CN106903712A - The conllinear joint of mechanical arm of two-freedom based on differential rope drive - Google Patents
The conllinear joint of mechanical arm of two-freedom based on differential rope drive Download PDFInfo
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- CN106903712A CN106903712A CN201510966134.3A CN201510966134A CN106903712A CN 106903712 A CN106903712 A CN 106903712A CN 201510966134 A CN201510966134 A CN 201510966134A CN 106903712 A CN106903712 A CN 106903712A
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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
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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Abstract
The invention provides a kind of conllinear joint of mechanical arm of two-freedom based on differential rope drive,Including the drive device being arranged in first mechanical arm cylinder section and two small guide wheels,Two big guide wheels at pitch axis two ends are movably set in respectively,The two ends of the pitch axis are flexibly connected with first mechanical arm cylinder section,Yaw axis is orthogonal to be socketed by sleeving connecting rod and the pitch axis and is connected,Disk and driftage lower wall in the driftage at the two ends of the yaw axis are movably set in respectively,The two ends of the yaw axis are flexibly connected with second mechanical arm cylinder section,Disk is fixedly connected with second mechanical arm cylinder section in the driftage,First or second driving rope point two ends from drive device are stretched out,Described first drives every one end of rope by the same small guide wheel of described pitch axis one end,Same big guide wheel guiding winds and is fixed in the driftage on disk and driftage lower wall,The achievable mechanical arm pitching of the present invention,Two rotations of the free degree of driftage.
Description
Technical field
The present invention relates to a kind of conllinear joint of mechanical arm of two-freedom based on differential rope drive.
Background technology
Series connection multi-joint mechanical arm is highly suitable in complex environment, such as space environment, radiation environment due to that the features such as it has multi-joint, multiple degrees of freedom, many redundant degree of freedom, can form multi-motion modes.Joint of mechanical arm can be divided into conllinear and two kinds of biasing according to its layout.Conllinear joint of mechanical arm compact conformation, flexibility ratio are high, and people can be replaced to complete work in every in special environment.
Joint is the intersegmental bound fraction of each cylinder of mechanical arm, is the kinematic pair for realizing the various motions of mechanical arm, is one of most important structure member of influence mechanical arm performance.Due to the difference of operating environment, the configuration of joint of mechanical arm and type of belt drive are all different.
The content of the invention
It is an object of the invention to provide a kind of conllinear joint of mechanical arm of two-freedom based on differential rope drive, the modularization of articulation mechanism, articulation mechanism miniaturization, high accuracy transmission and electromechanical integration can be realized in limited bulk limitation.
To solve the above problems, the present invention provides a kind of two-freedom based on differential rope drive conllinear joint of mechanical arm, including：
The drive device being arranged in first mechanical arm cylinder section and two small guide wheels, wherein, described two small guide wheels are movably set in drive device near one end of second mechanical arm cylinder section, and first mechanical arm cylinder section and second mechanical arm cylinder section are oppositely arranged；
Pitch axis, is movably set in two big guide wheels at the pitch axis two ends respectively, and the two ends of the pitch axis are flexibly connected with first mechanical arm cylinder section, its middle-end of described two small guide wheels respectively close to the pitch axis；
Yaw axis and sleeving connecting rod, the yaw axis is orthogonal to be socketed by the sleeving connecting rod and the pitch axis and is connected, disk and driftage lower wall in the driftage at the two ends of the yaw axis are movably set in respectively, the diameter with diameter greater than driftage lower wall of disk in driftage, the two ends of the yaw axis are flexibly connected with second mechanical arm cylinder section, and disk is fixedly connected with second mechanical arm cylinder section in the driftage；
