WO2016032980A1 - Concave bearing outer race for robotic joints - Google Patents

Concave bearing outer race for robotic joints Download PDF

Info

Publication number
WO2016032980A1
WO2016032980A1 PCT/US2015/046606 US2015046606W WO2016032980A1 WO 2016032980 A1 WO2016032980 A1 WO 2016032980A1 US 2015046606 W US2015046606 W US 2015046606W WO 2016032980 A1 WO2016032980 A1 WO 2016032980A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
bearing
outer race
tendon
concave outer
Prior art date
Application number
PCT/US2015/046606
Other languages
French (fr)
Inventor
Paul Ekas
Original Assignee
Paul Ekas
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Paul Ekas filed Critical Paul Ekas
Publication of WO2016032980A1 publication Critical patent/WO2016032980A1/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/19Drive system for arm
    • Y10S901/21Flaccid drive element

Definitions

  • the present invention relates in general to mechanical manipulators and appendages for use in robotics applications.
  • the mechanical manipulator of an industrial robot is made up of a sequence of link and joint combinations.
  • the links are the rigid members connecting the joints.
  • the joints also called axis
  • the joints are the movable components of the robot that enable relative motion between adjacent links.
  • One method of providing force for rotating a link around a joint in robots is to utilize artificial tendons that provide tension between a remote actuator and a link. These tendon-based structures are often found in robotic grippers where the links and joints make up the fingers, palm and wrist of the robotic grippers.
  • These tendons need to be routed through the links and joints to the remotely located actuators.
  • the tendons move in the links and joints when the mechanical manipulators are moving.
  • the tendons must move through the links and joints and must change direction at various points between where they are anchored in the links or joints and their anchor at the actuator.
  • the most advanced method to align the tendon onto the bearing race is to have ceramic or metal guides where the tendon both leaves and enters the links that are spanned by the joint. These guides provide an inherent alignment of the tendon onto the center of the outer bearing race. However, the narrow channel between the supporting structure holding the bearing in the joint may be narrower than the alignment tolerance provided by the tendon guides.
  • the outer race of the bearing is concave to create a self-centering force on the tendon when it is passing over the outer race of the bearing.
  • standard bearings are available with flat, concave and v-groove outer races.
  • specially shaped tracks on the outer races can be optimized for improving the alignment of the tendon and separation of the tendon from the bearing supporting structure.
  • FIG. 1 through FIG. 4 are drawings that present end views of exemplary bearings suitable for use in a tendon based robotic finger in accordance with the present invention.
  • FIG. 5 is an isometric view of a robotic finger assembly having two links, and shows tendons passing over the center lines of three joints in the assembly.
  • FIG. 6 is a drawing showing a cutaway side view of the links showing the tendon passing over the outer race of one of the joint bearings to illustrate the path a tendon takes at a joint as it slides over the outer race of a bearing.
  • FIG. 7 shows a standard ball bearing and a variety of concave bearing shapes.
  • FIG. 1 a series of drawings present end views of exemplary bearings suitable for use in a tendon based robotic finger in accordance with the present invention.
  • FIG. 1 is a drawing showing an end view of a bearing 10 having a curved concave outer race 12.
  • FIG. 2 is a drawing showing an end view of a bearing 20 having an outer race with a v-shaped indentation 22 disposed between opposing shoulders 24.
  • FIG. 3 is a drawing showing an end view of a bearing 30 having a concave outer race 32 disposed between opposing shoulders 34.
  • FIG. 4 is a drawing showing an end view of a bearing 40 having a concave outer race 42 terminating in end walls 44 that extend outward from the outer race at the inner edges of shoulders 46.
  • an isometric view shows a robotic finger assembly 50 including link 52 coupled to link 54 by joint 56.
  • the link 54 of the robotic finger assembly 50 is coupled to a flat end link 58 at a second joint 60.
  • a third joint 62 is shown for coupling link 52 to another link or to a gripper base (not shown).
  • a first tendon 64 is shown passing over the centerlines of the joints 56, 60, and 62 on the outer races of bearing 66 in joint 60, bearing 68 in joint 56, and bearing 70 in joint 62.
  • a second tendon 72 is shown passing over the centerlines of the joints 56, and 62 on the outer races of bearing 68 in joint 56, and bearing 70 in joint 62.
  • a third tendon 74 is shown passing over the centerline of the joint 62 on the outer race of bearing 70 in joint 62.
  • the tendons 64, 72, and 74 will eventually terminate in actuators (not shown) that will operate to move the various links to which the tendons are coupled as is known in the art.
  • Bearings 66, 68, and 70 are of the types shown in FIGS. 1 through 4, in order to maintain the tendons in positions centered over the ones of joints 56, 60 and 62 through which they pass.
  • FIG. 6 a drawing shows a cutaway side view of the links 52 and 54 and shows the tendon 64 passing over the outer race of the joint bearing 68.
  • tendon 64 is shown passing through a plurality of cable guides 76.
  • Other cable guides 78 are provided for another tendon (not shown). Because of the relative angles of links 52 and 54, the tendon 64 is engaged by the outer race of bearing 68 on the left-hand side of FIG. 6, whereas the tendon 64 is shown as not being engaged in the outer races of bearings 66 and 70.
  • a top view of the link 54 shows how the tendon 64 passes through cable guides in the form of ceramic eyelets 76 over the top of the concave race of bearing 68.
  • the support structure 80 for the bearing 68 is made out of plastic or other material and it is desired not to have the tendon 64 rub against the support structure 80 to minimize wear and resistance.
  • the axle 82 for the joint at the right hand side of FIG. 7 is shown without its bearing mounted.
  • the benefit of this invention is that it provides robust centering alignment of the tendon over the bearing race which provides reduced wear and friction between the tendon and the adjacent structure holding the bearing in place. Also by centering the tendon, it minimizes twists and torques on the manipulator link structure caused by misaligned tendons.

