CN112297051B - Variable-rigidity joint system based on air cylinder - Google Patents
Variable-rigidity joint system based on air cylinder Download PDFInfo
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- CN112297051B CN112297051B CN202010418300.7A CN202010418300A CN112297051B CN 112297051 B CN112297051 B CN 112297051B CN 202010418300 A CN202010418300 A CN 202010418300A CN 112297051 B CN112297051 B CN 112297051B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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Abstract
The invention discloses a variable stiffness joint system based on an air cylinder. The joint system comprises a cylinder supporting disc (1), an upper cylinder (2), a supporting disc connecting rod (3), a lower cylinder (4), a lower linear displacement sensor (5), a transmission main shaft (6), an arm connecting block (7), a rack supporting disc (8), an upper linear displacement sensor (9), an upper proportional valve (10), an air source (11), a computer (12), a lower proportional valve (13), an upper sensor connecting block (14), an upper sensor connecting base (15), an upper rack (16), a transmission gear (17), a lower rack (18), a lower sensor connecting base (19), a lower sensor connecting block (20), a lower cylinder connecting block (21), a lower linear guide rail (22), a lower cylinder connecting base (23), an upper cylinder connecting block (24), an upper linear guide rail (25), an upper cylinder connecting base (26), A motor (27); the upper cylinder and the lower cylinder can effectively solve the problem that the deformation range of the antagonistic variable-stiffness joint is severely limited when the antagonistic variable-stiffness joint has higher stiffness. The invention has the advantages of high precision of output torque, wide range of rigidity regulation and control and excellent dynamic response performance.
Description
Technical Field
The invention relates to a rigidity-variable robot joint, belongs to the technical field of robots, and particularly relates to a structural design of a robot part.
Background
Currently, the mechanism design of the variable stiffness robot joint is mainly divided into three types, namely an antagonistic mechanism, a single spring type mechanism and a variable transmission rate type mechanism. The principle adopted by the antagonistic variable-stiffness joint for adjusting the stiffness mainly comprises the following steps: a plurality of spring elements are connected in parallel and pulled against each other to vary the joint preload force at an equilibrium location. The main problems of antagonistic variable stiffness joints are: the range of joint deformation narrows as the stiffness of the system increases. The principle adopted by the single-spring type variable-stiffness joint for adjusting the stiffness mainly comprises the following steps: the joint preload force is changed by pulling the elastic element through structural change. The main problems of the single-spring type variable-stiffness joint are as follows: the single spring drives the joint to output smaller torque, and the structural size for realizing the rigidity changing function is larger. The principle adopted by the variable transmission rate type variable stiffness joint for adjusting the stiffness mainly comprises the following steps: the transmission ratio between the elastic element and the external load is changed by utilizing the change of the internal structure so as to change the resistance of the elastic element to the load. The main problems of the variable transmission rate type variable stiffness joint are as follows: in order to realize the function of variable transmission rate, the joint has larger size and more parts are used.
Core references: the authors are (Vanderborght b.,
a., Bicchi a., et al. }, paper title { Variable impedance actuators: a review }, journal name { Robotics and autonomus systems }, year {2013}, volume {61}, page number {1601-1614}, and period {12 }.
Disclosure of Invention
The invention provides a variable-stiffness joint system based on an air cylinder, which is a robot joint with the structural characteristics. The mechanical arm connected with the joint can be replaced at will according to the use requirement.
A cylinder-based variable stiffness joint system comprising: the device comprises a cylinder supporting disc, an upper cylinder, a supporting disc connecting rod, a lower cylinder, a lower linear displacement sensor, a transmission main shaft, an arm connecting block, a rack supporting disc, an upper linear displacement sensor, an upper proportional valve, an air source, a computer, a lower proportional valve, an upper sensor connecting block, an upper sensor connecting base, an upper rack, a transmission gear, a lower rack, a lower sensor connecting base, a lower sensor connecting block, a lower cylinder connecting block, a lower linear guide rail, a lower cylinder connecting base, an upper cylinder connecting block, an upper linear guide rail, an upper cylinder connecting base and a motor.
