CN109999464A - A kind of personification table tennis robot - Google Patents
A kind of personification table tennis robot Download PDFInfo
- Publication number
- CN109999464A CN109999464A CN201910053850.0A CN201910053850A CN109999464A CN 109999464 A CN109999464 A CN 109999464A CN 201910053850 A CN201910053850 A CN 201910053850A CN 109999464 A CN109999464 A CN 109999464A
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- China
- Prior art keywords
- table tennis
- ball
- mechanical arm
- direct current
- motor
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention proposes a kind of anthropomorphic table tennis robots, including a table tennis to go out ball machine and an anthropomorphic type mechanical arm, and the table tennis goes out ball machine and connects a table tennis bat for sending out table tennis, the end of the personification type mechanical arm vertically upward；The personification type mechanical arm brandishes the table tennis bat and bats during the submitting of the table tennis.The present invention goes out ball speed and constant height, it is ensured that ball high consistency is preferable out, and the present invention can arbitrarily adjust the integrated mode of the anthropomorphic each joint angles of type mechanical arm, has the higher position control of accuracy, and speed adjustable range is wider.
Description
Technical field
The present invention relates to mechanical arm technology more particularly to a kind of anthropomorphic table tennis robots.
Background technique
Most of table tenning ball servicing machines are all that will store up the table tennis ball warp in ball device by gear drive currently on the market
Release pipeline reaches the ball mouth at head, then carries out extrusion friction to table tennis by two driving wheels, makes table tennis with one
Fixed speed and rotation is issued from a circular pipe ball mouth.But the prior art has the following disadvantages:
(1) rotation, speed and rail that service robot manufactures table tennis progress extrusion friction by two driving wheels
There are very big difference in rotation, speed and track in mark and real games, can not closing to reality situation；
Existing service robot adjusts the speed by the voltage chopping technology of direct current generator, and speed regulation process can not precise and stable motor
Revolving speed can only adjust the speed within the scope of one, and without velocity close-loop control, actual speed and desired speed error are larger, Wu Fashi
The drop point of existing table tennis is stablized.The track of table tennis determines the substantially drop point side of ball by the angle of adjustment ball mouth in advance
To, and adjust the angle and be limited in scope.Chopper driving is carried out to direct current generator again after adjusting ball mouth angle, to determine falling for ball
Point.Since direct current generator does not apply closed-loop control, cause the speed of ball out unstable, the drop point of ball is unable to control.
(2) in real games, rotation, speed and the track that sportsman can be judged by the shot of opponent, and
Traditional service robot directly pops up table tennis from ball mouth, and user does not generate the process of an anticipation to ball, can only
Known in advance and adjusting out ball speed and rotation in advance, it is very big with actual conditions gap, be not suitable for applied to training and religion
In；Due to having adjusted the angle of ball mouth in advance, the drop point of the explicitly known direction of rotation of ball and ball out, makes in training
True batting mode can not be simulated by obtaining sportsman.
(3) rotation speed that service robot at present on the market generates only up to reach 80 revolution per seconds, and sportsman bats
Rotation speed can reach 150 revolution per seconds or more, rotation speed is inadequate, very big with actual conditions gap.Direct current generator
Chopping regulating speed is limited to the range of supply voltage, and the ball speed that goes out for obtaining ball machine structure is made to be unable to satisfy actual demand, and the tune
Fast method is to adjust the method for armature voltage under fixed magnetic field to adjust the speed, so that direct current generator work is compared under the slow-speed of revolution,
It is unable to reach the maximum (top) speed of motor, and can not accomplish that constant rotational speed is adjusted.
Summary of the invention
To overcome the problems of the prior art, a kind of anthropomorphic table tennis robot proposed by the present invention, including a table tennis
Ball machine and an anthropomorphic type mechanical arm out, the table tennis go out ball machine for sending out table tennis, the personification type vertically upward
The end of mechanical arm connects a table tennis racket；The personification type mechanical arm brandishes the table tennis racket in the submitting of the table tennis
It bats in the process.
