技术领域technical field
本发明涉及机器人领域，尤其是涉及机械臂领域。The invention relates to the field of robots, in particular to the field of mechanical arms.
背景技术Background technique
超冗余自由度机械臂是为解决传统串联机器人灵活性较差的问题提出来的，其通过增加大量的冗余关节，使关节空间的维数远大于任务空间维数，冗余关节的引入使机械臂可以更加灵活地实现期望的末端位姿。因此，这种机械臂特别适合用作：1、不规则空间内的操作设备，大量的冗余关节可使机械臂具备极强的避障能力，使其特别适合用作特种机器人，例如作为地震灾后穿过碎石瓦砾来寻救幸存者的救生机器人、核反应堆检查机器人等；2、抓取非规则物体的机械手，即采用全臂包卷方式来抓取较大尺寸以及不规则的物体，可以用于爆炸物的排除以及空间站的维护。The ultra-redundant degree of freedom manipulator is proposed to solve the problem of poor flexibility of traditional series robots. By adding a large number of redundant joints, the dimension of the joint space is much larger than the dimension of the task space. The introduction of redundant joints Make the robot arm more flexible to achieve the desired end pose. Therefore, this kind of robotic arm is especially suitable for use as: 1. Operating equipment in irregular spaces, a large number of redundant joints can make the robotic arm have a strong ability to avoid obstacles, making it especially suitable for special robots, such as earthquake Life-saving robots, nuclear reactor inspection robots, etc. that pass through the rubble and rubble to find survivors after disasters; Used for the removal of explosives and the maintenance of space stations.
然而，目前超冗余自由度机械臂大多采用分立式的电机和驱动器，电机直接安装在转动关节处，驱动器固定在控制柜中，二者用电缆线进行连接，这样会带来很多缺点：However, most of the current ultra-redundant DOF manipulators use discrete motors and drivers. The motors are directly installed at the rotating joints, and the drivers are fixed in the control cabinet. The two are connected by cables, which will bring many disadvantages:
1、机械臂的电气线路十分繁琐，给后续检修带来极大的不便，也容易引发安全隐患；1. The electrical circuit of the robotic arm is very cumbersome, which brings great inconvenience to subsequent maintenance and easily causes safety hazards;
2、增加了机械臂的惯性和质量，导致其承载能力受到一定的限制，不利于高速运动和快速响应；2. The inertia and mass of the robotic arm are increased, resulting in a certain limitation in its carrying capacity, which is not conducive to high-speed movement and quick response;
3、电机驱动的关节一般都是单自由度的关节，为了实现多自由度运动将不可避免的导致控制系统的复杂化；3. The motor-driven joints are generally single-degree-of-freedom joints. In order to realize multi-degree-of-freedom movements, it will inevitably lead to the complexity of the control system;
4、增加制造成本。4. Increase the manufacturing cost.
发明内容Contents of the invention
为了克服现有技术的不足，本发明提供一种基于绳索驱动的超冗余柔性机械臂，其可以对各关节进行独立调节，使控制更加精确；可以极大的减轻关节的重量，从而进一步增加机械臂的承载能力，有利于实现机械臂的高速移动和快速响应；同时，省去了电气线路的排布工作，机械臂上仅由机械结构组成，不易受到恶劣环境的影响，有助于延长使用寿命，便于拆卸、维护和组装。In order to overcome the deficiencies in the prior art, the present invention provides a super-redundant flexible manipulator based on rope drive, which can independently adjust each joint to make the control more precise; it can greatly reduce the weight of the joint, thereby further increasing the The load-carrying capacity of the manipulator is conducive to the high-speed movement and quick response of the manipulator; at the same time, the arrangement of electrical lines is omitted, and the manipulator is only composed of mechanical structures, which is not easily affected by harsh environments and helps to extend Long service life, easy to disassemble, maintain and assemble.