The variable-rigidity joint system based on the air cylinder comprises an air cylinder supporting disc, a rack supporting disc and an arm connecting block, wherein the air cylinder supporting disc is provided with an upper air cylinder and a lower air cylinder and is connected with a motor, the rack supporting disc is provided with a transmission gear, an upper rack and a lower rack and is connected with the upper air cylinder and the lower air cylinder, the arm connecting block can be provided with a mechanical arm and is connected with a transmission main shaft, and the upper air cylinder and the lower air cylinder are sequentially connected.
The inner side of the cylinder supporting disc is connected with the transmission main shaft through a bearing and is fixedly connected with an upper cylinder and a lower cylinder which are arranged in the same direction. The upper cylinder and the lower cylinder are connected with an air source through an upper proportional valve and a lower proportional valve controlled by a computer so as to control the internal air pressure to change the rigidity of the joint. The outer side of the cylinder supporting disc is fixedly connected with a main shaft of a motor through a flange, and the motor is controlled by a computer and can drive the joint to rotate.
The inner side of the rack supporting disc is fixedly connected with the upper linear guide rail and the lower linear guide rail. The upper sensor connecting base, the lower sensor connecting base, the upper cylinder connecting base and the lower cylinder connecting base are respectively arranged on the upper linear guide rail and the lower linear guide rail and are fixedly connected with the upper rack and the lower rack. The upper rack and the upper cylinder and the lower rack and the lower cylinder are fixedly connected through an upper cylinder connecting block and a lower cylinder connecting block. The upper rack and the lower rack rotate coaxially with the cylinder supporting disc, and only the relative displacement in the axial direction of the cylinder exists between the upper rack and the lower rack. The transmission main shaft is fixedly connected with the transmission gear, the transmission gear can rotate by the rotation of the transmission main shaft, the upper rack and the lower rack can be enabled to translate, the piston of the upper cylinder and the piston of the lower cylinder can be enabled to translate, and the cylinder supporting disc cannot rotate. The outer side of the rack supporting disc is fixedly connected with the upper linear displacement sensor and the lower linear displacement sensor. The upper linear displacement sensor is fixedly connected with the upper rack, the lower linear displacement sensor is fixedly connected with the lower rack through an upper sensor connecting block and a lower sensor connecting block. The upper linear displacement sensor and the lower linear displacement sensor can detect the displacement of the piston of the upper cylinder and the displacement of the piston of the lower cylinder. The bearing plate connecting rod is fixedly connected with the cylinder bearing disc and the rack bearing disc.
The arm connecting block is fixedly connected with the transmission main shaft. The arm connecting block can be fixedly connected with different mechanical arms through flanges, and the mechanical arms can be replaced randomly according to the requirements of use scenes. The external load is transmitted to the transmission main shaft through the mechanical arm, transmitted to the transmission gear through the transmission main shaft, transmitted to the upper rack and the lower rack through the transmission gear, and driven to move by the piston of the upper cylinder and the piston of the lower cylinder through the upper cylinder connecting block and the lower cylinder connecting block. Because the air cylinder is filled with air, the pressure generated on the piston by the air pressure prevents the piston from moving, and the air pressure can be adjusted by the proportional valve, so that the real-time control of the joint rigidity is realized.
The power supply is connected with the motor, the upper proportional valve and the lower proportional valve.
The invention has the advantages that:
(1) the two cylinders are arranged in the same direction, so that the pressure of the atmosphere on the cylinder piston can be counteracted, and the efficiency is improved;
(2) the position of a piston of the air cylinder is not required to be changed when the air pressure is changed, so that the rigidity of the variable-rigidity joint does not influence the deformation range of the joint;
(3) the dynamic response performance of the cylinder is good, and the rigidity of the joint can be changed very quickly;
(4) the proportional valve used for driving the air cylinder can be arranged outside the joint, so that the size and the weight of the joint are reduced;
(5) the rigidity of the joint can be changed from zero to the maximum value in an arbitrary and continuous way;
(6) the mechanical arm of the joint can be replaced at will, and the adaptability to different tasks is higher.