In the anthropomorphic table tennis robot proposed by the present invention, it includes: a ball-storing box that the table tennis, which goes out ball machine, and one
Blade wheel, a direct current generator, an electromagnetic coil, an electromagnetic coil drive, a controller, one section of table tennis transport
Pipeline and one for going out the ball-sending device of ball vertically upward；Institute is set between the ball-storing box and the table tennis transport pipeline
Blade wheel is stated, the blade wheel is connected with the controller, and the blade wheel send the table tennis in the ball-storing box through rotating
Enter in the transport pipeline, table tennis reaches ball mouth after the transport pipeline, and the ball mouth of the ball-sending device is vertical
Upwards, the direct current generator in the ball-sending device is connect with the controller, and the direct current generator is for regulating and controlling table tennis
Go out ball speed.
In the anthropomorphic table tennis robot proposed by the present invention,
The service robot direct current generator is exported adjustable PWM wave and drives direct current by service driver control, the driver
Machine, direct current generator drives rotating vane wheel, and then says that table tennis is sent to ball mouth.The direct current generator needs to cooperate electromagnetic coil
Actuation time adjusts revolving speed.The DC motor speed is opened loop control, gives controller by external parameter, straight by adjusting
Galvanic electricity machine powers duty ratio to adjust revolving speed.The controller is by electromagnetic drive coil to realize that the ball-sending device goes out every time
The height of ball is consistent；Be connected below the electromagnetic drive coil and ball mouth, coil obtain it is electric after iron core movement, iron core strikes out ball
The table tennis that mouth is sent, table tennis is struck to fixed height.Electromagnetic drive coil power supply by powered by direct current, the direct current by
It is obtained after isolating transformer step-down rectifier and pressure stabilizing.Electromagnetic drive coil movement interval and duration are led to by driver control
The on-off of PWM wave driving relay is crossed to control.Electromagnetic coil movement is primary, after striking out table tennis, direct current generator rotation one
The fixation position that next table tennis is delivered to ball mouth is waited electromagnetic coil impact by fixed angle.Electromagnetic drive coil
Striking speed and height can be controlled by PWM wave duty ratio, and the speed of the direct current generator release blade wheel can also be by
The duty ratio of PWM wave controls.In the anthropomorphic table tennis robot proposed by the present invention, the controller is for connecting release leaf
The direct current generator and electromagnetic drive coil of piece wheel.Driver needs two-way power supply power supply, and power supply is for exporting PWM wave drive all the way
The relay of dynamic electromagnetic coil, another way power supply for exporting PWM wave driving direct current generator, additionally need all the way power supply be used for
It powers to controller chip group.This three-way power selects 5V, 24V and 36V direct current respectively.5V, 24V direct current are by switching
Power supply power supply, 36V DC power supply need biggish power, are provided by transformer since supply electromagnetic drive coil uses.It is described
Controller connects unilateral MOS motor drive module, and the MOS drive module connects the DC MOTOR CONTROL motor one direction
Rotation controls revolving speed by controller output PWM wave.The electromagnetic drive coil is connected with optical coupling isolator, controller connection
Optical coupling isolator drives relay indirectly and then controls the movement interval of electromagnetic drive coil.
In the anthropomorphic table tennis robot proposed by the present invention, the personification type mechanical arm includes: height regulating frame,
It is vertically arranged on the base, the height regulating frame is formed by connecting by upper and lower two parts bracket, and machine is arranged between the upper bracket
Tool structure adjusts height for hand-operated lifting, and the first motor that can axially rotate is arranged on height regulating frame, and
Cantilever tip connect mechanical arm large arm, and in large arm installation can axial-rotation the second motor；Large arm mechanical arm, it is rotatable
The earth's axis connects on the top of the height regulating frame, and the large arm mechanical arm tail end setting is adjusted axially for vertical large arm mechanical arm
Rotate the third motor of angle；Forearm mechanical arm, the rotatable earth's axis connect in the end of the large arm mechanical arm, the forearm machine
Setting is for adjusting the 4th motor of rotation angle on tool arm；Wrist mechanical arm is connect by the 4th rotatable earth's axis of motor in institute
State the end of forearm mechanical arm, the end of the wrist mechanical arm connect the table tennis racket.