First drives rope, first driving rope point two ends from the drive device are stretched out, and every one end of the first driving rope is wound by the same small guide wheel of described pitch axis one end, same big guide wheel guiding and is fixed in the driftage disk and goes off course on lower wall；
Second drives rope, second driving rope point two ends from the drive device are stretched out, the second driving rope is wound and is fixed in the driftage on disk and driftage lower wall by the same small guide wheel of the pitch axis other end, same big guide wheel guiding respectively per one end, wherein, the drive device be used for drive first drive rope and second driving rope do it is in the same direction, reversely or differential stretch, motion of contracting.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, when the drive device drive first drive rope and the second driving rope do stretch in the same direction, contract motion when, yaw axis drive second mechanical arm tin section does elevating movement around pitch axis.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, when drive device drive first drive rope and second driving rope do reversely stretch, contract move when, first drives rope and second to drive rope to pull the upper disk of driftage to rotate, and disk drives second mechanical arm cylinder section to do yawing rotation around yaw axis in driftage.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, when drive device drives first to drive rope and the second driving rope to do differential motion, disk drives second mechanical arm cylinder section both to do elevating movement in driftage, and yawing rotation is done again.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, the material of the first driving rope and the second driving rope is steel wire rope.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, the drive device drives the wherein one end in the two ends of the first driving rope or the second driving rope to extend respectively, and the other end shrinks, and ensures that elongation is equal with amount of contraction.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, , the drive device includes two groups of motor reducers, three line slideways be arrangeding in parallel, two leading screws and four nuts, wherein, every group of motor reducer drives a leading screw to rotate, every leading screw is divided into two sections, every section is processed left-handed respectively, right-handed thread, a nut is covered respectively on every section of rotation screw thread, one end set of each nut is wherein on a line slideway, have respectively on two leading screws on the line slideway of same of the centre in three line slideways of a nut sleeve, the two ends of the first driving rope connect two nuts on a leading screw respectively, the two ends of the second driving rope connect two nuts on another leading screw respectively.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, the leading screw is from normal spiral leading screw, ball-screw, planetary roller screw or recycling roller screw.
Further, in the conllinear joint of mechanical arm of the above-mentioned two-freedom based on differential rope drive, each small guide wheel is mutually close to one of them big guide wheel.
Compared with prior art, the invention has the advantages that：
（1）Joint module degree is higher, it is easy to expand to joint series mechanical arm；
（2）Drive device can be placed in mechanical arm front end, reduce the arm of force, mitigate load；
（3）Articulation structure is simple, low cost of manufacture, it is easy to changes and repairs；
（4）Articulation structure is compact, small volume, lightweight, compared to the gear drive joint of equal volume, using the teaching of the invention it is possible to provide load capacity higher；
（5）Due to being free of geared parts in transmission system, it is driven only with the first driving rope and the second driving rope, transmission stability and precision are higher；
（6）By Action of Gravity Field, mechanical arm required power when pitching motion is done is maximum, and the present invention is when pitching motion is done, two groups of motors are operated and are input into as the power of pitching motion simultaneously, the power of each motor is taken full advantage of, equivalent arm of force during pitching motion is increased, single motor load is reduced；
（7）Spacing is smaller between large and small guide wheel, and what the steel wire rope of cross winding was produced on two guide wheel circle center line connecting directions makes a concerted effort smaller so that the radial load of transmission system shaft is very small, is conducive to improving transmission stability, reduces eccentric, the extending shaft life-span.