Drawings
FIG. 1 is a schematic view of the overall structure of a variable stiffness joint of the present invention;
FIG. 2 is a component of the stiffness control subsystem of the present invention;
FIG. 3 is a component of the transmission mechanism of the present invention;
fig. 4 is a diagram of the components of the motion control subsystem of the present invention.
Wherein: 1-cylinder supporting disc, 2-upper cylinder, 3-supporting disc connecting rod, 4-lower cylinder, 5-lower linear displacement sensor, 6-transmission main shaft, 7-arm connecting block, 8-rack supporting disc, 9-upper linear displacement sensor, 10-upper proportional valve, 11-air source, 12-computer, 13-lower proportional valve, 14-upper sensor connecting block, 15-upper sensor connecting base, 16-upper rack, 17-transmission gear, 18-lower rack, 19-lower sensor connecting base, 20-lower sensor connecting block, 21-lower cylinder connecting block, 22-lower linear guide rail, 23-lower cylinder connecting base, 24-upper cylinder connecting block, 24-lower cylinder connecting block, 3-supporting disc connecting rod, 4-lower cylinder, 5-lower linear displacement sensor, 6-transmission main shaft, 9-upper linear displacement sensor, 10-upper proportional valve, 11-air source, 12-computer, 13-lower proportional valve, 14-upper sensor connecting block, 15-upper sensor connecting base, 16-upper rack, 17-lower rack, 19-lower sensor connecting base, 20-lower sensor connecting block, 21-lower cylinder connecting block, 24-lower cylinder connecting block, and piston, 25-upper linear guide rail, 26-upper cylinder connecting base and 27-motor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a variable stiffness joint system based on an air cylinder, which is shown in figure 1 and comprises: the device comprises a cylinder supporting disc 1, an upper cylinder 2, a supporting disc connecting rod 3, a lower cylinder 4, a lower linear displacement sensor 5, a transmission main shaft 6, an arm connecting block 7, a rack supporting disc 8, an upper linear displacement sensor 9, an upper proportional valve 10, an air source 11, a computer 12, a lower proportional valve 13, an upper sensor connecting block 14, an upper sensor connecting base 15, an upper rack 16, a transmission gear 17, a lower rack 18, a lower sensor connecting base 19, a lower sensor connecting block 20, a lower cylinder connecting block 21, a lower linear guide rail 22, a lower cylinder connecting base 23, an upper cylinder connecting block 24, an upper linear guide rail 25, an upper cylinder connecting base 26 and a motor 27;
the variable stiffness joint system based on the air cylinder comprises an air cylinder supporting disc 1 which is provided with an upper air cylinder 2 and a lower air cylinder 4 and is connected with a motor 27, a rack supporting disc 8 which is provided with a transmission gear 17, an upper rack 16 and a lower rack 18 and is connected with the upper air cylinder 2 and the lower air cylinder 4, and an arm connecting block 7 which can be provided with a mechanical arm and is connected with a transmission main shaft 6, wherein the air cylinder supporting disc 1, the transmission gear 17, the upper rack 16 and the lower rack 18 are sequentially connected.
The inner side of the cylinder supporting disc 1 is connected with a transmission main shaft 6 through a bearing and is fixedly connected with an upper cylinder 2 and a lower cylinder 4 which are arranged in the same direction. The upper cylinder 2 and the lower cylinder 4 are connected with an air source 11 through an upper proportional valve 10 and a lower proportional valve 13 controlled by a computer 12, so as to control the internal air pressure to change the rigidity of the joint. The outer side of the cylinder supporting disc 1 is fixedly connected with a main shaft of a motor 27 through a flange, and the motor 27 is controlled by a computer 12 and can drive the joint to rotate.
