CN108466276A - A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material - Google Patents
A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material Download PDFInfo
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- CN108466276A CN108466276A CN201810058742.8A CN201810058742A CN108466276A CN 108466276 A CN108466276 A CN 108466276A CN 201810058742 A CN201810058742 A CN 201810058742A CN 108466276 A CN108466276 A CN 108466276A
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- Prior art keywords
- flexible
- joint
- finger
- multifreedom motion
- gas
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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
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
Abstract
The present invention relates to soft robot fields, refer in particular to a kind of multifreedom motion finger and preparation method thereof based on elastomer soft material.When being filled with gas to the internal chamber of finger by external pipe, the specific cavity body structure of finger interior will dilatancy achieve the purpose that the shape for being adapted to object captures different objects with size to realize the flexural deformation posture of similar finger.
Description
Technical field
The present invention relates to soft robot fields, refer in particular to a kind of multiple degrees of freedom fortune using gas-powered, complete software
It starts to refer to.
Background technology
Soft robot is a kind of novel robot after bio-robot, it usually by soft material, rigid backbone,
What actuating unit and control unit formed has multivariant robotics system；Rigid body manipulator is generally by traditional metal material
Material or rigid plastics are connected and composed by kinematic pair, although this rigid structure has many advantages, such as that work efficiency is high, control is accurate,
But its flexibility, safety and adaptability are poor；Flexibility is the essential and universal characteristic of organism, these organisms according to
It can efficiently, harmoniously be interacted with nature by the flexibility of itself.Soft robot also can be as soft organism one
Sample, thus it is possible to vary for shape, size, rigidity and the forms of motion of itself to adapt to different environment, this is traditional Rigid Robot
Not available；With the development of soft robot technology, some are based on the movement finger of elastomer soft material due to having height
The man-machine interaction of the flexibility of degree and safety, and be adapted to different shape and size crawl easily soft frangible objects and
The deep extensive concern by section scholars；Application No. is the Chinese patent application of 201610515673.X, to disclose a kind of binary channels soft
Body finger and soft robot design a kind of Wrinkled flexible structure of lamination arrangement, by the channel of finger interior
It is inflated or air-breathing, to realize that finger is bent outwardly or aduncate posture deforming, reaches grasping or pickup object
Purpose；Application No. is 201710348540.2 Chinese patent applications to disclose a kind of two fingerhold of software dress of microchannel
It sets, which is designed based on elastic material deformation principle, can be in space using the contraction of gas-powered micro-pipe
Middle progress flexural deformation campaign, simultaneously because soft elastic material, can effectively avoid rigid shock；But this kind of hand
The degree of freedom of finger is few, and forms of motion is single, and the flexural deformation campaign on single direction can only be realized to capture object；And this is specially
The novel place of profit is the flexural deformation campaign by imitating finger-joint, may be implemented such as digital flexion capture object or
Multidirectional forms of motion such as object are clamped in finger side-sway.
Invention content
The present invention proposes a kind of multifreedom motion finger and preparation method thereof based on elastomer soft material, by outer
When portion's pipeline is filled with gas to the internal chamber of finger, the specific cavity body structure of finger interior will dilatancy, to realize
The flexural deformation posture of similar finger achievees the purpose that the shape for being adapted to object captures different objects with size.
A kind of multifreedom motion finger based on elastomer soft material that the present invention designs, it is characterised in that：It is described more
Degree of freedom moves finger and is equipped with phalanges in flexible distal phalange, flexibility, flexible proximal phalange, external pipe；The flexibility distal phalange
Flexible remote joint is equipped between phalanges in flexibility；Flexible nearly joint is equipped in the flexibility between phalanges and flexible proximal phalange；
The flexibility proximal phalange end is equipped with the flexible base joint of multifreedom motion；The flexible remote intra articular is equipped with flexibility and far closes
Save internal chamber；The flexible nearly intra articular is equipped with flexible nearly intra articular chamber；The flexible base of the multifreedom motion
Intra articular is equipped with flexible base intra articular chamber；The flexibility base intra articular chamber interior includes four gas passages, point
Not Kong Zhi flexible base joint four direction up and down degree of freedom；Wherein described first external pipe and first gas passage phase
Even；Second external pipe is connected with second gas channel；The third external pipe is connected with third gas channel；It is described
4th external pipe is connected with the 4th gas passage；5th external pipe is far closed with flexible nearly intra articular chamber and flexibility
Internal chamber is saved to be connected.