In the anthropomorphic table tennis robot proposed by the present invention, anthropomorphic type mechanical arm is connect with a control unit, control
Motor connects the first motor, the second motor, third motor, the 4th motor；Described control unit Three-loop control mode, packet
Include the movement of current closed-loop, speed closed loop, personification type mechanical arm described in position-force control.
Compared with prior art, beneficial effects of the present invention: the present invention is directed to the training method of sportsman, designs a kind of mould
Intend true delivery of service and has the mechanical arm of dedicated ball serving device.Ball serving device of the invention simulates true man's slowball, will
Manipulator starts to simulate the movement batting of manpower after ball is thrown to certain altitude, and the constant altitude toss of ball institution requests energy works out,
Ensure that ball high consistency is preferable out.Anthropomorphic type mechanical arm of the invention is as ball striking device, it is desirable that can simulate the pass of human hair ball
Cooperation sequence is saved, and joint can arbitrarily adjust the integrated mode of each joint angles according to batting mode, mechanical arm requires tool
There is the higher position control of accuracy, and speed adjustable range is wider.
Detailed description of the invention
Fig. 1 is DC brushless motor constant speed control program flow chart.
Fig. 2 is the electric logic block diagram of dsp chip and service motor.
Fig. 3 is the schematic diagram of anthropomorphic type mechanical arm.
Fig. 4 is the schematic diagram of anthropomorphic type mechanical arm.
Fig. 5 is the structure chart of Three-loop control mode.
Specific embodiment
Anthropomorphic table tenning ball servicing machine proposed by the present invention is described in more detail below in conjunction with schematic diagram, wherein table
Showing the preferred embodiment of the present invention, it should be appreciated that those skilled in the art can modify invention described herein, and still
Realize advantageous effects of the invention.Therefore, following description should be understood as the widely known of those skilled in the art, and
It is not intended as limitation of the present invention.
The present invention devises a kind of anthropomorphic table tenning ball servicing machine, including a table tennis goes out ball machine and an anthropomorphic type is mechanical
Arm, the table tennis go out ball machine for sending out table tennis, one table tennis of end connection of the personification type mechanical arm vertically upward
Pang bat；The personification type mechanical arm brandishes the table tennis racket and bats during the submitting of the table tennis.Preferably, it rattles
Ball goes out ball machine and anthropomorphic type mechanical arm is integrated in same control platform.
The table tennis go out ball machine include a ball-storing box, a blade wheel, a direct current generator, a controller, one
Save the ball-sending device that table tennis transport pipeline and one go out ball vertically upward.Direct current generator is controlled by controller firing order to turn
Dynamic speed makes table tennis one to withstand one to drive blade wheel rotation that the table tennis in ball-storing box is sent into transport pipeline
In queueing condition, recycle ball-sending device that table tennis is sent out (reference can be made to Fig. 3) vertically upward.Ball-sending device requires to go out ball every time
Height it is consistent, and ball mouth is straight up.Ball mouth straight up is as shown, to guarantee that ball height is consistent out, makes
Acted with electromagnetic drive coil interruption to ensure that height is consistent, it is limited due to going out ball organization volume, proposed adoption small power DC without
Brush motor controls release speed.PWM open loop electric machine speed regulation and electromagnetic coil drive service control flow chart such as Fig. 1 institute
Show, wherein incorporate motor power, optocoupler driver, a whole set of ball serving device of electromagnetic coil relay both can guarantee speed
It is constant, also ensure that motor has sufficiently fast response in speed regulation process.
Referring particularly to Fig. 2, controls chip selection DSP C2000 family chip TMS320F28335 and come driving motor, master control
The electric current and position signal of the continuous sample motor of chip obtain error signal after making comparisons according to the reference value of setting, thoroughly do away with and miss
Difference signal acquires corresponding SPWM parameter, then driving motor M.DSP chip controls out each of ball motor and mechanical arm simultaneously
Joint motor, Fig. 2 illustrate only the electric logic block diagram of dsp chip and motor of serving a ball.By fixed speed control and current constant control, both
Can satisfy service robot, to go out ball speed-altitude consistent, it is also possible that motor response is more smooth.