Abstract

A robotic manipulator includes an actuator, a first link and a second link coupled together at a joint, and a bearing rotatably disposed in the joint and having a concave outer race. At least one tendon is coupled between the actuator and the second link, the at least one tendon passes between the first link and the second link, and is routed over the concave outer race of the bearing when passing between the first link and the second link.

Description

CONCAVE BEARING OUTER RACE FOR ROBOTIC JOINTS
[0001] This international patent application claims the benefit of United States Provisional Patent Application No. 62/041,332 for "Cable Guide System for Robotic Mechanical Manipulator Structure," filed August 25, 2014; Provisional Patent Application No. 62/087,664 for "Tendon Configuration for Under-Actuated Robotic Manipulator With Progressive Wrapping Links," filed December 4, 2014; Provisional Patent Application No. 62/165,080 for "Tendon Configuration for Under-Actuated Robotic Manipulator With Progressive Wrapping Links," filed May 21, 2015; and Provisional Patent Application No. 62/165,074 for "Apparatus and Method for Attaching Apparatus to Robotic Fingers," filed May 21, 2015 the contents of all of which are incorporated in this disclosure by reference in their entirety.
BACKGROUND
Field of the invention
[0002] The present invention relates in general to mechanical manipulators and appendages for use in robotics applications.
The Prior Art
[0003] The mechanical manipulator of an industrial robot is made up of a sequence of link and joint combinations. The links are the rigid members connecting the joints. The joints (also called axis) are the movable components of the robot that enable relative motion between adjacent links.
[0004] One method of providing force for rotating a link around a joint in robots is to utilize artificial tendons that provide tension between a remote actuator and a link. These tendon-based structures are often found in robotic grippers where the links and joints make up the fingers, palm and wrist of the robotic grippers.
[0005] These tendons need to be routed through the links and joints to the remotely located actuators. The tendons move in the links and joints when the mechanical manipulators are moving. The tendons must move through the links and joints and must change direction at various points between where they are anchored in the links or joints and their anchor at the actuator.
[0006] There are many variations of how the cables can be routed through the joints of a manipulator. Some designs route the tendons over the outer race of the bearings used in the joints. In these designs, it is important to keep the tendon centered on the smooth, low friction race rather than have the tendon rub against the physical structure enclosing the bearing which may be more abrasive to the tendon or susceptible to wear from the tendon. In addition, it is often better to keep the tendon centered on the joint to minimize twist on the fingers.
[0007] The most advanced method to align the tendon onto the bearing race is to have ceramic or metal guides where the tendon both leaves and enters the links that are spanned by the joint. These guides provide an inherent alignment of the tendon onto the center of the outer bearing race. However, the narrow channel between the supporting structure holding the bearing in the joint may be narrower than the alignment tolerance provided by the tendon guides.
SUMMARY
[0008] According to a first aspect of the invention, in robotic manipulators that use tendons to move the links where the tendons are routed through the outer race of a bearing when passing between two links in the robot, the outer race of the bearing is concave to create a self-centering force on the tendon when it is passing over the outer race of the bearing.
[0009] According to a second aspect of the invention, standard bearings are available with flat, concave and v-groove outer races. Depending on the particular application, specially shaped tracks on the outer races can be optimized for improving the alignment of the tendon and separation of the tendon from the bearing supporting structure.
BRIEF DESCRIPTION OF THE DRAWING FIGURES [0010] FIG. 1 through FIG. 4 are drawings that present end views of exemplary bearings suitable for use in a tendon based robotic finger in accordance with the present invention.
[0011] FIG. 5 is an isometric view of a robotic finger assembly having two links, and shows tendons passing over the center lines of three joints in the assembly. [0012] FIG. 6 is a drawing showing a cutaway side view of the links showing the tendon passing over the outer race of one of the joint bearings to illustrate the path a tendon takes at a joint as it slides over the outer race of a bearing.