本发明解决其技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve its technical problems is:
一种基于绳索驱动的超冗余柔性机械臂，包括驱动模块、机械臂模块与若干驱动绳，机械臂模块包括多个串联的关节，相邻的关节通过设于二者之间相互交叉且垂直的转轴连接，任意关节上固接有至少三处的驱动绳，驱动绳可在驱动模块的驱动下独立运动，且位于同一关节上的驱动绳满足设置：该关节可随驱动绳的拉动而相对临近的关节发生绕转轴的转动。An ultra-redundant flexible manipulator based on rope drive, including a drive module, a manipulator module and several drive ropes. The manipulator module includes a plurality of joints in series, and adjacent joints are intersected and perpendicular to each other through There are at least three driving ropes fixed on any joint. The driving ropes can move independently under the drive of the driving module, and the driving ropes on the same joint meet the setting: the joint can be moved relative to the pulling of the driving rope. Adjacent joints rotate about their axes of rotation.
作为上述方案的进一步改进方式，驱动绳固接于关节的尾端。As a further improvement of the above solution, the driving rope is fixedly connected to the tail end of the joint.
作为上述方案的进一步改进方式，驱动绳为3处，相邻驱动绳之间间隔120°设置。As a further improvement of the above solution, there are three driving ropes, and the intervals between adjacent driving ropes are set at 120°.
作为上述方案的进一步改进方式，驱动绳为4处，分别对应转轴的轴端设置。As a further improvement of the above solution, there are four driving ropes, which are respectively arranged corresponding to the shaft ends of the rotating shaft.
作为上述方案的进一步改进方式，驱动模块包括伺服电机、丝杠、滑块、螺母与导轨，其中，伺服电机、丝杠、滑块、螺母及导轨的数量与驱动绳数量对应相等，丝杠一端与伺服电机的驱动轴连接，另一端与螺母螺接，滑块固接在螺母上，并可相对导轨滑动，驱动绳的两端分别与对应关节与螺母固接。As a further improvement of the above solution, the drive module includes a servo motor, a lead screw, a slider, a nut and a guide rail, wherein the number of the servo motor, lead screw, slider, nut and guide rail is equal to the number of drive ropes, and one end of the lead screw It is connected with the drive shaft of the servo motor, and the other end is screwed with the nut. The slider is fixedly connected to the nut and can slide relative to the guide rail. The two ends of the drive rope are fixedly connected with the corresponding joints and the nut respectively.
作为上述方案的进一步改进方式，驱动模块包括机架，多个驱动绳以及相应的伺服电机、丝杠、滑块、螺母、导轨并列安装在同一机架上，多个机架上下层叠设置。As a further improvement of the above solution, the drive module includes a rack, multiple drive ropes and corresponding servo motors, lead screws, sliders, nuts, and guide rails are installed side by side on the same rack, and multiple racks are stacked up and down.
作为上述方案的进一步改进方式，机械臂模块包括连接块，连接块上设有两条相互交叉且垂直的转轴安装孔，转轴分别穿设在转轴安装孔内，且一处转轴从另一处转轴中心位置的通孔内穿过，关节的两端均设有铰接座，相邻的关节分别通过二者临近端的铰接座与转轴铰接。As a further improvement of the above solution, the manipulator module includes a connecting block, and the connecting block is provided with two intersecting and vertical shaft mounting holes, and the rotating shafts are respectively installed in the shaft mounting holes, and one rotating shaft is connected to the other rotating shaft. Through the through hole at the central position, hinge seats are provided at both ends of the joints, and adjacent joints are respectively hinged to the rotating shaft through the hinge seats near the two ends.
作为上述方案的进一步改进方式，关节的两端设有布线边，布线边上设有若干线孔。As a further improvement of the above solution, wiring edges are provided at both ends of the joint, and several wire holes are provided on the wiring edges.
作为上述方案的进一步改进方式，包括布线圆盘，其设于驱动模块与机械臂模块之间，沿圆盘的周向均匀分布有若干线孔与软管，其数量与驱动绳的数量对应相等。As a further improvement of the above solution, a wiring disc is included, which is arranged between the drive module and the mechanical arm module, and a number of wire holes and hoses are evenly distributed along the circumference of the disc, the number of which is equal to the number of drive ropes .