The technical solution that the present invention further limits is as follows：
The aforementioned multifreedom motion finger ontology based on elastomer soft material is cylindrical, before the finger of flexible distal phalange
Camber is held to imitate the shape of finger, flexible remote joint and flexible juxta-articular lower half facilitate realization to transport at vee
Start refer to flexural deformation.
The flexible phalanges material of aforementioned multifreedom motion finger is using silicon rubber Ecoflex 00-30 and poly dimethyl silicon
Oxygen alkane (PDMS) is with 5:The composite material of 1 mixing is by charging, plasticizing, injection, cooling and knockout course integrated injection molding
It prepares.The features such as extensibility of silicon rubber Ecoflex 00-30 is big, and elasticity is good, and PDMS has hardness big, and elongation is small is mixed
Composite material after conjunction then has good flexibility but tensile property is general, is the ideal material of flexible phalanges.
The flexible joint of aforementioned multifreedom motion finger is big using extensibility, the good silicon rubber Ecoflex00-30 of elasticity
Material also passes through charging, plasticizing, injection, cooling and knockout course integrated injection molding technique and prepares.When passing through exterior tube
When road carries out gas to flexible joint internal chamber, the gas being filled with can cause flexible joint to occur bending and deformation.
The remote joint of flexibility, flexible nearly joint and the flexible base joint outer surface of aforementioned multifreedom motion finger wind one layer
Fiber line limits it and is radially expanded deformation, makes it have the flexural deformation of bigger.
The remote joint of foregoing soft and flexible juxta-articular internal chamber include that the gas of 5 cross sectional shape semicirculars in shape is logical
Road, the central axis upright of these gas passages and the 5th external pipe, the expansion that gas passage is controlled by external pressure become
Shape makes the remote joint of the flexibility of its multifreedom motion finger and flexible nearly joint occur bending and deformation.
The internal chamber in the flexible base joint of aforementioned multifreedom motion finger contains 4 cylindrical gas passages, leads to
Cross the amoeboid movement of the flexural deformation difference controlled motion finger flexibility base joint of gas passage 4 degree of freedom up and down.
Said external pipeline one end respectively with gas passage and flexible remote intra articular chamber, flexible nearly intra articular chamber
It is connected, the other end is connected with air pump and solenoid valve respectively.
A kind of the advantages of multifreedom motion finger based on elastomer soft material of the present invention, is：
1, the multifreedom motion finger is all made of silicon rubber and is prepared, without any hard element and structure, tool
There are good flexibility and safety.
2, the multifreedom motion finger uses gas-powered, has many advantages, such as low cost, easily obtains, is pollution-free.
3, the movement of multiple freedom degree directions of finger may be implemented in the multifreedom motion finger, is adapted to not
Same shape and size capture object.
Description of the drawings
It is a kind of axial section structure chart for multifreedom motion finger that the present invention designs described in Fig. 1；
It is a kind of end structure front view for multifreedom motion finger that the present invention designs described in Fig. 2；
It is a kind of external structure schematic diagram for multifreedom motion finger that the present invention designs described in Fig. 3；
It is a kind of pictorial diagram for multifreedom motion finger that the present invention designs described in Fig. 4；
It is the pictorial diagram after a kind of multifreedom motion of the invention designed is finger actuated described in Fig. 5；
In figure：1, flexible distal phalange, 2, flexible remote joint, 3, it is flexible in phalanges, 4, flexible nearly joint, 5, flexible closely finger
Bone, 6, flexible base joint, 7, flexible remote intra articular chamber, 8, flexible nearly intra articular chamber, 9, flexible base intra articular chamber
Room, the 10, first external pipe, the 11, second external pipe, 12, third external pipe, the 13, the 4th external pipe, outside the 14, the 5th
Portion's pipeline, 9A, first gas passage, 9B, second gas channel, 9C, third gas channel, 9D, the 4th gas passage.
Specific implementation mode
To fully understand the purpose, feature and effect of the present invention, by following specific embodiments, the present invention is done in detail
Describe in detail bright, but the present invention is only limitted to absolutely not embodiment.
A kind of multifreedom motion finger based on elastomer soft material in the present invention, structure as shown in Figure 1, Figure 2, Fig. 3 institutes
Show, the movement finger is mainly by phalanges 3, flexible nearly joint 4, flexible proximal phalange in flexible distal phalange 1, flexible remote joint 2, flexibility
5, flexible base joint 6 forms；It is in semicircle that the flexible remote joint 2 and flexible 4 inside of nearly joint, which include at least five cross sectional shapes,
The gas passage of shape；The flexibility base intra articular has been uniformly distributed four circular cylindrical cavity channels.The finger is mainly by elasticity
Body soft material is prepared, wherein phalanges 3, flexible proximal phalange 5 select silicon rubber Ecoflex 00- in flexible distal phalange 1, flexibility
30 with dimethyl silicone polymer (PDMS) with 5:The composite material of 1 mixing, flexible remote joint 2, flexible nearly joint 4 and flexibility Ji Guan
Section 6 selects silicon rubber Ecoflex 00-30.Due to the flexibility of material, it is easily soft which is adapted to different shape crawls
Frangible object, and the friction coefficient of soft material is larger, crawl object is not easy to slip.
