CN102814819A - Finger device of bevel gear motor inverted type composite under-actuated robot - Google Patents
Finger device of bevel gear motor inverted type composite under-actuated robot Download PDFInfo
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- CN102814819A CN102814819A CN2012101875213A CN201210187521A CN102814819A CN 102814819 A CN102814819 A CN 102814819A CN 2012101875213 A CN2012101875213 A CN 2012101875213A CN 201210187521 A CN201210187521 A CN 201210187521A CN 102814819 A CN102814819 A CN 102814819A
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Abstract
锥齿轮系电机倒置复合欠驱动机器人手指装置，属于机器人手技术领域，包括基座、电机、减速器、中部指段、末端指段、近关节轴、远关节轴、多个锥齿轮和簧件等。该装置采用倒置的电机、同向传动机构、活动套接的中部指段和簧件综合实现了耦合与自适应复合型欠驱动抓取模式，即在抓取过程中既可以多关节联动，产生较好的拟人效果；又可以适应不同形状、尺寸的物体，产生较好的自适应抓取效果；可实现握持、捏持等多种抓取模式。该装置控制容易、能耗小；该装置将驱动器置于中部指段中，充分利用了手指空间，布局紧凑；解放了手掌空间，使得更加复杂的控制机构得以安放在手掌中；该装置结构简单、制造成本低、维护方便。
The bevel gear series motor inverted composite underactuated robot finger device belongs to the field of robotic hand technology, including a base, a motor, a reducer, a middle finger segment, an end finger segment, a proximal joint shaft, a distal joint shaft, multiple bevel gears and spring parts wait. The device adopts an inverted motor, a transmission mechanism in the same direction, a movable socketed middle finger section and a spring to realize a coupling and self-adaptive compound underactuated grasping mode, that is, multiple joints can be linked in the grasping process to produce Good anthropomorphic effect; it can also adapt to objects of different shapes and sizes, resulting in a better adaptive grasping effect; it can realize multiple grasping modes such as holding and pinching. The device is easy to control and has low energy consumption; the device places the driver in the middle finger section, which makes full use of the finger space and has a compact layout; frees the palm space, allowing more complex control mechanisms to be placed in the palm; the device has a simple structure , Low manufacturing cost, easy maintenance.
Description
Technical field
The invention belongs to the robot technical field, particularly a kind of bevel gear system motor is inverted the structural design of compound under-actuated robot finger device.
Background technology
Hand is one of most important organ of people, and in the anthropomorphic robot field, robot is vital link equally, and it is one of key technology of robot field that its structural design and function are improved.On the one hand, robot need be accomplished compound actions such as extracting, carrying, therefore needs comparatively accurate controlling mechanism; On the other hand, the personification of robot requires to have determined characteristics such as its volume is little, in light weight.Existing Dextrous Hand has enough pass joint numbers and drives number accomplishing accurate action, but very complicated, expensive.Also there are many technical barriers in the robot field at present.Owe to drive hand and solved this contradiction to a certain extent.
The coupled mode under-actuated finger adopts the crooked simultaneously coupling of multi-joint to grasp pattern, is rotated simultaneously by a certain percentage by a plurality of joints of driver drives.This pattern and the action of staff grasping objects are similar, and personification property is better, and the extracting process is more stable.The weak point of coupled mode finger is: pattern is comparatively fixing, can't adapt to difform object, generally to grip the mode grasping objects, is difficult to realize gripping Grasp Modes for large sized object, and grip is bad.
The self adaptation under-actuated finger adopts the pattern of self-adapting grasping, by joint of a driver drives, all the other joints finger with just begin rotation after object contacts.This finger can change the extracting angle according to the difformity of object, grips Grasp Modes thereby reach, and simple in structure and control is stablized.The weak point of self adaptation under-actuated finger is: finger is not solid form when contacting object, and anthropomorphic effect is relatively poor; Need in the process of contact object, produce driving force, possibly cause left knee stressed excessive, be unfavorable for grasping the far-end dactylus; Can't realize gripping Grasp Modes for small-size object, grip is restricted.
To coupled mode finger and self adaptation under-actuated finger weak point separately; A kind of new type compound that both are combined is owed to drive the extracting pattern and is suggested; This extracting pattern is: finger moves according to CGCM earlier before running into object; The motion of left knee is limited by object after the contact object, and this moment, the far-end dactylus continued to contact object with the adaptive model grasping objects fully until each dactylus.