本发明的有益效果是：The beneficial effects of the present invention are:
可以对各关节进行独立调节，控制更加精确；还可以极大的减轻关节的重量，从而进一步增加机械臂的承载能力，有利于实现机械臂的高速移动和快速响应；同时，省去了电气线路的排布工作，机械臂上仅由机械结构组成，不易受到恶劣环境的影响，有助于延长使用寿命，便于拆卸、维护和组装。Each joint can be adjusted independently, and the control is more precise; it can also greatly reduce the weight of the joint, thereby further increasing the load-carrying capacity of the mechanical arm, which is conducive to the high-speed movement and quick response of the mechanical arm; at the same time, the electrical circuit is omitted The layout of the robot arm is only composed of mechanical structures, which is not easily affected by harsh environments, helps to extend the service life, and is easy to disassemble, maintain and assemble.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明一个实施例的整体示意图；Fig. 1 is the overall schematic diagram of an embodiment of the present invention;
图2是本发明驱动模块一个实施例的示意图；Fig. 2 is a schematic diagram of an embodiment of the drive module of the present invention;
图3是本发明相邻关节连接的示意图（隐藏驱动绳）；Fig. 3 is a schematic diagram of the connection of adjacent joints of the present invention (hiding the driving rope);
图4是本发明关节连接时固定端与活动端的装配示意图；Fig. 4 is a schematic diagram of the assembly of the fixed end and the movable end when the joint is connected according to the present invention;
图5是本发明关节连接时固定端与活动端的分解示意图；Fig. 5 is an exploded schematic diagram of the fixed end and the movable end when the joint is connected according to the present invention;
图6是本发明布线圆盘的示意图。Fig. 6 is a schematic diagram of the wiring disc of the present invention.
具体实施方式Detailed ways
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述，以充分地理解本发明的目的、方案和效果。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
需要说明的是，如无特殊说明，当某一特征被称为“固定”、“连接”在另一个特征，它可以直接固定、连接在另一个特征上，也可以间接地固定、连接在另一个特征上。此外，本发明中所使用的上、下、左、右等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的。It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, and right used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.
此外，除非另有定义，本文所使用的所有的技术和科学术语与本技术领域的技术人员通常理解的含义相同。本文说明书中所使用的术语只是为了描述具体的实施例，而不是为了限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的组合。Also, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
参照图1，示出了本发明一个实施例的整体示意图，其包括驱动模块1、机械臂模块2与若干驱动绳（未示出），其中机械臂模块2包括多个串联的关节21，相邻的关节21通过设于二者之间相互交叉且垂直的转轴连接，这样关节之间便可以相对发生两个自由度上的转动，通过多个类似关节的组合，机械臂模块便可以在空间上自由弯曲。Referring to FIG. 1 , it shows an overall schematic diagram of an embodiment of the present invention, which includes a drive module 1, a manipulator module 2 and several driving ropes (not shown), wherein the manipulator module 2 includes a plurality of joints 21 connected in series. Adjacent joints 21 are connected by intersecting and perpendicular rotating shafts between them, so that joints can rotate in two degrees of freedom relative to each other. Through the combination of multiple similar joints, the manipulator module can move in space bend freely.
在本实施例中关节优选为10处。In this embodiment, there are preferably 10 joints.
任意关节上固接有至少三处的驱动绳，驱动绳作为动力的传递介质由驱动模块1进行驱动，且任意驱动绳之间的运动都是独立的，这样在同一时间内不同的驱动绳可以分别处于收紧或舒张的状态，从而拉动对应关节朝不同方向偏转。此外，为了保证关节绕两个转轴四个方向上的转动都能受到驱动绳的控制，本发明中对同一关节上驱动绳的固接位置有一定限制，即驱动绳不能集中在某一侧，这样关节才能随驱动绳的拉动而相对临近的关节发生各个方向上的转动。There are at least three driving ropes fixed on any joint. The driving rope is driven by the driving module 1 as the power transmission medium, and the movement between any driving ropes is independent, so that different driving ropes can be used at the same time. They are respectively in the state of tightening or relaxing, thereby pulling the corresponding joints to deflect in different directions. In addition, in order to ensure that the rotation of the joint in four directions around the two rotating shafts can be controlled by the driving rope, the present invention has certain restrictions on the fixed position of the driving rope on the same joint, that is, the driving rope cannot be concentrated on a certain side. In this way, the joints can rotate in all directions relative to the adjacent joints as the driving rope is pulled.