Anthropomorphic type mechanical arm is as shown in Figure 3, Figure 4, and the personification type mechanical arm includes 6 freedom degrees, is illustrating respectively
In Fig. 3 as shown in 4 arc black arrows and 2 linear type black arrows, wherein 4 arc black arrows indicate the 4 of rotation
A freedom degree；2 linear type black arrows indicate 2 flexible freedom degrees.This 6 freedom degrees are used to send out ball-sending device
Table tennis struck, using the variation of mechanical arm pose, different dynamics can strike tablees tennis from different directions, make table tennis
Pang ball generates the rotation and speed on different directions.Mechanical arm hitting time passes through debugging in advance to be completed, when ball machine goes out ball out
When, mechanical arm starts to be displaced accordingly, and during ball peaks whereabouts, the displacement for controlling mechanical arm is complete
At the service for striking out different rotary, speed and type of gesture.Mechanical arm can set corresponding slance before the ball is hit, packet
It includes setting wrist and holds the angle of bat and the rotation angle of manipulator large arm, DSP can control wrist and large arm to move to requirement
Position.After angle initialization, in formal square stance, DSP bats the motor for only controlling two joints of waist and ancon.Herein
Enumerate the control strategy (four motors of practical control) that DSP controls a servo motor.Mechanical arm is according to kinematics DH parameter mould
Type can establish space coordinates to determine the end pose of mechanical arm, and can be in the hope of according to established manipulator model
The angle in each joint corresponding to some terminal pose, this angle can be used as the target position signal of motor to feed back
To DSP, the final control motor movement of DSP control to this position.Servo motor uses the servo motor of 220V Alternating Current Power Supply,
Rated speed is 3000r/min, fully meets the speed of swing for realizing true man's square stance.By calculating required for table tennis
The movement velocity of actuating motor can be then acquired in the hope of the movement velocity of racket after Flight Acceleration, to control by DSP
Motor processed is run with desired speed.It obtains desired servo motor and uses SVPWM control strategy.Speed is used to servo motor
The double-closed-loop control of ring and electric current loop, it is ensured that the requirement of control precision and response speed and torque.
As soon as this is needed according to experiment and meter as shown in figure 5, mechanical need first to give a reference velocity before the ball is hit
It calculates to determine a reference velocity.After providing reference velocity, DSP adjusts motor according to the error of given speed and feedback speed
Reach the speed of setting.To make motor reach precision servo control, select common Three-loop control mode, i.e., current closed-loop,
Speed closed loop, position closed loop.In practice in order to improve motor response speed, position and speed closed loop uniformly use encoder anti-
Feedback.The present invention uses absolute encoder to feed back revolving speed and location information.Current feedback passes through amplifier current sample electricity
Road feeds back to DSP, finally after a series of coordinate transforms (PARK, CLARK), calculates driving tube required for SVPWM and leads
The logical time then drives bridge circuit to control the movement of servo motor.
Service robot and mechanical arm are mounted on identical platform, by debugging after determine service robot and mechanical arm it is optimal cooperation ginseng
The design parameter of several and each function.
The above is only a preferred embodiment of the present invention, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical solution of the present invention, to the invention discloses technical solution and
Technology contents make the variation such as any type of equivalent replacement or modification, belong to the content without departing from technical solution of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (7)
1. a kind of personification table tennis robot, which is characterized in that go out ball machine and an anthropomorphic type four-degree-of-freedom including a table tennis
Mechanical arm, the table tennis go out ball machine for sending out table tennis, the end connection of the personification type mechanical arm vertically upward
One table tennis bat；The personification type mechanical arm brandishes the table tennis bat and bats during the submitting of the table tennis.