The parallel under-actuated device finger of existing a kind of doublejointed device; Like Chinese invention patent CN101633171A; Mainly by pedestal, motor, decelerator, nearly joint shaft, middle finger section, joint shaft far away, the end section of finger, coupled transmission mechanism, owe drive transmission device and a plurality of spring spare formation.This device can be realized the compound extracting process of owing to drive, and its weak point is: coupled transmission mechanism and owe that movement interference is arranged between the drive transmission device, used a plurality of spring spare constraint reliefs, and cause and produce a lot of unnecessary energy consumption in the coupled motions process; Coupling mechanism is parallelly connected with adaptive mechanism, complex structure; Motor can only be placed in the pedestal (palm), and the palm space can't make full use of, and does not make full use of to refer to the section space.
The compound extracting robot finger apparatus of existing a kind of bevel gear flexible piece; Like Chinese invention patent CN102166753A, mainly constitute by pedestal, motor, decelerator, nearly joint shaft, middle finger section, joint shaft far away, the end section of finger, three bevel gears, driving wheel, driven pulley, two driving members and spring spare.This device can be realized the compound extracting process of owing to drive, and its weak point is: motor is placed in the pedestal (palm), and the palm space can't make full use of, and does not make full use of to refer to the section space.
Summary of the invention
The objective of the invention is weak point to prior art; Provide a kind of bevel gear system motor to be inverted compound under-actuated robot finger device; This device can be realized being coupled and grasp combine with self-adapting grasping compound and owe to drive the extracting pattern, and this apparatus structure is simple, and cost is low; Motor is placed on and refers in the section, liberation palm space; Only use two joints of a driver drives, the transmission energy loss is little.
Technical scheme of the present invention is following:
A kind of bevel gear system motor of the present invention is inverted compound under-actuated robot finger device, comprises pedestal, motor, decelerator, middle finger section, the end section of finger, nearly joint shaft and joint shaft far away; Described nearly joint shaft pivot bush unit is in pedestal, and described middle finger section is actively socketed on the nearly joint shaft; Described joint shaft pivot bush unit far away is in middle finger section, and the described end section of finger is fixed on the joint shaft far away; Joint shaft far away is parallel with nearly joint shaft; It is characterized in that: this robot finger apparatus also comprises first bevel gear, second bevel gear, third hand tap gear, first transmission mechanism and the spring spare; Described motor and decelerator are arranged in the middle finger section, and described motor and decelerator and middle finger section are affixed, and the output shaft of motor links to each other with input shaft of speed reducer; Said first bevel gear is fixed on the output shaft of decelerator; Said second bevel gear is fixed on the nearly joint shaft, said first bevel gear and the engagement of second bevel gear, and said third hand tap gear is actively socketed on the nearly joint shaft; Said first bevel gear and third hand tap gears engaged; Described first transmission mechanism comprises driving wheel, driven pulley and driving member, and described driving wheel links to each other through driving member with driven pulley, and said driving wheel rotation direction is identical with the driven pulley rotation direction; Described driving wheel is actively socketed on the nearly joint shaft, and described driving wheel and third hand tap gear are affixed; Described driven pulley is fixed on the joint shaft far away; The two ends of described spring spare connect pedestal and nearly joint shaft respectively.
Bevel gear system motor of the present invention is inverted compound under-actuated robot finger device; It is characterized in that: described driving member adopts driving-belt, chain or tendon rope; Described driving wheel adopts belt wheel, sprocket wheel or rope sheave, and described driven pulley adopts belt wheel, sprocket wheel or rope sheave; Described driving member, driving wheel and driven pulley three can cooperate the formation drive connection; Described driving member is wrapped on driving wheel and the driven pulley and forms " O " font.
Bevel gear system motor of the present invention is inverted compound under-actuated robot finger device, it is characterized in that: described driving member adopts tooth bar, and described driving wheel, driven pulley all adopt gear; Described tooth bar meshes with driving wheel and driven pulley respectively; The meshing point that makes tooth bar and driving wheel is A, and the meshing point of tooth bar and driven pulley is B, and the central point of driving wheel is O
1, the central point of driven pulley is O
2, line segment O
1A, line segment AB, line segment BO
2With line segment O
2O
1Constitute " mouth " font, described tooth bar is embedded in the middle finger section.