Brief description of the drawings
Fig. 1 is the structure chart of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of one embodiment of the invention；
Fig. 2 is the cut-away view of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of one embodiment of the invention；
Fig. 3 is the yaw axis and pitch axis figure of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of one embodiment of the invention；
Fig. 4 is the drive device cut-away view of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of one embodiment of the invention；
Fig. 5 a, 5b and 5c are the schematic diagrames for doing elevating movement of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of one embodiment of the invention；
Fig. 6 is the basis dynamic bevel gear schematic diagram of one embodiment of the invention.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, the present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 3, wherein, Fig. 2 is to conceal the intra articular structure after first mechanical arm cylinder section and second mechanical arm cylinder section, and referring to figs. 1 to 3, the present invention provides a kind of two-freedom based on differential rope drive conllinear joint of mechanical arm, including：
The drive device 1 being arranged in first mechanical arm cylinder section 10 and two small guide wheels 2, wherein, described two small guide wheels 2 are movably set in drive device 1 near one end of second mechanical arm cylinder section 11, and first mechanical arm cylinder section 10 and second mechanical arm cylinder section 11 are oppositely arranged；
Pitch axis 4, is movably set in two big guide wheels 5 at the two ends of the pitch axis 4 respectively, and the two ends of the pitch axis 4 are flexibly connected with first mechanical arm cylinder section 10, its middle-end of described two small guide wheels 2 respectively close to the pitch axis 4；
Yaw axis 8 and sleeving connecting rod 13, the yaw axis 8 is orthogonal to be socketed by the sleeving connecting rod 12 and the pitch axis 4 and is connected, disk 7 and driftage lower wall 6 in the driftage at the two ends of the yaw axis 8 are movably set in respectively, the diameter with diameter greater than driftage lower wall 6 of disk 7 in driftage, the two ends of the yaw axis 8 are flexibly connected with second mechanical arm cylinder section 11, and disk 7 is fixedly connected with second mechanical arm cylinder section 11 in the driftage；Here, as shown in figure 3, described yaw axis 8 and pitch axis 4 are connected with both sides machinery arm cylinder section respectively, as shown in figure 3, yaw axis 8 can drive second mechanical arm cylinder section 11 to do elevating movement around pitch axis 4, range of movement is about +/- 40 °；Second mechanical arm cylinder section 11 can do yaw maneuver around yaw axis 8, range of movement is about +/- 90 °, the yaw axis 8 is orthogonal to be socketed by the sleeving connecting rod 12 and the pitch axis 4 and is connected, ensure that two between centers have a determining deviation, it is ensured that disk 7, driftage lower wall 6 do not produce interference with big guide wheel 5 in driftage；
First drives rope 3, first driving rope 3 point two ends from drive device 1 are stretched out, and every one end of the first driving rope 3 is wound by the same small guide wheel 2 of the one end of the pitch axis 4, same big guide wheel 5 guiding and is fixed in the driftage disk 7 and goes off course on lower wall 6；
Second drives rope 9, second driving rope 9 point two ends from drive device 1 are stretched out, the second driving rope 9 is wound and is fixed in the driftage on disk 7 and driftage lower wall 6 by the same small guide wheel 2 of the other end of the pitch axis 4, same big guide wheel 5 guiding respectively per one end, wherein, the drive device 1 be used for drive first drive rope 3 and drive rope 9 do it is in the same direction, reversely or differential stretch, motion of contracting.Herein, the small guide wheel 2, big guide wheel 5 are used to adjust driving rope direction, when yaw axis 8 does elevating movement around pitch axis 4, yaw axis 8 changes with the relative position relation of drive device 1, first drives rope 3, second to drive rope 9 to adjust rope direction by small guide wheel 2, big guide wheel 5, to adapt to the attitude of the cylinder section 11 of the second mechanical arm under different luffing angles.When the drive device 1 drive first drive rope 3 and second drive rope 9 do stretch in the same direction, contract move when, yaw axis 8 drives second mechanical arm cylinder section 11 to do elevating movement around pitch axis 4, as shown in Fig. 5 a, 5b and 5c, be followed successively by luffing angle be+40 °, 0 °, -40 ° when joint attitude；When drive device 1 drive first drive rope 3 and second drive rope 9 do reversely stretch, contract motion when, the first driving rope 3 and second drives rope 9 to pull the upper disk 7 of driftage to rotate, and the drive of disk 7 second mechanical arm tin section 11 does yawing rotation around yaw axis 8 in driftage;When drive device 1 drives first to drive rope 3 and second to drive rope 9 to do differential motion, disk 7 drives second mechanical arm cylinder section 11 both to do elevating movement in driftage（Revolution）, yawing rotation is done again（Rotation）, i.e., differential rope drive.Common cradle head type of belt drive has gear drive, V belt translation, Chain conveyer, rope drive and linkage, and the present invention uses wire rope gearing.As machinery develops to efficient, high speed, accurate, multifunctional direction, requirement to the function and performance of transmission mechanism also more and more higher, service behaviour, service life, energy resource consumption, vibration noise of machinery etc. depend greatly on the performance of transmission system.The rope drive of early stage is mainly used in power transmission, such as traction, lifting, pulling in engineering.With servo-drive system to the precision of transmission system, rigidity, efficiency requirement, rope drive with its succinct, lightweight, it is efficient many advantages, such as a kind of preferable type of belt drive as high accuracy servo system, surmount transmission properties completely in some application scenarios, be allowed to develop into a kind of new drive line.The present embodiment can realize mechanical arm pitching, two rotations of the free degree of driftage in smaller space, and luffing angle scope is about +/- 40 °, and yaw angle scope is about +/- 90 °, and with larger bearing capacity and good kinematic accuracy.