具体的，驱动绳固接于关节的尾端，便于对关节施力。在本发明中，关节尾端与首端的定义如下：沿机械臂的长度方向，靠近驱动模块1的一端为尾端，远离驱动模块1的一端为首端，下同。Specifically, the driving rope is fixedly connected to the tail end of the joint, so as to facilitate applying force to the joint. In the present invention, the definition of the tail end and the head end of the joint is as follows: along the length direction of the mechanical arm, the end close to the drive module 1 is the tail end, and the end far away from the drive module 1 is the head end, the same below.
作为本发明驱动绳的优选实施例，驱动绳为3处，且相邻的驱动绳之间间隔120°设置。以此为例，为满足机械臂各关节的控制，驱动绳的总数应为30根，所述驱动绳在经过第一段关节时，其中3根与第一段关节固接，其余的27根穿过该关节后达到第二段关节处，此时再分出3根驱动绳与第二段关节固接，剩下的驱动绳继续前进，以此类推直至到达最后的一端关节，这样便实现了各端关节的分开控制。As a preferred embodiment of the driving ropes of the present invention, there are three driving ropes, and adjacent driving ropes are arranged at intervals of 120°. Taking this as an example, in order to satisfy the control of each joint of the mechanical arm, the total number of driving ropes should be 30. When the driving ropes pass through the first joint, 3 of them are fixed to the first joint, and the remaining 27 After passing through this joint, it reaches the second joint. At this time, three driving ropes are separated and fixed to the second joint. The remaining driving ropes continue to move forward, and so on until they reach the last joint. separate control of each end joint.
作为驱动绳的另一个实施例，驱动绳为4处，分别对应第一转轴23与第二转轴24的轴端设置，这样每一根驱动绳均对应一个方向的转动，从而使控制更加精确。As another embodiment of the driving rope, there are four driving ropes, respectively corresponding to the shaft ends of the first rotating shaft 23 and the second rotating shaft 24, so that each driving rope corresponds to one direction of rotation, thereby making the control more accurate.
参照图2，示出了本发明驱动模块一个实施例的示意图，包括伺服电机11、丝杠12、滑块13、螺母14与导轨15，其中，伺服电机11、丝杠12、滑块13、螺母14及导轨15的数量与驱动绳数量对应相等，即一处电机对应控制一处驱动绳。具体的，丝杠12一端与伺服电机11的驱动轴通过联轴器连接，另一端与螺母14螺接，滑块13固接在螺母14上，并可相对导轨15滑动，驱动绳3的两端分别与对应关节、螺母固接，这样随着丝杠的转动，螺母14将带动滑块13沿导轨前后移动，进而通过驱动绳拉动关节偏转。Referring to FIG. 2 , a schematic diagram of an embodiment of the drive module of the present invention is shown, including a servo motor 11, a lead screw 12, a slider 13, a nut 14 and a guide rail 15, wherein the servo motor 11, the lead screw 12, the slider 13, The number of nuts 14 and guide rails 15 is correspondingly equal to the number of drive ropes, that is, one motor corresponds to control one drive rope. Specifically, one end of the lead screw 12 is connected to the drive shaft of the servo motor 11 through a coupling, the other end is screwed to the nut 14, the slider 13 is fixed on the nut 14, and can slide relative to the guide rail 15, and the two ends of the drive rope 3 The ends are fixedly connected with corresponding joints and nuts respectively, so that with the rotation of the lead screw, the nut 14 will drive the slider 13 to move back and forth along the guide rail, and then pull the joints to deflect by the driving rope.