Bevel gear system motor of the present invention is inverted compound under-actuated robot finger device, it is characterized in that: described driving member adopts connecting rod, and the two ends of described connecting rod are hinged with driving wheel and driven pulley respectively; The pin joint that makes connecting rod and driving wheel is C, and the pin joint of connecting rod and driven pulley is D, and the central point of driving wheel is O
1, the central point of driven pulley is O
2, line segment O
1C, line segment CD, line segment DO
2With line segment O
2O
1Constitute " mouth " font.
Bevel gear system motor of the present invention is inverted compound under-actuated robot finger device, it is characterized in that: described driving member comprise the 1st travelling gear, the 2nd travelling gear ..., 2n-1 travelling gear, the 1st transition axis, the 2nd transition axis ..., 2n-2 transition axis and 2n-1 transition axis; Described driving wheel and driven pulley all adopt gear; Described driving wheel is meshed with the 1st travelling gear, and the k travelling gear is meshed with the k+1 travelling gear, and the 2n-1 travelling gear is meshed with driven pulley; Pivot bush unit is in middle finger section respectively for all transition axises, and all transition axises are parallel with nearly joint shaft; The k travelling gear is actively socketed on the k transition axis, and the 2n-1 travelling gear is actively socketed on the 2n-1 transition axis, wherein, k is 1,2 ..., 2n-2, n is a natural number.
Bevel gear system motor of the present invention is inverted compound under-actuated robot finger device, it is characterized in that: described spring spare adopts torsion spring, extension spring or stage clip.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention adopt inverted motor, a plurality of bevel gear, middle finger section and the spring spare of transmission mechanism, pivot bush unit have been realized comprehensively that coupling and self adaptation are compound and owed to drive the extracting pattern in the same way; This device both can link by multi-joint in the extracting process, produced anthropomorphic preferably effect; The object that can adapt to difformity, size again produces self-adapting grasping effect preferably; Multiple extracting pattern such as can realize gripping, grip.This device is the under-actuated finger device that adopts two joints of a motor-driven, and control easily; Too much do not interfere between this each forms of motion of device, during coupled motions the distortion of spring spare little, finger can rest on arbitrary centre position of coupled motions naturally, so energy consumption is little; This device places middle finger section with driver, has made full use of finger space, compact in design; Liberate the palm space, made complicated more controlling organization be able to be placed in the palm; This apparatus structure is simple, low cost of manufacture, easy to maintenance.
Description of drawings
Fig. 1 is that bevel gear system motor of the present invention is inverted first kind of embodiment of compound under-actuated robot finger device (adopting belt wheel mechanism) cutaway view.
Fig. 2 is a sectional side view embodiment illustrated in fig. 1, also is the W-W cutaway view of Fig. 1.
Fig. 3 is front appearance figure embodiment illustrated in fig. 1, also is the outside drawing of Fig. 1.
Fig. 4 is a left side outside drawing embodiment illustrated in fig. 1.
Fig. 5 is driving wheel, driven pulley and the driving member signal of second kind of embodiment provided by the invention (employing rackwork).
Fig. 6 is driving wheel, driven pulley and the driving member signal of the third embodiment provided by the invention (employing linkage).
Fig. 7 is driving wheel, driven pulley and the driving member signal of the 4th kind of embodiment provided by the invention (adopting the two-stage gear mechanism).
Fig. 8 is driving wheel, driven pulley and the driving member signal of the 5th kind of embodiment provided by the invention (adopting double bevel wheel two-stage transmission mechanism).
Fig. 9, Figure 10, Figure 11 and Figure 12 are grasping object process signals embodiment illustrated in fig. 1.
In Fig. 1 to Figure 12:
The 1-pedestal, the 11-middle finger section, the 12-end section of finger,
13-motor bearing plate, the 2-motor, the 21-decelerator,
The nearly joint shaft of 31-, 32-joint shaft far away, the 41-driving wheel,
The 42-driven pulley, the 43-driving member, 5-spring spare,
61-first bevel gear, 62-second bevel gear, 63-third hand tap gear,
81-the 1st travelling gear, 83-the 1st transition axis,
The 96-double bevel wheel, the 10-object.
The specific embodiment
Further introduce the content of concrete structure of the present invention, operation principle in detail below in conjunction with accompanying drawing and a plurality of embodiment.