Preferably, the material of the first driving rope and the second driving rope is steel wire rope.
Detailed, transmission principle of the present invention based on bevel type differential gear, as shown in Figure 6.When gear 1, gear 2 62 in the same direction, rotate at the same speed when, gear 3 63, gear 4 64 around gear 1, gear 2 62 axle revolve round the sun, correspondence joint of mechanical arm pitching motion；When gear 1, gear 2 62 reversely, rotate at the same speed when, gear 3 63, gear 4 64 are around itself axle rotation and rotation direction conversely, gear three rotates corresponding joint yaw maneuver.When gear 1, the differential of gear 2 62 are rotated, gear 3 63, gear 4 64 can be revolved round the sun simultaneously, rotation, i.e. joint carry out pitching, yaw maneuver simultaneously.
Bevel type differential gear mechanism principle is simple, compact conformation.But, the influence of backlash when being limited and engaged by gear manufacture precision, the transmission accuracy of the mechanism is relatively difficult to ensure card；And because joint size is limited, gear cannot be made too greatly, and its bearing capacity is also more difficult to meet design requirement.The present invention simulates bevel type differential gear mechanism using wire rope gearing, as shown in figure 1, the middle gear 1 of 5 corresponding diagram of big guide wheel 6 and gear 2 62, the corresponding gear 3 63 of disk 7, lower wall corresponding gear 4 64 in driftage.When the big differential of guide wheel 5 is rotated, disk 7 drives second mechanical arm cylinder section 11 both to do elevating movement in driftage（Revolution）, yawing rotation is done again（Rotation）.
In one preferred embodiment of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of the invention, drive device 1 drives the first driving rope 3 and second to drive rope 9 to move respectively, the first driving rope 3 or second is set to drive the one end in the two ends of rope 9 to extend, the other end shrinks, and ensure that elongation is equal with amount of contraction, i.e., first drives rope 3 or second to drive the overall length of rope 9 constant.The second driving rope 9 is as the first function of driving rope 3.
In one preferred embodiment of the conllinear joint of mechanical arm of the two-freedom based on differential rope drive of the invention,The internal structure of drive device 1 is as shown in Figure 4,Including two groups of motor reducers 101,Three line slideways 102 be arrangeding in parallel,Two leading screws 103 and four nuts 104,Wherein,Every group of motor reducer 101 drives a leading screw 103 to rotate,Every 103 points of leading screw is two sections,Every section is processed left-handed respectively,Right-handed thread,A nut 104 is covered respectively on every section of rotation screw thread,For the moment of flexure that balance nut 104 is produced to leading screw 103,One end set of each nut 104 is wherein on a line slideway 102,Have respectively on two leading screws 103 on the line slideway 102 of same of the centre that a nut 104 is enclosed within three line slideways 102,The two ends of the first driving rope 3 connect two nuts 104 on a leading screw 103 respectively,The two ends of the second driving rope 9 connect two nuts 104 on another leading screw 103 respectively.When leading screw is rotated, two line slideways 102 do counter motion to two nuts 104 on leading screw 103 wherein, that is, pull first to drive rope 3 or second to drive rope 9 to be stretched.Two motor reducers inside drive device 1 drive the first driving rope 3 or the second driving rope 9 to stretch, contract respectively.By adjusting two groups of motor reducer rotating speeds and steering, realize that yaw axis 8 is rotated around pitch axis 4（Elevating movement）, disk 7 is rotated around yaw axis 8 in driftage（Yawing rotation）, i.e., differential rope drive.