优选的，驱动模块1包括机架16，伺服电机11固定在机架16的首端，丝杠12通过丝杠安装座17与机架16固接，导轨15沿机架16的长度方向固定。同一机架上并列安装有多个驱动绳以及相应的伺服电机、丝杠、滑块、螺母与导轨，多个机架上下层叠以组成上述的驱动模块，便于驱动模块安装与管理。Preferably, the drive module 1 includes a frame 16 , the servo motor 11 is fixed on the head end of the frame 16 , the lead screw 12 is affixed to the frame 16 through a screw mounting seat 17 , and the guide rail 15 is fixed along the length direction of the frame 16 . Multiple driving ropes and corresponding servo motors, lead screws, sliders, nuts and guide rails are installed side by side on the same rack, and multiple racks are stacked up and down to form the above-mentioned drive module, which is convenient for installation and management of the drive module.
参照图3至图5，示出了机械臂模块的相关示意图，以任意相邻关节为例，关节间的转动主要发生在前一关节（即靠近于驱动模块的关节）的首端与后一关节（即远离驱动模块的关节）的尾端之间，而前一关节的首端在转动过程中相对处于静止状态，转动主要由后一关节的尾端完成，为了便于描述，故将前一关节的首端称之为固定端21，后一关节的尾端称之为活动端22，二者之间的转轴分别称之为第一转轴23与第二转轴24，其中第一转轴23与第二转轴24作为关节实现转动的关键元件，在本发明中采用十字交叉的结构，活动端22可分别绕第一转轴23、第二转轴24相对固定端21灵活转动，可以理解的是，十字交叉式的转轴连接结构为本发明的一种实施方式，活动端22也可以采用任何其他公知的技术以实现两个自由度上的转动。Referring to Fig. 3 to Fig. 5, the related schematic diagrams of the manipulator module are shown. Taking any adjacent joint as an example, the rotation between the joints mainly occurs between the head end of the previous joint (that is, the joint close to the drive module) and the next joint. between the tail ends of joints (that is, the joints away from the drive module), while the head end of the former joint is in a relatively static state during the rotation process, and the rotation is mainly completed by the tail end of the latter joint. For the convenience of description, the former joint The first end of the joint is called the fixed end 21, the tail end of the latter joint is called the movable end 22, and the rotating shafts between the two are respectively called the first rotating shaft 23 and the second rotating shaft 24, wherein the first rotating shaft 23 and the second rotating shaft The second rotating shaft 24 is used as the key element for the joint to realize the rotation. In the present invention, a cross structure is adopted. The movable end 22 can rotate flexibly around the first rotating shaft 23 and the second rotating shaft 24 respectively relative to the fixed end 21. It can be understood that the cross The intersecting shaft connection structure is an embodiment of the present invention, and the movable end 22 may also adopt any other known technology to realize the rotation in two degrees of freedom.
本发明为实现活动端与固定端之间的连接，还设有连接块25，连接块25优选为一正方体，其上设有两条相互交叉且垂直的转轴安装孔，活动端22与固定端21上对应设有铰接座。第一转轴23在穿过其中一条转轴安装孔后与固定端21上的铰接座铰接，这样连接块25便能绕第一转轴23相对固定端21转动，第一转轴23中心位置设有通孔，第二转轴24在穿过另一条转轴安装孔与第一转轴23上的通孔后与活动端上的铰接座铰接，这样活动端22便能绕第二转轴24相对连接块25转动，并能与连接块25一体的相对固定端21转动，以实现关节在两个自由度上的转动，同时还能限制第一转轴沿转轴安装孔的移动，若干关节通过上述的方式串联，便能形成可以自由弯曲的机械臂。In order to realize the connection between the movable end and the fixed end, the present invention is also provided with a connecting block 25. The connecting block 25 is preferably a cube, on which two intersecting and vertical rotating shaft mounting holes are arranged. The movable end 22 and the fixed end Correspondingly be provided with hinge seat on 21. The first rotating shaft 23 is hinged with the hinge seat on the fixed end 21 after passing through one of the rotating shaft mounting holes, so that the connecting block 25 can rotate around the first rotating shaft 23 relative to the fixed end 21, and the center position of the first rotating shaft 23 is provided with a through hole , the second rotating shaft 24 is hinged with the hinge seat on the movable end after passing through another rotating shaft mounting hole and the through hole on the first rotating shaft 23, so that the movable end 22 can rotate relative to the connecting block 25 around the second rotating shaft 24, and The relative fixed end 21 that can be integrated with the connecting block 25 can rotate to realize the rotation of the joint in two degrees of freedom, and at the same time, it can also limit the movement of the first rotating shaft along the mounting hole of the rotating shaft. Several joints can be connected in series in the above-mentioned way to form a joint. A robotic arm that can bend freely.