The rack support plate 8 is fixedly connected to the upper linear guide 25 and the lower linear guide 22 on the inner side. The upper sensor connecting base 15, the lower sensor connecting base 19, the upper cylinder connecting base 26, and the lower cylinder connecting base 23 are respectively mounted on the upper linear guide 25 and the lower linear guide 22, and are fixedly connected to the upper rack 16 and the lower rack 18. The upper rack 16 and the upper cylinder 2, and the lower rack 18 and the lower cylinder 4 are fixedly connected to each other by an upper cylinder connecting block 24 and a lower cylinder connecting block 21. The upper rack 16 and the lower rack 18 rotate coaxially with the cylinder support plate 1, and only the relative displacement in the cylinder axial direction is provided between the upper rack 16 and the lower rack 18. The transmission main shaft 6 is fixedly connected with the transmission gear 17, and the rotation of the transmission main shaft 6 can enable the transmission gear 17 to rotate, so that the upper rack 16 and the lower rack 18 generate translation, and the piston of the upper cylinder 2 and the piston of the lower cylinder 4 generate translation, but the cylinder supporting disc 1 cannot rotate. The outer side of the rack support disk 8 is fixedly connected with the upper linear displacement sensor 9 and the lower linear displacement sensor 5. The upper linear displacement sensor 9 is fixedly connected to the upper rack 16, the lower linear displacement sensor 5, and the lower rack 18 via an upper sensor connecting block 14 and a lower sensor connecting block 20. The upper linear displacement sensor 9 and the lower linear displacement sensor 5 can detect the displacement of the piston of the upper cylinder 2 and the piston of the lower cylinder 4. The bearing plate connecting rod 3 is fixedly connected with the cylinder bearing disk 1 and the rack bearing disk 8.
The arm connecting block 7 is fixedly connected with the transmission main shaft 6. The arm connecting block 7 can be fixedly connected with different mechanical arms through flanges, and the mechanical arms can be replaced randomly according to the requirements of use scenes. The external load is transmitted to the transmission main shaft 6 through the mechanical arm, transmitted to the transmission gear 17 through the transmission main shaft 6, and finally transmitted to the upper rack 16 and the lower rack 18 through the transmission gear 17, and the piston of the upper cylinder 2 and the piston of the lower cylinder 4 are driven to move through the upper cylinder connecting block 24 and the lower cylinder connecting block 21. Because the air cylinder is filled with air, the pressure generated on the piston by the air pressure prevents the piston from moving, and the air pressure can be adjusted by the proportional valve, so that the real-time control of the joint rigidity is realized.
The power supply is connected to the motor 27, the upper proportional valve 10 and the lower proportional valve 13.
The sizes and the materials of the cylinder supporting disc 1, the supporting disc connecting rod 3, the arm connecting block 7, the rack supporting disc 8, the upper sensor connecting block 14, the upper sensor connecting base 15, the lower sensor connecting base 19, the lower sensor connecting block 20, the lower cylinder connecting block 21, the lower cylinder connecting base 23, the upper cylinder connecting block 24 and the upper cylinder connecting base 26 can be adjusted to meet the requirements of the overall diameter and the light weight of the joint.
The dimensions of the upper cylinder 2 and the lower cylinder 4 may be selected according to the rigidity of the object to be operated.
The support plate connecting rod 3 can be selected according to the weight and the size of the joint.
The size of the transmission main shaft 6 and the modulus and the size of the transmission gear 17, the upper rack 16 and the lower rack 18 can be selected according to the magnitude of the load force received by the joint.
The type of the mechanical arm equipped on the arm connecting block 7 can be selected according to task requirements.
The structural dimensions of the rack support disk 8, the lower linear guide 22 and the upper linear guide 25 can be selected according to the deformation range of the joint.
The working process is as follows:
when the joint is electrified to work, the movement of the motor 27 causes the cylinder supporting disc 1 to start rotating, and simultaneously drives the upper cylinder 2, the lower cylinder 4, the upper rack 16, the lower rack 18 and the rack supporting plate 8 to coaxially rotate, thereby driving the transmission gear 17, the transmission main shaft 6 and the arm connecting block 7 to rotate.