[0013] FIG. 7 shows a standard ball bearing and a variety of concave bearing shapes.
DETAILED DESCRIPTION
[0014] Persons of ordinary skill in the art will realize that the following description of the present invention is illustrative only and not in any way limiting. Other embodiments of the invention will readily suggest themselves to such skilled persons.
[0015] Referring first to FIG. 1, FIG. 1 a series of drawings present end views of exemplary bearings suitable for use in a tendon based robotic finger in accordance with the present invention. FIG. 1 is a drawing showing an end view of a bearing 10 having a curved concave outer race 12. FIG. 2 is a drawing showing an end view of a bearing 20 having an outer race with a v-shaped indentation 22 disposed between opposing shoulders 24. FIG. 3 is a drawing showing an end view of a bearing 30 having a concave outer race 32 disposed between opposing shoulders 34. FIG. 4 is a drawing showing an end view of a bearing 40 having a concave outer race 42 terminating in end walls 44 that extend outward from the outer race at the inner edges of shoulders 46.
[0016] Referring now to FIG. 5, an isometric view shows a robotic finger assembly 50 including link 52 coupled to link 54 by joint 56. The link 54 of the robotic finger assembly 50 is coupled to a flat end link 58 at a second joint 60. A third joint 62 is shown for coupling link 52 to another link or to a gripper base (not shown). A first tendon 64 is shown passing over the centerlines of the joints 56, 60, and 62 on the outer races of bearing 66 in joint 60, bearing 68 in joint 56, and bearing 70 in joint 62. A second tendon 72 is shown passing over the centerlines of the joints 56, and 62 on the outer races of bearing 68 in joint 56, and bearing 70 in joint 62. A third tendon 74 is shown passing over the centerline of the joint 62 on the outer race of bearing 70 in joint 62. The tendons 64, 72, and 74 will eventually terminate in actuators (not shown) that will operate to move the various links to which the tendons are coupled as is known in the art. [0017] Bearings 66, 68, and 70 are of the types shown in FIGS. 1 through 4, in order to maintain the tendons in positions centered over the ones of joints 56, 60 and 62 through which they pass. By maintaining the tendons 64, 72, and 74 aligned at the centers of bearings 66, 68, and 70 in their joints 56, 60 and 62, there is reduced wear and friction between the tendons 64, 72, and 74 and the adjacent structures in the joints 56, 60, and 62 that hold the bearings 66, 68, and 70 in place. Also by centering the tendons 64, 72, and 74, twists and torques are minimized on the robotic finger assembly caused by misaligned tendons.
[0018] Referring now to FIG. 6, a drawing shows a cutaway side view of the links 52 and 54 and shows the tendon 64 passing over the outer race of the joint bearing 68. As can be seen from FIG. 6, tendon 64 is shown passing through a plurality of cable guides 76. Other cable guides 78 are provided for another tendon (not shown). Because of the relative angles of links 52 and 54, the tendon 64 is engaged by the outer race of bearing 68 on the left-hand side of FIG. 6, whereas the tendon 64 is shown as not being engaged in the outer races of bearings 66 and 70.
[0019] Referring now to FIG. 7, a top view of the link 54 shows how the tendon 64 passes through cable guides in the form of ceramic eyelets 76 over the top of the concave race of bearing 68. According to an illustrative embodiment of the present invention, the support structure 80 for the bearing 68 is made out of plastic or other material and it is desired not to have the tendon 64 rub against the support structure 80 to minimize wear and resistance. The axle 82 for the joint at the right hand side of FIG. 7 is shown without its bearing mounted.
[0020] The benefit of this invention is that it provides robust centering alignment of the tendon over the bearing race which provides reduced wear and friction between the tendon and the adjacent structure holding the bearing in place. Also by centering the tendon, it minimizes twists and torques on the manipulator link structure caused by misaligned tendons.
[0021] Although the invention has been described in detail by illustrative embodiments, it is to be understood that such detail is solely for that purpose and that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover modifications and equivalent arrangements. For example, it is to be understood that the present invention contemplates that, to the extent possible, one or more features of any embodiment can be combined with one or more features of any other embodiment.