The bevel gear system motor of the present invention's design is inverted first kind of embodiment of compound under-actuated robot finger device; Like Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, comprise pedestal 1, motor 2, decelerator 21, middle finger section 11, the end section of finger 12, nearly joint shaft 31 and joint shaft 32 far away; Described nearly joint shaft 31 pivot bush units are in pedestal 1, and described joint shaft 32 pivot bush units far away are in middle finger section 11, and the described end section of finger 12 is fixed on the joint shaft 32 far away; Joint shaft 32 far away is parallel with nearly joint shaft 31.
This device also comprises first bevel gear 61, second bevel gear 62, third hand tap gear 63, first transmission mechanism and spring spare 5; Described middle finger section 11 is actively socketed on the nearly joint shaft 31; Described motor 2 is arranged in the middle finger section with decelerator 21; Described motor 2 is affixed with decelerator 21 and middle finger section 11; The output shaft of motor 2 links to each other with the power shaft of decelerator 21, and said first bevel gear 61 is fixed on the output shaft of decelerator, and said second bevel gear 62 is fixed on the nearly joint shaft 31; Said first bevel gear 61 and 62 engagements of second bevel gear; Said third hand tap gear 63 is actively socketed on the nearly joint shaft, said first bevel gear 61 and 63 engagements of third hand tap gear, and described first transmission mechanism comprises driving wheel 41, driven pulley 42 and driving member; Described driving wheel 41 and driven pulley 42 link to each other through driving member, and said driving wheel 41 rotation directions are identical with driven pulley 42 rotation directions; Described driving wheel 41 is actively socketed on the nearly joint shaft 31, and described driving wheel 41 is affixed with third hand tap gear 63; Described driven pulley 42 is fixed on the joint shaft 32 far away; The two ends of described spring spare 5 connect pedestal 1 and nearly joint shaft 31 respectively.
Present embodiment also comprises motor bearing plate 13, and described motor bearing plate 13 is fixed in middle finger section 11 bottoms, and described motor 2 and decelerator 21 are inverted in the middle finger section 11 and are affixed with motor bearing plate 13.
Spring spare of the present invention adopts torsion spring, extension spring, stage clip or sheet spring.In the present embodiment, described spring spare 5 adopts torsion spring.
Bevel gear system motor of the present invention is inverted compound under-actuated robot finger device; Described driving member 43 adopts driving-belt, chain or tendon rope; Described driving wheel 41 adopts belt wheel, sprocket wheel or rope sheave, and described driven pulley 42 adopts belt wheel, sprocket wheel or rope sheave; Described driving member 43, driving wheel 41 and driven pulley 42 threes can cooperate the formation drive connection; Described driving member 43 is wrapped on driving wheel 41 and the driven pulley 42 and forms " O " font.
In the present embodiment, described driving member 43 adopts driving-belt, and described driving wheel 41 adopts belt wheel, and described driven pulley 42 adopts belt wheel; Described driving member 43, driving wheel 41 and driven pulley 42 threes can cooperate the formation drive connection; Described driving member 43 is wrapped on driving wheel 41 and the driven pulley 42 and forms " O " font.
Bevel gear system motor of the present invention is inverted second kind of embodiment of compound under-actuated robot finger device, and is as shown in Figure 5, and described driving member 43 adopts tooth bars, and described driving wheel 41, driven pulley 42 all adopt gear; Described tooth bar meshes with driving wheel 41, driven pulley 42 respectively; The meshing point that makes tooth bar and driving wheel 41 is A, and the meshing point of tooth bar and driven pulley 42 is B, and the central point of driving wheel 41 is O
1, the central point of driven pulley 42 is O
2, line segment O
1A, AB, BO
2And O
2O
1Constitute " mouth " font, described tooth bar is embedded in the middle finger section.
The bevel gear system motor of the present invention design is inverted the third embodiment of compound under-actuated robot finger device, and is as shown in Figure 6, and described driving member 43 adopts connecting rods, and the two ends of described connecting rod are hinged with driving wheel 41, driven pulley 42 respectively; The pin joint that makes connecting rod and driving wheel 41 is C, and the pin joint of connecting rod and driven pulley 42 is D, and the central point of driving wheel 41 is O
1, the central point of driven pulley 42 is O
2, line segment O
1C, CD, DO
2And O
2O
1Constitute " mouth " font.