When the arm connecting block 7 is loaded from the outside, the load force is transmitted to the transmission gear 17 through the transmission main shaft 6, and then the upper rack 16 and the lower rack 18 are driven to move, so that the piston of the upper cylinder 2 and the piston of the lower cylinder 4 do parallel opposite movement, the air pressure in the cylinders changes due to the movement of the pistons, and the pistons stop moving when the air pressure is equal to the load force. In the process of piston movement, the transmission main shaft 6 and the cylinder supporting plate 1 rotate relatively.
When the rigidity of the joint needs to be changed, the computer 12 controls the valve bodies of the upper proportional valve 10 and the lower proportional valve 13 to move, the opening size of the proportional valves is adjusted, and then the gas flow flowing into or out of the cylinder is adjusted, so that the gas pressure in the cylinder is changed, and the purpose of changing the rigidity of the joint is achieved.
Claims (7)
1. Variable-rigidity joint system based on air cylinders, which is characterized by comprising an air cylinder supporting disc (1), an upper air cylinder (2), a supporting disc connecting rod (3), a lower air cylinder (4), a lower linear displacement sensor (5), a transmission main shaft (6), an arm connecting block (7), a rack supporting disc (8), an upper linear displacement sensor (9), an upper proportional valve (10), an air source (11), a computer (12), a lower proportional valve (13), an upper sensor connecting block (14), an upper sensor connecting base (15), an upper rack (16), a transmission gear (17), a lower rack (18), a lower sensor connecting base (19), a lower sensor connecting block (20), a lower air cylinder connecting block (21), a lower linear guide rail (22), a lower air cylinder connecting base (23), an upper air cylinder connecting block (24), The upper linear guide rail (25), the upper cylinder connecting base (26), the motor (27), the controller and the motor driver;
in the variable-rigidity joint system based on the air cylinder, an upper air cylinder (2) and a lower air cylinder (4) are arranged on an air cylinder supporting disc (1), the air cylinder supporting disc (1) is connected with a motor (27), a transmission gear (17), an upper rack (16) and a lower rack (18) are arranged on a rack supporting disc (8), the rack supporting disc (8) is connected with the upper air cylinder (2) and the lower air cylinder (4), a mechanical arm is arranged on an arm connecting block (7), the arm connecting block (7) is connected with a transmission main shaft (6), and the air cylinder supporting disc (1), the rack supporting disc (8) and the arm connecting block (7) are sequentially connected;
the inner side of the cylinder supporting disc (1) is connected with a transmission main shaft (6) through a bearing and is fixedly connected with an upper cylinder (2) and a lower cylinder (4) which are arranged in the same direction; the upper cylinder (2) and the lower cylinder (4) are connected with an air source (11) through an upper proportional valve (10) and a lower proportional valve (13) controlled by a computer (12) so as to control the internal air pressure to change the rigidity of the joint; the outer side of the cylinder supporting disc (1) is fixedly connected with a main shaft of a motor (27) through a flange, and the motor (27) is controlled by a computer (12) and can drive a joint to rotate;
the inner side of the rack supporting disc (8) is fixedly connected with the upper linear guide rail (25) and the lower linear guide rail (22); the upper sensor connecting base (15) and the upper cylinder connecting base (26) are arranged on the upper linear guide rail (25) and are fixedly connected with the upper rack (16); the lower sensor connecting base (19) and the lower cylinder connecting base (23) are arranged on the lower linear guide rail (22) and are fixedly connected with the lower rack (18); the upper rack (16) is fixedly connected with the upper cylinder (2) through an upper cylinder connecting block (24); the lower rack (18) is fixedly connected with the lower cylinder (4) through a lower cylinder connecting block (21); the upper rack (16) and the lower rack (18) rotate coaxially with the cylinder supporting disc (1), and only the relative displacement in the axial direction of the cylinder exists between the upper rack (16) and the lower rack (18); the transmission main shaft (6) is fixedly connected with the transmission gear (17), the transmission gear (17) can be rotated by the rotation of the transmission main shaft (6), so that the upper rack (16) and the lower rack (18) can generate translation, the piston of the upper cylinder (2) and the piston of the lower cylinder (4) can generate translation, and the cylinder supporting disc (1) cannot