Preferably, the leading screw can select normal spiral leading screw, ball-screw, planetary roller screw, recycling roller screw etc..
Preferably, each small guide wheel is mutually close to one of them big guide wheel, spacing is smaller between to ensure large and small guide wheel, what the steel wire rope of cross winding was produced on two guide wheel circle center line connecting directions makes a concerted effort smaller, so that the radial load of transmission system shaft is very small, be conducive to improving transmission stability, reduce eccentric, the extending shaft life-span.
Superiority of the invention is embodied in：
（1）Joint module degree is higher, it is easy to expand to joint series mechanical arm；
（2）Drive device can be placed in mechanical arm front end, reduce the arm of force, mitigate load；
（3）Articulation structure is simple, low cost of manufacture, it is easy to changes and repairs；
（4）Articulation structure is compact, small volume, lightweight, compared to the gear drive joint of equal volume, using the teaching of the invention it is possible to provide load capacity higher；
（5）Due to being free of geared parts in transmission system, it is driven only with the first driving rope and the second driving rope, transmission stability and precision are higher；
（6）By Action of Gravity Field, mechanical arm required power when pitching motion is done is maximum, and the present invention is when pitching motion is done, two groups of motors are operated and are input into as the power of pitching motion simultaneously, the power of each motor is taken full advantage of, equivalent arm of force during pitching motion is increased, single motor load is reduced；
（7）Spacing is smaller between large and small guide wheel, and what the steel wire rope of cross winding was produced on two guide wheel circle center line connecting directions makes a concerted effort smaller so that the radial load of transmission system shaft is very small, is conducive to improving transmission stability, reduces eccentric, the extending shaft life-span.
In sum, the pitching of the present invention achievable mechanical arm, two rotations of the free degree of driftage, luffing angle scope are about +/- 40 °, yaw angle scope is about +/- 90 °, articulation structure of the invention is simple, and integrated level is high, and load capacity is big, high transmission accuracy, stationarity are good, the fields such as Aero-Space, nuclear industry, special environment operation are mainly directed towards, can be in confined space limitation, there is provided larger joint flexibility ratio and bearing capacity, and the joint designs degree of modularity is high, it is easy to extend.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is the difference with other embodiment, between each embodiment identical similar portion mutually referring to.
Obviously, those skilled in the art can carry out various changes and modification to invention without departing from the spirit and scope of the present invention.So, if these modifications of the invention and modification belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to including including these changes and modification.
Claims (9)
1. the conllinear joint of mechanical arm of a kind of two-freedom based on differential rope drive, it is characterised in that including：
The drive device being arranged in first mechanical arm cylinder section and two small guide wheels, wherein, described two small guide wheels are movably set in drive device near one end of second mechanical arm cylinder section, and first mechanical arm cylinder section and second mechanical arm cylinder section are oppositely arranged；
Pitch axis, is movably set in two big guide wheels at the pitch axis two ends respectively, and the two ends of the pitch axis are flexibly connected with first mechanical arm cylinder section, its middle-end of described two small guide wheels respectively close to the pitch axis；
Yaw axis and sleeving connecting rod, the yaw axis is orthogonal to be socketed by the sleeving connecting rod and the pitch axis and is connected, disk and driftage lower wall in the driftage at the two ends of the yaw axis are movably set in respectively, the diameter with diameter greater than driftage lower wall of disk in driftage, the two ends of the yaw axis are flexibly connected with second mechanical arm cylinder section, and disk is fixedly connected with second mechanical arm cylinder section in the driftage；
First drives rope, first driving rope point two ends from the drive device are stretched out, and every one end of the first driving rope is wound by the same small guide wheel of described pitch axis one end, same big guide wheel guiding and is fixed in the driftage disk and goes off course on lower wall；
Second drives rope, second driving rope point two ends from the drive device are stretched out, the second driving rope is wound and is fixed in the driftage on disk and driftage lower wall by the same small guide wheel of the pitch axis other end, same big guide wheel guiding respectively per one end, wherein, the drive device be used for drive first drive rope and second driving rope do it is in the same direction, reversely or differential stretch, motion of contracting.
2. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterized in that, when the drive device drive first drive rope and the second driving rope do stretch in the same direction, contract motion when, yaw axis drive second mechanical arm tin section does elevating movement around pitch axis.
3. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterized in that, when drive device drive first drive rope and second driving rope do reversely stretch, contract move when, first drives rope and second to drive rope to pull the upper disk of driftage to rotate, and disk drives second mechanical arm cylinder section to do yawing rotation around yaw axis in driftage.
4. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterized in that, when drive device drives first to drive rope and the second driving rope to do differential motion, disk drives second mechanical arm cylinder section both to do elevating movement in driftage, and yawing rotation is done again.
5. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterised in that the material of the first driving rope and the second driving rope is steel wire rope.
6. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterized in that, the drive device drives the wherein one end in the two ends of the first driving rope or the second driving rope to extend respectively, and the other end shrinks, and ensures that elongation is equal with amount of contraction.
7. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterized in that, the drive device includes two groups of motor reducers, three line slideways be arrangeding in parallel, two leading screws and four nuts, wherein, every group of motor reducer drives a leading screw to rotate, every leading screw is divided into two sections, every section is processed left-handed respectively, right-handed thread, a nut is covered respectively on every section of rotation screw thread, one end set of each nut is wherein on a line slideway, have respectively on two leading screws on the line slideway of same of the centre in three line slideways of a nut sleeve, the two ends of the first driving rope connect two nuts on a leading screw respectively, the two ends of the second driving rope connect two nuts on another leading screw respectively.
8. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterised in that the leading screw is from normal spiral leading screw, ball-screw, planetary roller screw or recycling roller screw.
9. the conllinear joint of mechanical arm of two-freedom of differential rope drive is based on as claimed in claim 1, it is characterised in that each small guide wheel is mutually close to one of them big guide wheel.
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| CN201510966134.3A CN106903712B (en) | 2015-12-22 | 2015-12-22 | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission |
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| CN201510966134.3A CN106903712B (en) | 2015-12-22 | 2015-12-22 | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission |
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| CN106903712B CN106903712B (en) | 2021-05-18 |
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| CN106272386A (en) * | 2016-09-22 | 2017-01-04 | 中国科学院合肥物质科学研究院 | A kind of hinge type double freedom modular mechanical arm for EAST device |
| CN111283669A (en) * | 2020-03-27 | 2020-06-16 | 南京航空航天大学 | Sandwich type piezoelectric two-degree-of-freedom mechanical arm and driving method thereof |
| CN111872930A (en) * | 2020-07-22 | 2020-11-03 | 北京理工大学 | Parallel differential mechanical mechanism realized through rope body and pulley block |
| CN112923037A (en) * | 2021-01-13 | 2021-06-08 | 东南大学 | Rope sheave actuating system suitable for bed chair |
| CN113183139A (en) * | 2021-05-10 | 2021-07-30 | 北京化工大学 | Small flexible drive snake-shaped mechanical arm |
| CN113977626A (en) * | 2021-12-24 | 2022-01-28 | 季华实验室 | Tendon drives bionical wrist joint based on tension structure |
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