The operation principle of multifreedom motion finger described in this patent is as follows：
As shown in Fig. 2, when being filled with gas into chamber by the 5th external pipe 14, the gas being filled with passes through flexibility closely
Intra articular chamber 8 and flexible remote intra articular chamber 7, internal cavity structure will expand deformation as balloon,
And the fiber line of the restraint layer and outer surface winding due to bottom, entire flexible joint can be bent downwardly deformation, realize that finger is close
The flexural deformation campaign in joint and remote joint.When being filled with gas into first gas passage 9A by the first external pipe 10,
Realize that flexible base joint is bent upwards deformation；Similarly, when by second and third, four external pipes 11,12,13 respectively to second,
When three, being filled with gas in four gas passage 9B, 9C, 9D, may be implemented flexible base joint downwards, to the left, deformation bending to the right.Separately
Outside, in order to meet other motion requirements, the movement in other freedom degree directions can also be realized to different chamber inflation simultaneously,
For example, when being inflated simultaneously into second and third gas passage 9B, 9C by second and third external pipe 11,12, may be implemented soft
Property base joint flexural deformation to left down；In by second, four external pipes 11,13 to second, four gas passage 9B, 9D simultaneously
When inflation, flexible base joint may be implemented to bottom right flexural deformation etc., different chamber combines can be selected according to actual demand
It carries out bending actuating and realizes multifreedom motion.
Embodiment 1
The material of multifreedom motion finger flexibility phalanges uses silicon rubber Ecoflex 00-30 and poly- two in the present embodiment
Methylsiloxane (PDMS) is with 5:The material of the composite material of 1 mixing, flexible articulations digitorum manus uses silicon rubber Ecoflex 00-30.
A diameter of 15mm is prepared by 3D printing technique first, length is the finger molding die of 100mm, and the flexibility of wherein finger is remote
Joint 2, flexible nearly joint 4, flexible base joint 6 each 15mm, the 1 long 15mm of flexible distal phalange of finger, it is flexible in phalanges 3 and flexibility
5 each 20mm of proximal phalange.By silicon rubber Ecoflex 00-30 and PDMS with mass ratio for 5:1 is uniformly mixed, and is placed on vacuum drying ware
After middle pumping 5min, the composite material after degasification is poured into the flexible distal phalange 1 in finger mold, it is flexible in phalanges 3 and soft
Property proximal phalange 5 position, then sample is put in drying glue platform and cures 2h, solidification temperature be 60 degree, solidification completion after, by silicon
Flexible remote joint 2 in finger mold, flexible nearly joint 4 and flexible base joint 6 are poured into after rubber Ecoflex 00-30 degasification
Then sample is put in drying glue platform and cures 1h by position, solidification temperature is 60 degree, finally shells the finger being cured from mold
After lower, one layer of fiber line, wherein hand are wound in the outer surface in the flexible remote joint 2 of finger, flexible nearly joint 4 and flexible base joint 6
The wall thickness for referring to flexible remote joint 2, flexible nearly joint 4 and flexible base joint 6 is 1.5mm.
The present embodiment test result is when external pressure reaches 60KPa, and multifreedom motion finger can reach such as Fig. 5
Maximum bend angle.
Embodiment 2
The preparation method of multifreedom motion finger is with example 1 in the present embodiment, but the flexibility for changing movement finger refers to
Bone and flexible joint material, wherein the material of flexible phalanges uses silicon rubber Ecoflex 00-20 and dimethyl silicone polymer
(PDMS) with 3:The material of the composite material of 1 mixing, flexible articulations digitorum manus uses silicon rubber Ecoflex 00-20, wherein finger soft
Property remote joint 2, flexible nearly joint 4 and flexible base joint 6 wall thickness be similarly 1.5mm.
The present embodiment test result is when external pressure reaches 40KPa, and multifreedom motion finger can reach such as Fig. 5
Maximum bend angle.