Claims

What is claimed is:
1. A robotic manipulator comprising:
an actuator;
a first link and a second link coupled together at a joint;
a bearing rotatably disposed in the joint and having a concave outer race;
at least one tendon coupled between the actuator and the second link, the at least one tendon passing between the first link and the second link, the at least one tendon engaged by the concave outer race of the bearing when passing between the first link and the second link.
2. The robotic manipulator of claim 1 wherein the concave outer race of the bearing has a curved cross section.
3. The robotic manipulator of claim 1 wherein the concave outer race of the bearing has a v-shaped cross section.
4. The robotic manipulator of claim 1 wherein the concave outer race of the bearing has a curved cross section bounded by opposing shoulders.
5. The robotic manipulator of claim 1 wherein the concave outer race of the bearing has a curved cross section terminating in end walls that extend outward from the outer race at the inner edges of opposing shoulders.
6. The robotic manipulator comprising:
an actuator;
a gripper base;
a first link coupled to the gripper base at a first joint;
a first bearing rotatably disposed in the first joint and having a concave outer race; a second link coupled to the first link at a second joint;
a second bearing rotatably disposed in the second joint and having a concave outer race; a first tendon coupled between the actuator and the first link, the first tendon engaged by the concave outer race of the first bearing when passing between the gripper base and the first link; and
a second tendon coupled between the actuator and the second link, the second tendon engaged by the concave outer race of the first bearing when passing between the gripper base and the first link, the second tendon engaged by the concave outer race of the second bearing when passing between the first link and the second link.
7. The robotic manipulator of claim 6 wherein the concave outer race of the bearing has a curved cross section.
8. The robotic manipulator of claim 6 wherein the concave outer race of the bearing has a v-shaped cross section.
9. The robotic manipulator of claim 6 wherein the concave outer race of the bearing has a curved cross section bounded by opposing shoulders.
10. The robotic manipulator of claim 6 wherein the concave outer race of the bearing has a curved cross section terminating in end walls that extend outward from the outer race at the inner edges of opposing shoulders.
PCT/US2015/046606 2014-08-25 2015-08-24 Concave bearing outer race for robotic joints WO2016032980A1 (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US201462041332P 2014-08-25 2014-08-25
US62/041,332 2014-08-25
US201462087664P 2014-12-04 2014-12-04
US62/087,664 2014-12-04
US201562165074P 2015-05-21 2015-05-21
US201562165080P 2015-05-21 2015-05-21
US62/165,074 2015-05-21
US62/165,080 2015-05-21

Publications (1)

Publication Number Publication Date
WO2016032980A1 true WO2016032980A1 (en) 2016-03-03

Family

ID=55347479

Family Applications (5)

Application Number Title Priority Date Filing Date
PCT/US2015/046599 WO2016032978A1 (en) 2014-08-25 2015-08-24 Shock absorbing and self re-aligning robotic fingers
PCT/US2015/046596 WO2016032976A1 (en) 2014-08-25 2015-08-24 Link structure and assembly for manipulator structure
PCT/US2015/046606 WO2016032980A1 (en) 2014-08-25 2015-08-24 Concave bearing outer race for robotic joints
PCT/US2015/046603 WO2016032979A1 (en) 2014-08-25 2015-08-24 Robotic grippers including finger webbing
PCT/US2015/046780 WO2016033101A1 (en) 2014-08-25 2015-08-25 Link structure and assembly for manipulator structure