Bevel gear system motor of the present invention is inverted the 4th kind of embodiment of compound under-actuated robot finger device; As shown in Figure 7, described driving member comprise the 1st travelling gear, the 2nd travelling gear ..., 2n-1 travelling gear, the 1st transition axis, the 2nd transition axis ..., 2n-2 transition axis and 2n-1 transition axis; Described driving wheel (41), driven pulley (42) all adopt gear; Described driving wheel 41 is meshed with the 1st travelling gear, and the k travelling gear is meshed with the k+1 travelling gear, and the 2n-1 travelling gear is meshed with driven pulley 42; Pivot bush unit is in middle finger section 11 respectively for all transition axises, and all transition axises are parallel with nearly joint shaft 31; The k travelling gear is actively socketed on the k transition axis, and the 2n-1 travelling gear is actively socketed on the 2n-1 transition axis, wherein, k is 1,2 ..., 2n-2, n is a natural number.
In the present embodiment, described driving member comprises the 1st travelling gear 81 and the 1st transition axis 83; Described driving wheel 41, driven pulley 42 all adopt gear; Described driving wheel 41 is meshed with the 1st travelling gear 81, and the 1st travelling gear 81 is meshed with driven pulley 42; The 1st transition axis 83 pivot bush units are in middle finger section 11 and parallel with nearly joint shaft 31; The 1st travelling gear 81 is actively socketed on the 1st transition axis 83.
The bevel gear system motor of the present invention's design is inverted the 5th kind of embodiment of compound under-actuated robot finger device, adopts the two-stage or the above kind of drive of two-stage to connect between described driving wheel 41 and the driven pulley 42.As long as driving wheel 41 is identical with the rotation direction of driven pulley 42.Such as, as shown in Figure 8, described driving member is a double bevel wheel 96; Described double bevel wheel 96 is movably set in the middle finger section, and its center line is positioned at the plane with the center line of nearly joint shaft 31, the center line of joint shaft 32 far away, and the center line of double bevel wheel 96 is perpendicular with the center line of nearly joint shaft 31; Described driving wheel 41 all adopts bevel gear with driven pulley 42, and the bevel gear of double bevel wheel 96 1 ends is meshed with driving wheel 41, and the bevel gear of the other end is meshed with driven pulley 42.Driving wheel 41 and driven pulley 42 so just can be realized the transmission through double bevel wheel in the both sides of the center line of double bevel wheel, and driving wheel and driven pulley rotate in the same way.
First kind of embodiment with shown in Figure 1 is the operation principle that example is introduced apparatus of the present invention, in conjunction with Fig. 9, Figure 10, Figure 11 and Figure 12, narrates as follows:
The initial position of this device is as shown in Figure 9, and middle finger section 11, the end section of finger 12 and pedestal 1 are straight configuration at this moment.When using the robot grasping objects 10 of present embodiment, the output shaft that motor 2 drives decelerator 21 rotates, and drives nearly joint shaft 31 through second transmission mechanism and rotates; Because the effect of contraction of spring spare 5, pedestal 1 is fixed together with nearly joint shaft 31 seemingly, and motor 2 will drive the middle finger section 11 rotational angle α that self belongs to; In the present embodiment, the output shaft of decelerator 21 drives with second bevel gear, 62 affixed nearly joint shafts 31 through first bevel gear 61 and rotates.
Because first bevel gear 61 and 63 engagements of third hand tap gear; Third hand tap gear 63 is affixed with driving wheel 41; In middle finger section 11 rotation processes; Joint shaft 32 far away will change with respect to the position of nearly joint shaft 31, and driving wheel 41 drove the go the long way round center line of joint shaft 32 of driven pulley 42 through driving member and turned over angle [alpha] this moment, and the relative size that changes driving wheel 41 and driven pulley 42 can obtain the different coupling effect; The rotation of joint shaft 32 far away makes that end the refer to section 12 affixed with it turns over angle [alpha] equally, thereby reaches coupling effect.Suppose to run into object 10 after middle finger section 11 and the end section of finger 12 all turn over the α angle, following two kinds of situation possibly appear in this moment:
1) middle finger section 11 contacts object 10 earlier, and is shown in figure 10.This moment, middle finger section 11 can not be rotated further owing to stopping of object 10, and motor 2 continues operation, and spring spare 5 will deform, and make nearly joint shaft 31 be able to be independent of pedestal 1 and be rotated further; Driving wheel 41 drives driven pulley 42 joint shaft 32 of going the long way round through first transmission mechanism and is rotated further, and makes the end section of finger be rotated further the β angle, refers to that until end the Duan Douyu body surface contacts; After this center line of joint shaft 32 rotates because the terminal section of finger 12 can't be continued by object blocks to go the long way round, thereby completion extracting process reaches grip effect, and is shown in figure 11.2) the end section of finger 12 contact objects 10 and middle finger section 11 does not contact object 10 as yet earlier are shown in figure 12.This moment, joint shaft 32 far away can't be rotated further, and made nearly joint shaft 31 also can't rotate, thereby accomplished the extracting process, reached to grip effect.