Claims (9)
1. a kind of multifreedom motion finger based on elastomer soft material, it is characterised in that：The multifreedom motion finger
It is equipped with phalanges in flexible distal phalange, flexibility, flexible proximal phalange, external pipe；The flexibility distal phalange with it is flexible in phalanges it
Between be equipped with flexible remote joint；Flexible nearly joint is equipped in the flexibility between phalanges and flexible proximal phalange；The flexibility proximal phalange
End is equipped with the flexible base joint of multifreedom motion；The flexible remote intra articular is equipped with flexible remote intra articular chamber；Institute
It states flexible nearly intra articular and is equipped with flexible nearly intra articular chamber；The flexible base intra articular of the multifreedom motion is equipped with soft
Property base intra articular chamber；The flexibility base intra articular chamber interior includes four gas passages, controls flexibility Ji Guan respectively
Save the degree of freedom of four direction up and down；Wherein described first external pipe is connected with first gas passage；Outside described second
Portion's pipeline is connected with second gas channel；The third external pipe is connected with third gas channel；4th external pipe
It is connected with the 4th gas passage；5th external pipe and flexible nearly intra articular chamber and flexible remote intra articular chamber phase
Even.
2. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
Multifreedom motion finger ontology based on elastomer soft material is cylinder, and the finger front end camber of flexible distal phalange imitates
The shape of finger, flexible remote joint and flexible juxta-articular lower half facilitate the bending for realizing movement finger at vee
Deformation.
3. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
Flexible phalanges material uses silicon rubber Ecoflex 00-30 with dimethyl silicone polymer (PDMS) with mass ratio 5:1 mixing is answered
Condensation material prepares by charging, plasticizing, injection, cooling and knockout course integrated injection molding or using silicon rubber Ecoflex
00-20 is with dimethyl silicone polymer (PDMS) with mass ratio 3:The composite material of 1 mixing by charging, plasticizing, injection, it is cooling and
It is prepared by knockout course integrated injection molding.
4. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
Flexible joint is big using extensibility, elasticity good silicon rubber Ecoflex 00-30 materials or silicon rubber Ecoflex 00-20 materials
Material also passes through charging, plasticizing, injection, cooling and knockout course integrated injection molding technique and prepares.
5. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
Flexible remote joint, flexible nearly joint and flexible base joint outer surface wind one layer of fiber line, limit it and are radially expanded deformation, make it
Flexural deformation with bigger.
6. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
Flexible remote joint and flexible juxta-articular internal chamber include the gas passage of 5 cross sectional shape semicirculars in shape, these gases are logical
The central axis upright in road and the 5th external pipe is controlled the dilatancy of gas passage by external pressure, keeps it how free
The remote joint of flexibility and flexible nearly joint of degree movement finger occur bending and deformation.
7. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
Four gas passages of flexible base intra articular chamber interior are cylinder, and fortune is controlled respectively by the flexural deformation of gas passage
Start to refer to the amoeboid movement of flexible base joint 4 degree of freedom up and down.
8. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：It is described
The other end of external pipe is connected with air pump and solenoid valve.
9. a kind of multifreedom motion finger based on elastomer soft material as described in claim 1, it is characterised in that：When logical
When crossing the 5th external pipe and being filled with gas into chamber, the gas being filled with passes through flexible nearly intra articular chamber and flexible remote joint
Internal chamber, internal cavity structure will expand deformation as balloon, and the restraint layer due to bottom and outer surface
The fiber line of winding, entire flexible joint can be bent downwardly deformation, realize the flexural deformation campaign in finger nearly joint and remote joint；
When being filled with gas into first gas passage by the first external pipe, realize that flexible base joint is bent upwards deformation；Similarly,
When by second and third, four external pipes be filled with gas to second and third, in four gas passages respectively when, flexible Ji Guan may be implemented
Section downwards, to the left, deformation bending to the right；In order to meet other motion requirements, it can also inflate and realize to different chamber simultaneously
Movement in other freedom degree directions；It, can when being inflated simultaneously into second and third gas passage by second and third external pipe
To realize flexible base joint flexural deformation to left down；It is filled simultaneously into second, four gas passages when by second, four external pipes
When gas, flexible base joint may be implemented to bottom right flexural deformation；Different chamber combines can be selected to carry out according to actual demand
Multifreedom motion is realized in bending actuating.