进一步的，第二转轴24包括一螺钉241，螺钉241的一端螺接有防松螺母242，螺钉241与相应转轴安装孔之间设有轴套243。Further, the second rotating shaft 24 includes a screw 241 , one end of the screw 241 is screwed with a lock nut 242 , and a bushing 243 is provided between the screw 241 and the corresponding mounting hole of the rotating shaft.
优选的，为了实现驱动绳的有序排布，便于后续维护，固定端21与活动端22的周边设有布线边26，布线边26上沿其周向均匀分布有若干线孔261，驱动绳3穿过固定端21上的线孔后固接在活动端22上对应的线孔内，这样驱动绳彼此分离，可以有效的避免绳索间的缠绕。Preferably, in order to realize the orderly arrangement of the driving ropes and to facilitate subsequent maintenance, a wiring edge 26 is provided around the fixed end 21 and the movable end 22, and several wire holes 261 are evenly distributed along the circumference of the wiring edge 26, and the driving ropes 3 After passing through the wire hole on the fixed end 21, it is fixed in the corresponding wire hole on the movable end 22, so that the driving ropes are separated from each other, which can effectively avoid the entanglement between the ropes.
在本发明中，关节的固定端保持相对静止，活动端相对于固定端具有两个方向的自由度，其在这两个自由度上不同的转动角度分别对应着驱动绳不同的长度，因此，可以通过逆解计算所需要的关节角度对应的绳索长度变化量，将其赋给驱动模块，便可以实现单关节两个自由度的运动规划功能。In the present invention, the fixed end of the joint remains relatively stationary, and the movable end has degrees of freedom in two directions relative to the fixed end, and its different rotation angles on these two degrees of freedom correspond to different lengths of the driving rope respectively. Therefore, The change in rope length corresponding to the required joint angle can be calculated through the inverse solution, and assigned to the drive module, so that the motion planning function of two degrees of freedom of a single joint can be realized.
参照图6，当机械臂的关节较多时，驱动绳的数量会变得极为庞大，为了防止绳索之间出现缠绕，在驱动模块1与机械臂模块2之间还设有布线圆盘4，布线圆盘4上沿其周向均匀分布有若干线孔41与软管42，其数量与驱动绳3的数量对应相等，从驱动模块引出的驱动绳首先由软管42引导至各自的线孔41内，再分别与对应关节连接，从而使绳索有序的排布，便于管理。Referring to Figure 6, when there are many joints of the mechanical arm, the number of driving ropes will become extremely large. In order to prevent winding between the ropes, there is also a wiring disc 4 between the driving module 1 and the mechanical arm module 2, and the wiring There are several wire holes 41 and hoses 42 evenly distributed along its circumference on the disk 4, the number of which is equal to the number of driving ropes 3, and the driving ropes drawn from the driving module are first guided to the respective wire holes 41 by the hoses 42 Inside, and then respectively connected with the corresponding joints, so that the orderly arrangement of the ropes, easy to manage.
以上是对本发明的较佳实施进行了具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the described embodiments, those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention , these equivalent modifications or replacements are all within the scope defined by the claims of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510631030.7ACN105150219B (en) | 2015-09-28 | 2015-09-28 | A kind of super redundancy flexible mechanical arm driven based on rope |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510631030.7ACN105150219B (en) | 2015-09-28 | 2015-09-28 | A kind of super redundancy flexible mechanical arm driven based on rope |
| Publication Number | Publication Date |
|---|---|
| CN105150219Atrue CN105150219A (en) | 2015-12-16 |
| CN105150219B CN105150219B (en) | 2017-06-23 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510631030.7AActiveCN105150219B (en) | 2015-09-28 | 2015-09-28 | A kind of super redundancy flexible mechanical arm driven based on rope |
| Country | Link |
|---|---|
| CN (1) | CN105150219B (en) |
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