Family Applications Before (2)

Application Number Title Priority Date Filing Date
PCT/US2015/046599 WO2016032978A1 (en) 2014-08-25 2015-08-24 Shock absorbing and self re-aligning robotic fingers
PCT/US2015/046596 WO2016032976A1 (en) 2014-08-25 2015-08-24 Link structure and assembly for manipulator structure

Family Applications After (2)

Application Number Title Priority Date Filing Date
PCT/US2015/046603 WO2016032979A1 (en) 2014-08-25 2015-08-24 Robotic grippers including finger webbing
PCT/US2015/046780 WO2016033101A1 (en) 2014-08-25 2015-08-25 Link structure and assembly for manipulator structure

Country Status (6)

Country Link
US (4) US9469027B2 (en)
JP (3) JP6647286B2 (en)
KR (2) KR102004623B1 (en)
CN (2) CN106573382B (en)
DE (2) DE112015003875B4 (en)
WO (5) WO2016032978A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108583713A (en) * 2018-05-02 2018-09-28 北京林业大学 A kind of bionic type standing tree climbing robot and its application method

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6647286B2 (en) * 2014-08-25 2020-02-14 ポール・エカス Shock absorbing and self-realigning robot mechanism
US10046461B2 (en) * 2014-08-25 2018-08-14 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
US9914214B1 (en) * 2016-02-22 2018-03-13 X Development Llc Preshaping for underactuated fingers
CN105773607B (en) * 2016-03-17 2017-12-29 清华大学 Surface two dimension movable machine finger cell arrangement
CN105881565B (en) * 2016-05-23 2018-02-02 清华大学 The flat folder adaptive robot finger apparatus of double leval jib
CN105881571B (en) * 2016-05-27 2018-01-23 燕山大学 Flexible couplings list drives human-imitated finger
CN106113024B (en) * 2016-06-30 2018-12-14 北京空间飞行器总体设计部 A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to and control method
CN106113071A (en) * 2016-08-08 2016-11-16 清华大学 Motor is put five gear coupling adaptive robot finger apparatus
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
CN106363664B (en) * 2016-11-03 2018-10-23 清华大学深圳研究生院 A kind of power plant of mechanical arm
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
CN106863271B (en) * 2017-03-06 2019-06-25 温州泓呈祥科技有限公司 A kind of robot arm based on optical signal control
US11019862B1 (en) 2017-04-06 2021-06-01 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Grasp assist system with triple Brummel soft anchor
CN107097243B (en) * 2017-05-10 2019-09-24 泰州市晨虹数控设备制造有限公司 A kind of robot based on gimbal suspension
JP6545768B2 (en) * 2017-10-02 2019-07-17 スキューズ株式会社 Finger mechanism, robot hand and control method of robot hand
CN107553511A (en) * 2017-10-09 2018-01-09 联想(北京)有限公司 mechanical hand
CN107838941A (en) * 2017-10-13 2018-03-27 江苏捷帝机器人股份有限公司 A kind of multidirectional fixed bit active machine person joint's casting
CN107825449A (en) * 2017-11-30 2018-03-23 南京邮电大学 Tendon is driving singly to refer to Dextrous Hand and its control system and control method
US10759062B2 (en) 2017-12-08 2020-09-01 Dishcraft Robotics, Inc. Article of dishware gripping systems
US10759063B1 (en) * 2017-12-15 2020-09-01 X Development Llc Reusable mechanically fused dovetail retainer mechanisms
JP6629826B2 (en) 2017-12-25 2020-01-15 ファナック株式会社 Robot and its striatum processing structure
US11000948B2 (en) * 2018-05-29 2021-05-11 General Electric Company Robotic arm assembly
US11305420B2 (en) * 2018-05-31 2022-04-19 Virginia Tech Intellectual Properties, Inc. Articulated multi-link robotic tail systems and methods
US11433557B2 (en) * 2018-08-28 2022-09-06 Divergent Technologies, Inc. Buffer block apparatuses and supporting apparatuses
IL282595B (en) * 2018-10-25 2022-08-01 Wink Robotics Detachable end effectors for cosmetics robotics
CN109278061B (en) * 2018-10-31 2020-09-29 深圳市优必选科技有限公司 Robot and finger transmission structure thereof
CN109202937B (en) * 2018-11-19 2020-07-14 河北科技大学 Modular multi-joint line control robot
WO2020106134A1 (en) * 2018-11-23 2020-05-28 Hernando Ortega Carrillo Robotic limb, link of a robot limb and method for supporting a robotic limb, with adjustable anthropomorphic movement
JP7066875B2 (en) * 2018-11-30 2022-05-13 オリンパス株式会社 Gripping mechanism
CN109909988B (en) * 2019-01-29 2021-01-19 西安交通大学 Multistable rigidity-variable robot structure
WO2020156414A1 (en) * 2019-01-31 2020-08-06 The University Of Hong Kong A compact dental robotic system
DE102019201628B4 (en) * 2019-02-08 2022-02-17 Kuka Deutschland Gmbh robot structure element
WO2020235707A1 (en) * 2019-05-21 2020-11-26 엘지전자 주식회사 Action robot
WO2020235705A1 (en) * 2019-05-21 2020-11-26 엘지전자 주식회사 Action robot
WO2020235706A1 (en) * 2019-05-21 2020-11-26 엘지전자 주식회사 Action robot
CN110271020B (en) * 2019-05-29 2021-04-27 浙江大学 Bionic mechanical kinematics optimization method
KR102220191B1 (en) * 2019-08-01 2021-02-25 엘지전자 주식회사 Hand of robot and control method of the same
CN111113416A (en) * 2019-12-19 2020-05-08 郑州宇恒环保技术有限公司 Machine vision-based bearing online detection system
KR102279668B1 (en) * 2020-07-17 2021-07-20 재단법인 대구경북첨단의료산업진흥재단 Wire driving part for joints of robot
US11890071B2 (en) 2020-08-31 2024-02-06 John A Cordasco Robotic systems, devices and methods for performing dental procedures on patients
CN112809719A (en) * 2021-02-02 2021-05-18 珞石(北京)科技有限公司 Flexible underactuated dexterous manipulator based on linear transmission and modular fingers
CN114193503B (en) * 2021-12-30 2024-01-23 山东大学 Manipulator finger joint and underactuated manipulator
DE102022124068A1 (en) 2022-09-20 2024-03-21 Festo Se & Co. Kg Robot fingers for a robot hand

