixedly mount respectively
One limited block (24) of the restricted motion bar (23) rotation, two motion bars (23) are with the power transmission shaft (21)
Axle center is in a center of symmetry；The top of two motion bars (23) is respectively disposed with described in parallel with the motion bar (23)
Connecting rod (32), is disposed between the other end of the motion bar (23) and one end of the connecting rod (32) and connects with the two fixation
The flexible member (31) for connecing；
Two sets of rectilinear movements device (13) are slidably mounted on link (12), and the axial direction of the power transmission shaft (21) is straight with described
The moving direction of line shifter (13) is vertical, and two motion bars (23) and two rectilinear movements device (13) correspond
Arrangement, the output end of the power-driven mechanism (11) drives two sets of rectilinear movements device (13) in each self-corresponding work
Opposite frictional movement in lever (23).
2. the flexible machine person joint of a kind of stiffness variable according to claim 1, it is characterised in that：The electric power driver
Structure (11) includes motor (11-1) and gear (11-2), and often set rectilinear movement device (13) includes tooth bar (13-1), sliding part
(13-2) and contact bar (13-3), is set side by side with two slide rails (12-1) on the link (12)；The power transmission shaft (21)
It is vertically arranged with two slide rails (12-1), the sliding part (13-2) is slidably mounted on the slide rail (12-1), described
Tooth bar (13-1) is connected with the sliding part (13-2), and the end of the sliding part (13-2) is connected with the contact motion bar
(23) contact bar (13-3), the axial direction of the motor (11-1) is vertically arranged, the output of the motor (11-1)
End is connected with the gear (11-2), and the gear (11-2) is engaged with two tooth bars (11-2).
3. the flexible machine person joint of a kind of stiffness variable according to claim 2, it is characterised in that：The link (12)
Also include two sets of positioners, the slide rail (12-1) is cylindrical guide bars, and the sliding part (13-2) is linear bearing, institute
Linear bearing (13-2) is stated on the cylindrical guide bars, two sets positioners and two sets of devices (13) that move linearly
Correspond and set, often covering the positioner includes upper plate (12-2), lower plate (12-3) and connecting plate (12-4)；The upper plate
(12-2) and the lower plate (12-3) spacing sets and is connected with the link (12) respectively, and the tooth bar (13-1) is arranged in
Between the upper half plate (12-2) and the lower plate (12-3) and it is supported in the lower plate (12-3), the tooth bar (13-1) is led to
Connecting plate (12-4) is crossed to be connected with the linear bearing.
4. according to Claims 2 or 3 a kind of stiffness variable flexible machine person joint, it is characterised in that：Adjust the position
Section mechanism also includes shaft coupling (33)；Be disposed between the output end of the motor (11-1) and the gear (11-2) with
The shaft coupling (33) of the two connection.
5. according to claim 1,2 or 3 a kind of stiffness variable flexible machine person joint, it is characterised in that：The elasticity
Element (31) is helical spring.
6. the flexible machine person joint of a kind of stiffness variable according to claim 5, it is characterised in that：Each described motion bar
(23) it is L-shaped, the long-armed of the motion bar (23) is rotatably installed on the power transmission shaft (21), the ankle-joint bearing block (35)
Both sides fixedly mount the one of the rotation of the restricted motion bar (23) respectively adjacent to long-armed one end of the motion bar (23)
Individual limited block (24), the long-armed other end of the motion bar (23) is connected with one end of the galianconism of the motion bar (23), institute
State and be disposed with the spiral shell being fixedly connected with the two between the other end of the galianconism of motion bar (23) and one end of the connecting rod (32)
Rotation spring.
7. the flexible machine person joint of a kind of stiffness variable according to claim 6, it is characterised in that：The foot connecting seat
(22) including connect base (22-1) and U-shaped foot connector (22-2)；The connect base (22-1) is fixedly mounted on described
On power transmission shaft (21), the link (12) is fixedly connected in the connect base (22-1), the connect base (22-1)
It is fixedly mounted in the U-shaped foot connector (22-2).
8. the flexible machine person joint of a kind of stiffness variable according to claim 7, it is characterised in that：Described one kind is variable just
The flexible machine person joint of degree also includes servo-actuated belt wheel (34), and one end of the power transmission shaft (21) is provided with a servo-actuated belt wheel
(34)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217657.9A CN106737818B (en) | 2016-12-26 | 2016-12-26 | A kind of flexible machine person joint of stiffness variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217657.9A CN106737818B (en) | 2016-12-26 | 2016-12-26 | A kind of flexible machine person joint of stiffness variable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737818A true CN106737818A (en) | 2017-05-31 |
| CN106737818B CN106737818B (en) | 2019-04-12 |
Family
ID=58926133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611217657.9A Active CN106737818B (en) | 2016-12-26 | 2016-12-26 | A kind of flexible machine person joint of stiffness variable |
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| Country | Link |
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| CN (1) | CN106737818B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861121A (en) * | 2019-10-16 | 2020-03-06 | 崔兵 | Flexible robot joint based on variable rigidity |
| CN115447691A (en) * | 2022-09-01 | 2022-12-09 | 南京信息工程大学 | Variable-rigidity foot end mechanism |
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| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
| CN104647397A (en) * | 2015-03-17 | 2015-05-27 | 河北工业大学 | Rigidity-variable flexible joint |
| CN105171770A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Machine safety variable-rigidity elastic joint and rigidity adjustment method |
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2016
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|---|---|---|---|---|
| JP2003340771A (en) * | 2002-05-21 | 2003-12-02 | Toyota Motor Corp | Robot |
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
| CN104647397A (en) * | 2015-03-17 | 2015-05-27 | 河北工业大学 | Rigidity-variable flexible joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861121A (en) * | 2019-10-16 | 2020-03-06 | 崔兵 | Flexible robot joint based on variable rigidity |
| CN115447691A (en) * | 2022-09-01 | 2022-12-09 | 南京信息工程大学 | Variable-rigidity foot end mechanism |
| CN115447691B (en) * | 2022-09-01 | 2023-06-02 | 南京信息工程大学 | Foot end mechanism with variable rigidity |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737818B (en) | 2019-04-12 |
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