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| CN201810058742.8A CN108466276A (en) | 2018-01-22 | 2018-01-22 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940645A (en) * | 2019-03-20 | 2019-06-28 | 中国地质大学（武汉） | The non-profiled cavity of expansion stream bluk recombination drives humanoid robot software hand |
| CN109955275A (en) * | 2019-03-20 | 2019-07-02 | 中国地质大学（武汉） | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand |
| CN110154082A (en) * | 2019-05-16 | 2019-08-23 | 浙江大学 | A kind of software mechanical arm and preparation method thereof that inside and outside wall is strengthened |
| CN110216650A (en) * | 2019-03-25 | 2019-09-10 | 江苏大学 | A kind of Bionic inchworm soft robot of pneumatic actuation |
| CN110238836A (en) * | 2019-06-21 | 2019-09-17 | 河海大学常州校区 | A kind of pneumatic software bending steering structure |
| CN111203527A (en) * | 2020-01-09 | 2020-05-29 | 鹏城实验室 | Internal demolding device and method for fluid pressure driven long-soft-body mechanical arm casting mold |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| CN111390900A (en) * | 2020-03-30 | 2020-07-10 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN112297039A (en) * | 2020-10-13 | 2021-02-02 | 南京理工大学 | Double-clamping-groove flexible driver |
| CN112549055A (en) * | 2020-12-04 | 2021-03-26 | 合肥工业大学 | Humanoid pneumatic type soft robot finger |
| CN113232035A (en) * | 2021-04-30 | 2021-08-10 | 杭州电子科技大学 | Multi-joint rigid-flexible coupling bionic soft finger |
| CN113332104A (en) * | 2021-07-08 | 2021-09-03 | 中国科学技术大学 | Recovered robot gloves of articulated type software |
| WO2021184505A1 (en) * | 2020-03-20 | 2021-09-23 | 燕山大学 | Soft joint gripper based on 4d printing, and consistency control method therefor |
| CN113771068A (en) * | 2021-08-05 | 2021-12-10 | 中国地质大学（武汉） | Modularized pneumatic soft human-simulated finger capable of being bent in segmented mode and manufacturing method thereof |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN114800601A (en) * | 2022-04-06 | 2022-07-29 | 北京长空动力科技有限公司 | Flexible and resilient movable joint and manufacturing method thereof |
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| CN109955275A (en) * | 2019-03-20 | 2019-07-02 | 中国地质大学（武汉） | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand |
| CN109955275B (en) * | 2019-03-20 | 2023-12-29 | 中国地质大学（武汉） | Thermal expansion fluid composite special-shaped cavity driving type robot soft hand |
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| CN110216650A (en) * | 2019-03-25 | 2019-09-10 | 江苏大学 | A kind of Bionic inchworm soft robot of pneumatic actuation |
| CN110154082A (en) * | 2019-05-16 | 2019-08-23 | 浙江大学 | A kind of software mechanical arm and preparation method thereof that inside and outside wall is strengthened |
| CN110238836A (en) * | 2019-06-21 | 2019-09-17 | 河海大学常州校区 | A kind of pneumatic software bending steering structure |
| CN111203527B (en) * | 2020-01-09 | 2021-06-25 | 鹏城实验室 | Internal demolding device and method for fluid pressure driven long-soft-body mechanical arm casting mold |
| CN111203527A (en) * | 2020-01-09 | 2020-05-29 | 鹏城实验室 | Internal demolding device and method for fluid pressure driven long-soft-body mechanical arm casting mold |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| WO2021184505A1 (en) * | 2020-03-20 | 2021-09-23 | 燕山大学 | Soft joint gripper based on 4d printing, and consistency control method therefor |
| CN111390900A (en) * | 2020-03-30 | 2020-07-10 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN111390900B (en) * | 2020-03-30 | 2021-08-31 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN112297039A (en) * | 2020-10-13 | 2021-02-02 | 南京理工大学 | Double-clamping-groove flexible driver |
| CN112549055A (en) * | 2020-12-04 | 2021-03-26 | 合肥工业大学 | Humanoid pneumatic type soft robot finger |
| CN113232035A (en) * | 2021-04-30 | 2021-08-10 | 杭州电子科技大学 | Multi-joint rigid-flexible coupling bionic soft finger |
| CN113332104A (en) * | 2021-07-08 | 2021-09-03 | 中国科学技术大学 | Recovered robot gloves of articulated type software |
| CN113771068A (en) * | 2021-08-05 | 2021-12-10 | 中国地质大学（武汉） | Modularized pneumatic soft human-simulated finger capable of being bent in segmented mode and manufacturing method thereof |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN113799159B (en) * | 2021-09-27 | 2023-03-14 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN114800601A (en) * | 2022-04-06 | 2022-07-29 | 北京长空动力科技有限公司 | Flexible and resilient movable joint and manufacturing method thereof |
| CN114800601B (en) * | 2022-04-06 | 2024-04-19 | 北京长空动力科技有限公司 | Flexible resilient movable joint and manufacturing method thereof |
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