2. personification table tennis robot according to claim 1, which is characterized in that it includes: one that the table tennis, which goes out ball machine,
Ball-storing box, a blade wheel, a direct current generator, an electromagnetic drive coil, a service driver, one section of table tennis transport
Pipeline and one for going out the ball-sending device of ball vertically upward；Institute is set between the ball-storing box and the table tennis transport pipeline
Blade wheel is stated, the blade wheel is connected with the direct current generator, and the blade wheel drives rotation described through the direct current generator
Table tennis in ball-storing box is sent into the transport pipeline, and table tennis is successively lined up the ball mouth sent to the ball-sending device out,
Straight up, the electromagnetic drive coil in the ball-sending device is connect ball mouth with the service driver, electromagnetic coil
Table tennis is struck under the control of driver, table tennis is issued straight up, the direct current generator is sent for regulating and controlling table tennis
To the speed of ball mouth, the electromagnetic coil and the direct current generator are whole as the controllable execution component completion of table tenning ball servicing machine
Cover table tennis ball serving movement.
3. personification table tennis robot according to claim 2, which is characterized in that the direct current generator is by service driver control
System, the driver export adjustable PWM wave and drive direct current generator, and direct current generator drives rotating vane wheel, and then table tennis is sent
To ball mouth；The direct current generator needs to cooperate electromagnetic coil actuation time to adjust revolving speed, and the DC motor speed is to open
Ring control, gives controller by external parameter, adjusts revolving speed by adjusting direct current generator power supply duty ratio.
4. personification table tennis robot according to claim 2, which is characterized in that the controller passes through electromagnetic drive coil
To realize the ball-sending device, the height of ball is consistent out every time, is connected below the electromagnetic drive coil and ball mouth, coil obtains
Iron core acts after electricity, the table tennis that iron core impact ball mouth is sent, and table tennis is struck to fixed height, electromagnetic drive coil electricity
Source is by powered by direct current, and the direct current after isolating transformer step-down rectifier and pressure stabilizing by obtaining；Electromagnetic drive coil movement interval
And the duration drives the on-off of relay to control by driver control by PWM wave；Electromagnetic coil movement is primary, impact
Out after table tennis, direct current generator rotates a certain angle, and the fixation position that next table tennis is delivered to ball mouth is waited electricity
Magnetic coil impact；The striking speed and height of electromagnetic drive coil can be controlled by PWM wave duty ratio, the same direct current
The speed of machine release blade wheel can also be controlled by the duty ratio of PWM wave.
5. personification table tennis robot according to claim 3, which is characterized in that the controller is for connecting release blade
The direct current generator and electromagnetic drive coil of wheel；Driver needs two-way power supply power supply, and power supply is for exporting PWM wave driving all the way
The relay of electromagnetic coil, another way power supply for export PWM wave driving direct current generator, additionally need all the way power supply be used for
The power supply of controller chip group；This three-way power selects 5V, 24V and 36V direct current respectively；5V, 24V direct current are by Switching Power Supply
Power supply, 36V DC power supply need biggish power, are provided by transformer since supply electromagnetic drive coil uses；The control
Device connects unilateral MOS motor drive module, and the MOS drive module connects the DC MOTOR CONTROL motor one direction rotation,
Revolving speed is controlled by controller output PWM wave；The electromagnetic drive coil is connected with optical coupling isolator, controller connect optocoupler every
From device, drives relay indirectly and then control the movement interval of electromagnetic drive coil.
6. it is according to claim 1 personification table tennis robot, which is characterized in that it is described personification type mechanical arm include:
Height regulating frame is vertically arranged on the base, and the height regulating frame is formed by connecting by upper and lower two parts bracket, upper institute
It states and mechanical device for manually adjusting lift adjustment height is set between bracket and installation can be with the first of axial-rotation the electricity
Machine, in height adjustment top of the trellis installation axle to the large arm mechanical arm of rotation and the second section of axial-rotation；
Large arm mechanical arm, the rotatable earth's axis connects to be arranged vertically on the top of the height regulating frame, the large arm mechanical arm
Axially it is used to adjust the third motor of rotation angle in large arm mechanical arm；
Forearm mechanical arm, the rotatable earth's axis connect to be arranged on the end of the large arm mechanical arm, the forearm mechanical arm and be used for
Adjust the 4th motor of rotation angle；
Wrist mechanical arm is driven by the 4th motor, and the end of wrist mechanical arm is directly driven in the case where the 4th motor rotation angle is reconciled
End connects the table tennis racket.