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5570920A (en) * 1994-02-16 1996-11-05 Northeastern University Robot arm end effector
JP2005351476A (en) * 2004-05-10 2005-12-22 Gates Unitta Asia Co Slide ring for pulley
US20060131908A1 (en) * 2004-11-01 2006-06-22 Sharp Kabushiki Kaisha Joint drive mechanism and robot hand
US20060142102A1 (en) * 2004-12-23 2006-06-29 Mijo Radocaj Pulley assembly
US20100061835A1 (en) * 2008-09-11 2010-03-11 Samsung Electronics Co., Ltd. Robot hand and humanoid robot having the same

Family Cites Families (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1297313B (en) * 1964-11-13 1969-06-12 Gressbach Arthur Self-gripping load carrying device
US3954194A (en) * 1974-10-15 1976-05-04 Caterpillar Tractor Co. Material grasping apparatus
US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
JPS59219182A (en) 1983-05-26 1984-12-10 有限会社友信開発 Joint robot
DE3565951D1 (en) * 1984-03-21 1988-12-08 Secr Defence Brit An enveloping gripper
US4804220A (en) * 1986-01-21 1989-02-14 Rosheim Mark E Wrist tendon actuator
US4865376A (en) * 1987-09-25 1989-09-12 Leaver Scott O Mechanical fingers for dexterity and grasping
US4860864A (en) 1987-11-16 1989-08-29 General Motors Corporation Clutch for robot or like
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
JPH05253171A (en) * 1992-03-12 1993-10-05 Olympus Optical Co Ltd Multi-degree-of-freedom flexible pipe
JPH06114000A (en) * 1992-09-30 1994-04-26 Olympus Optical Co Ltd Medical manipulator
JPH09254078A (en) 1996-03-25 1997-09-30 Toshiba Corp Robot arm device
US6247738B1 (en) * 1998-01-20 2001-06-19 Daum Gmbh Robot hand
US5984394A (en) * 1998-06-26 1999-11-16 Bergeron; Raymond E. Power bucket
GB0020461D0 (en) 2000-08-18 2000-10-11 Oliver Crispin Consulting Ltd Improvements in and relating to the robotic positioning of a work tool to a sensor
KR100778299B1 (en) 2001-01-23 2007-11-22 혼다 기켄 고교 가부시키가이샤 Multi-finger hand device
WO2003013783A1 (en) 2001-08-09 2003-02-20 Pemstar, Inc. Magnetically attached robotic breakaway
WO2004000508A1 (en) * 2002-06-24 2003-12-31 Matsushita Electric Industrial Co., Ltd. Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism
JP4114568B2 (en) * 2003-08-18 2008-07-09 沖電気工業株式会社 Articulated device
US9261172B2 (en) * 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms
JP2006159320A (en) * 2004-12-03 2006-06-22 Sharp Corp Robot hand
DE102005061265A1 (en) 2005-12-20 2007-06-21 Otto Bock Healthcare Ip Gmbh & Co. Kg Prosthesis for replacement of finger, comprises recesses for accommodation of soft material
US20080000317A1 (en) * 2006-05-31 2008-01-03 Northwestern University Cable driven joint actuator and method
US8016509B2 (en) * 2007-05-04 2011-09-13 Zhong Gao Robotic joint
JP2009056558A (en) * 2007-08-31 2009-03-19 Toshiba Corp Manipulator
US8402860B2 (en) 2007-10-10 2013-03-26 Panasonic Corporation Structure, manipulator and structure control system
JP4739386B2 (en) * 2007-10-10 2011-08-03 パナソニック株式会社 Structure, manipulator and structure control system
JP5128904B2 (en) * 2007-10-31 2013-01-23 株式会社東芝 manipulator