be rotated; the outer side of the rack supporting disc (8) is fixedly connected with the upper linear displacement sensor (9) and the lower linear displacement sensor (5); the upper linear displacement sensor (9) is fixedly connected with the upper rack (16) through an upper sensor connecting block (14); an upper linear displacement sensor (9) detects the displacement of the piston of the upper cylinder (2); the lower linear displacement sensor (5) and the lower rack (18) are fixedly connected through a lower sensor connecting block (20); the lower linear displacement sensor (5) detects the displacement of the piston of the lower cylinder (4); the supporting disk connecting rod (3) is fixedly connected with the cylinder supporting disk (1) and the rack supporting disk (8) at the same time;
the arm connecting block (7) is fixedly connected with the transmission main shaft (6); the arm connecting block (7) is fixedly connected with different mechanical arms through flanges, and the mechanical arms can be replaced randomly according to the requirements of the use scene; the external load is transmitted to the transmission main shaft (6) through the mechanical arm, transmitted to the transmission gear (17) through the transmission main shaft (6), transmitted to the upper rack (16) and the lower rack (18) through the transmission gear (17), and driven to move by the piston of the upper cylinder (2) and the piston of the lower cylinder (4) through the upper cylinder connecting block (24) and the lower cylinder connecting block (21); because the air cylinder is filled with air, the pressure generated on the piston by air pressure prevents the piston from moving, and the air pressure is adjusted by the proportional valve, so that the real-time control of the joint rigidity is realized;
the power supply is connected with the motor (27), the upper proportional valve (10) and the lower proportional valve (13).
2. The cylinder-based variable stiffness joint system according to claim 1, wherein the sizes and materials of the cylinder supporting disc (1), the supporting disc connecting rod (3), the arm connecting block (7), the rack supporting disc (8), the upper sensor connecting block (14), the upper sensor connecting base (15), the lower sensor connecting base (19), the lower sensor connecting block (20), the lower cylinder connecting block (21), the lower cylinder connecting base (23), the upper cylinder connecting block (24) and the upper cylinder connecting base (26) are adjusted to meet the requirements of overall diameter and light weight of the joint.
3. The cylinder-based variable stiffness joint system according to claim 1, wherein the sizes of the upper cylinder (2) and the lower cylinder (4) are selected according to the stiffness of an operation object of the joint.
4. The air cylinder-based variable stiffness joint system according to claim 1, wherein the support disc connecting rod (3) is selected according to the weight and size of the joint.
5. The air cylinder-based variable stiffness joint system according to claim 1, wherein the size of the transmission main shaft (6) and the modulus and the size of the transmission gear (17), the upper rack (16) and the lower rack (18) are selected according to the magnitude of the load force received by the joint.
6. The variable-stiffness cylinder-based joint system according to claim 1, wherein the type of the mechanical arm equipped on the arm connecting block (7) is selected according to task requirements.
7. The air cylinder-based variable stiffness joint system according to claim 1, wherein the structural dimensions of the rack support plate (8), the lower linear guide (22) and the upper linear guide (25) are selected according to the deformation range requirement of the joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010418300.7A CN112297051B (en) | 2020-05-19 | 2020-05-19 | Variable-rigidity joint system based on air cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010418300.7A CN112297051B (en) | 2020-05-19 | 2020-05-19 | Variable-rigidity joint system based on air cylinder |
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| CN112297051A CN112297051A (en) | 2021-02-02 |
| CN112297051B true CN112297051B (en) | 2022-04-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| CN101387319B (en) * | 2008-10-23 | 2010-09-29 | 上海交通大学 | Toughness changing gravity compensating mechanism for magnetic rheological liquid |
| JP6550877B2 (en) * | 2015-03-10 | 2019-07-31 | 株式会社ジェイテクト | Leg strength support device |
| CN109176469B (en) * | 2018-09-13 | 2021-07-06 | 天津大学 | Variable-rigidity flexible exoskeleton system based on line driving and pneumatic clamping principle |
| CN110091353B (en) * | 2019-04-18 | 2024-05-14 | 广东工业大学 | Internally-wiring rigidity-variable robot joint module |
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