7. personification table tennis robot according to claim 5, which is characterized in that anthropomorphic type mechanical arm and controller connect
It connects, control connects the first motor, the second motor, third motor, the 4th motor；Described control unit Three-loop control side
Formula, the movement including personification type mechanical arm described in current closed-loop, speed closed loop, position-force control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910053850.0A CN109999464A (en) | 2019-01-21 | 2019-01-21 | A kind of personification table tennis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910053850.0A CN109999464A (en) | 2019-01-21 | 2019-01-21 | A kind of personification table tennis robot |
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| CN109999464A true CN109999464A (en) | 2019-07-12 |
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ID=67165383
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| CN201910053850.0A Pending CN109999464A (en) | 2019-01-21 | 2019-01-21 | A kind of personification table tennis robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772776A (en) * | 2019-10-29 | 2020-02-11 | 中科新松有限公司 | Table tennis serving robot and serving method |
| CN111283700A (en) * | 2020-05-11 | 2020-06-16 | 上海庞勃特科技有限公司 | Table tennis service robot, table tennis service method and computer-readable storage medium |
| CN113491867A (en) * | 2021-07-21 | 2021-10-12 | 上海创屹科技有限公司 | Service speed and rotation control method and control system for table tennis service robot |
| CN115675801A (en) * | 2022-10-31 | 2023-02-03 | 上海理工大学 | Underwater electric mechanical arm slewing mechanism |
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| US6146289A (en) * | 1997-01-03 | 2000-11-14 | Miller; Joseph M. | Powered movable hitting tee |
| CN201668939U (en) * | 2010-04-28 | 2010-12-15 | 毕潇涵 | Table tennis electromagnetic transmitter |
| KR20110023945A (en) * | 2009-09-01 | 2011-03-09 | 최복균 | Baseball batting training apparatus |
| CN206214699U (en) * | 2016-11-02 | 2017-06-06 | 杨向峰 | One kind is played table tennis robot |
| CN107050809A (en) * | 2017-05-24 | 2017-08-18 | 湖北师范大学 | A kind of table tennis for simulating true man coach is to practicing machine |
| CN108543295A (en) * | 2018-04-26 | 2018-09-18 | 淮南师范学院 | A kind of intelligent ball serving device suitable for tennis |
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|---|---|---|---|---|
| US6146289A (en) * | 1997-01-03 | 2000-11-14 | Miller; Joseph M. | Powered movable hitting tee |
| KR20110023945A (en) * | 2009-09-01 | 2011-03-09 | 최복균 | Baseball batting training apparatus |
| CN201668939U (en) * | 2010-04-28 | 2010-12-15 | 毕潇涵 | Table tennis electromagnetic transmitter |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772776A (en) * | 2019-10-29 | 2020-02-11 | 中科新松有限公司 | Table tennis serving robot and serving method |
| CN110772776B (en) * | 2019-10-29 | 2021-09-03 | 中科新松有限公司 | Table tennis serving robot and serving method |
| CN111283700A (en) * | 2020-05-11 | 2020-06-16 | 上海庞勃特科技有限公司 | Table tennis service robot, table tennis service method and computer-readable storage medium |
| CN111283700B (en) * | 2020-05-11 | 2020-08-14 | 上海庞勃特科技有限公司 | Table tennis service robot, table tennis service method and computer-readable storage medium |
| CN113491867A (en) * | 2021-07-21 | 2021-10-12 | 上海创屹科技有限公司 | Service speed and rotation control method and control system for table tennis service robot |
| CN115675801A (en) * | 2022-10-31 | 2023-02-03 | 上海理工大学 | Underwater electric mechanical arm slewing mechanism |
| CN115675801B (en) * | 2022-10-31 | 2024-06-11 | 上海理工大学 | Underwater electric mechanical arm rotation mechanism |
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Application publication date: 20190712 |