WO2009080373A1 (en) 2007-12-20 2009-07-02 Abb Research Ltd Industrial robot with magnetic safety coupling
JP2010110846A (en) 2008-11-05 2010-05-20 Panasonic Corp Robot hand and control device used for the same
CN101444918B (en) * 2008-12-26 2010-09-29 清华大学 Under-actuated bionic finger device with function of pre-bending grasping
JP2010214474A (en) * 2009-03-13 2010-09-30 Panasonic Corp Manipulator
KR101117253B1 (en) 2009-06-25 2012-03-15 고려대학교 산학협력단 Robot Arm
US8562049B2 (en) 2009-09-22 2013-10-22 GM Global Technology Operations LLC Robotic finger assembly
EP2480173B1 (en) 2009-09-22 2016-11-23 Memic Innovative Surgery Ltd. Mechanical finger
US8424941B2 (en) * 2009-09-22 2013-04-23 GM Global Technology Operations LLC Robotic thumb assembly
CN102029609B (en) * 2009-09-30 2012-09-19 鸿富锦精密工业(深圳)有限公司 Mechanical hand
AU2010200035A1 (en) * 2010-01-06 2011-07-21 Artisans of Florence PTY LTD Reciprocating Mechanism
KR101706094B1 (en) * 2010-01-14 2017-02-14 삼성전자주식회사 Robot joint driving apparatus and robot having the same, cable linking method of robot joint driving apparatus
EP2551071A4 (en) 2010-03-24 2015-05-06 Yaskawa Denki Seisakusho Kk Robot hand and robot device
JP5545052B2 (en) * 2010-06-10 2014-07-09 セイコーエプソン株式会社 Electric actuator
CN102310405A (en) * 2010-07-05 2012-01-11 扬州大学 Angle amplification parallel mechanism
JP2012110971A (en) * 2010-11-19 2012-06-14 Yaskawa Electric Corp Robot
US8578810B2 (en) * 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
KR101186806B1 (en) 2011-03-16 2012-09-28 주식회사 이턴 Active universal joint apparatus with multi-degree of freedom
US8833826B2 (en) * 2011-03-21 2014-09-16 Sri International Mobile robotic manipulator system
JP5804310B2 (en) * 2011-05-24 2015-11-04 学校法人東京理科大学 Upper arm holding device and upper arm assist device
JP2013123785A (en) * 2011-12-16 2013-06-24 Seiko Epson Corp Robot hand and robot
KR101357139B1 (en) * 2012-03-30 2014-02-12 한국과학기술원 Miniature Robot Hand
KR102023906B1 (en) * 2012-05-25 2019-09-24 삼성전자주식회사 Arm unit and robot having the same
KR101369515B1 (en) * 2012-08-08 2014-03-06 서울대학교산학협력단 Variable Stiffness Structure
CN102862160A (en) * 2012-10-04 2013-01-09 南京大五教育科技有限公司 Bionic manipulator based on drive of electromagnetic muscles and tendons
US8833827B2 (en) 2012-10-09 2014-09-16 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
KR101427322B1 (en) 2013-01-31 2014-08-06 한국과학기술원 Joint device
JP6647286B2 (en) * 2014-08-25 2020-02-14 ポール・エカス Shock absorbing and self-realigning robot mechanism
US10046461B2 (en) * 2014-08-25 2018-08-14 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5570920A (en) * 1994-02-16 1996-11-05 Northeastern University Robot arm end effector
JP2005351476A (en) * 2004-05-10 2005-12-22 Gates Unitta Asia Co Slide ring for pulley
US20060131908A1 (en) * 2004-11-01 2006-06-22 Sharp Kabushiki Kaisha Joint drive mechanism and robot hand
US20060142102A1 (en) * 2004-12-23 2006-06-29 Mijo Radocaj Pulley assembly
US20100061835A1 (en) * 2008-09-11 2010-03-11 Samsung Electronics Co., Ltd. Robot hand and humanoid robot having the same