Apparatus of the present invention adopt middle finger section and the spring spare of inverted motor, reverse drive mechanism, pivot bush unit to realize comprehensively that coupling and self adaptation are compound and owe to drive the extracting pattern; This device both can link by multi-joint in the extracting process, produced anthropomorphic preferably effect; The object that can adapt to difformity, size again produces self-adapting grasping effect preferably; Multiple extracting pattern such as can realize gripping, grip.This device is the under-actuated finger device that adopts two joints of a motor-driven, and control easily; Too much do not interfere between this each forms of motion of device, during coupled motions the distortion of spring spare little, finger can rest on arbitrary centre position of coupled motions naturally, so energy consumption is little; This device places middle finger section with driver, has made full use of finger space, compact in design; Liberate the palm space, made complicated more controlling organization be able to be placed in the palm; This apparatus structure is simple, low cost of manufacture, easy to maintenance.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101875213A CN102814819A (en) | 2012-06-07 | 2012-06-07 | Finger device of bevel gear motor inverted type composite under-actuated robot |
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|---|---|---|---|
| CN2012101875213A CN102814819A (en) | 2012-06-07 | 2012-06-07 | Finger device of bevel gear motor inverted type composite under-actuated robot |
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Cited By (6)
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| CN103921271A (en) * | 2014-05-07 | 2014-07-16 | 四川大学 | Under-actuated ingenious multifunctional space robot hand claw |
| CN106113071A (en) * | 2016-08-08 | 2016-11-16 | 清华大学 | Motor is put five gear coupling adaptive robot finger apparatus |
| CN106476023A (en) * | 2016-08-31 | 2017-03-08 | 清华大学 | Horizontalization folder adaptive robot finger apparatus in seven wheel idle running motors |
| CN107309887A (en) * | 2017-06-29 | 2017-11-03 | 北京理工大学 | It is a kind of to couple and adaptive under-actuated bionic skillful finger |
| CN109205096A (en) * | 2018-08-08 | 2019-01-15 | 马兰 | A kind of takeaway box |
| CN113305868A (en) * | 2021-06-25 | 2021-08-27 | 哈尔滨工业大学 | Multi-degree-of-freedom robot finger-based joint |
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| CN102166753A (en) * | 2011-05-20 | 2011-08-31 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
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| KR100637956B1 (en) * | 2005-07-14 | 2006-10-23 | 한국과학기술원 | Robot finger structure with subordinate joints |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103921271A (en) * | 2014-05-07 | 2014-07-16 | 四川大学 | Under-actuated ingenious multifunctional space robot hand claw |
| CN106113071A (en) * | 2016-08-08 | 2016-11-16 | 清华大学 | Motor is put five gear coupling adaptive robot finger apparatus |
| CN106476023A (en) * | 2016-08-31 | 2017-03-08 | 清华大学 | Horizontalization folder adaptive robot finger apparatus in seven wheel idle running motors |
| CN106476023B (en) * | 2016-08-31 | 2018-11-09 | 清华大学 | Horizontalization presss from both sides adaptive robot finger apparatus in seven wheel idle running motors |
| CN107309887A (en) * | 2017-06-29 | 2017-11-03 | 北京理工大学 | It is a kind of to couple and adaptive under-actuated bionic skillful finger |
| CN109205096A (en) * | 2018-08-08 | 2019-01-15 | 马兰 | A kind of takeaway box |
| CN113305868A (en) * | 2021-06-25 | 2021-08-27 | 哈尔滨工业大学 | Multi-degree-of-freedom robot finger-based joint |
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Application publication date: 20121212 |