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108583713A (en) * 2018-05-02 2018-09-28 北京林业大学 A kind of bionic type standing tree climbing robot and its application method
CN108583713B (en) * 2018-05-02 2019-09-13 北京林业大学 A kind of bionic type standing tree climbing robot and its application method

Also Published As

Publication number Publication date
JP6571170B2 (en) 2019-09-04
US9446513B2 (en) 2016-09-20
JP2020011378A (en) 2020-01-23
KR102004623B1 (en) 2019-07-26
WO2016032978A1 (en) 2016-03-03
US20160052149A1 (en) 2016-02-25
DE112015003877T5 (en) 2017-05-11
US20160052130A1 (en) 2016-02-25
KR20170047238A (en) 2017-05-04
US20160052143A1 (en) 2016-02-25
CN106573382A (en) 2017-04-19
DE112015003875B4 (en) 2022-06-23
WO2016032979A1 (en) 2016-03-03
JP7007343B2 (en) 2022-01-24
JP6647286B2 (en) 2020-02-14
JP2017525578A (en) 2017-09-07
CN106573374A (en) 2017-04-19
WO2016032976A1 (en) 2016-03-03
JP2017525577A (en) 2017-09-07
CN106573382B (en) 2020-12-01
US20160052142A1 (en) 2016-02-25
KR20170047237A (en) 2017-05-04
KR102427100B1 (en) 2022-08-01
DE112015003875T5 (en) 2017-05-18
WO2016033101A1 (en) 2016-03-03
US9469027B2 (en) 2016-10-18

Similar Documents

Publication Publication Date Title
US20160052143A1 (en) Concave bearing outer race for tendon based robotic joints
US10046461B2 (en) Link structure and assembly including cable guide system for robotic mechanical manipulator structure
US9782902B1 (en) Gripper for robot hand capabel of adaptive grasp
US10442089B2 (en) Hand intended for being provided on a humanoid robot with improved fingers
CA2679533C (en) A multi-linked device having a reinforcing member
US10005191B2 (en) Holding apparatus for robot
JP2017525577A5 (en)
KR101778031B1 (en) Robot hand
CN109154365B (en) Kinematic chain for transmitting mechanical torques
CN109278034A (en) A kind of rope drives flexible gripper and robot
US10384343B2 (en) Modular robotic finger for grasping and dexterous handling
CN108393876A (en) A kind of line driving non-individual body robot
CN107253210A (en) Apply the manipulator in industrial robot
JP5032714B1 (en) Cable support member
US11690721B2 (en) Artificial joint
CN103612264B (en) A kind of mechanical finger and manipulator
US11850731B2 (en) Robot unit having separate actuators and a common counter actuator device for multiple members
CN105690420A (en) Joint of parallel spray painting robot
EP4136423A4 (en) Axial force sensor assembly, robot gripper and robot
TR2021003799A2 (en) SINGLE DRIVE FOUR-FINGER ROBOTIC HOLDER DESIGN WITH BALL MECHANISM
JP2019141934A (en) Gripping device and gripping unit
KR20170001369A (en) Joint structure without bushing of parallel link robot

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15836739

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15836739

Country of ref document: EP

Kind code of ref document: A1