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WO2001051259A2 - Modular robot manipulator apparatus - Google Patents

Modular robot manipulator apparatus Download PDF

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Publication number
WO2001051259A2
WO2001051259A2 PCT/SG2000/000002 SG0000002W WO0151259A2 WO 2001051259 A2 WO2001051259 A2 WO 2001051259A2 SG 0000002 W SG0000002 W SG 0000002W WO 0151259 A2 WO0151259 A2 WO 0151259A2
Authority
WO
WIPO (PCT)
Prior art keywords
motion
flexible housing
enabling
housing frame
motion transmission
Prior art date
Application number
PCT/SG2000/000002
Other languages
French (fr)
Other versions
WO2001051259A3 (en
WO2001051259B1 (en
Inventor
Hai Hong Zhu
Ming Xie
Mong King Lim
Original Assignee
Hai Hong Zhu
Ming Xie
Mong King Lim
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 Hai Hong Zhu, Ming Xie, Mong King Lim filed Critical Hai Hong Zhu
Priority to PCT/SG2000/000002 priority Critical patent/WO2001051259A2/en
Publication of WO2001051259A2 publication Critical patent/WO2001051259A2/en
Publication of WO2001051259A3 publication Critical patent/WO2001051259A3/en
Publication of WO2001051259B1 publication Critical patent/WO2001051259B1/en

Links

Classifications

    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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

Definitions

  • the present invention relates to a modular robot manipulator for carrying tools to fulfill multiple purpose applications such as: welding, painting, manipulation, assembly, material handling, inspection and the execution of any desired motions.
  • the apparatus has particular application for tasks in a high complex environment such as in-body surgery, in-body medical inspection, and tasks that are not possible with conventional robot manipulators having motor inside each link or flexible housing frame. It should be appreciated, however, that the broad concept of the inventive apparatus is not limited to this particular application, but is applicable to a variety of situations where scalability and single motor driving mechanism are required.
  • Robot manipulator is a versatile machine for carrying tools to undertake a variety of tasks ranging from welding, painting, manipulation, assembly, material handling, minimally invasive in-body surgery, minimally invasive in-body inspection, to operation and inspection in various environments.
  • the conventional robot manipulators exhibit a number of drawbacks and disadvantages.
  • All the robot manipulators are composed of serially connected links. However, all the existing robot manipulators must have one actuator for each link or each degree of freedom. This makes the whole manipulator very heavy and very expensive to build.
  • a system for carrying tools to undertake welding, painting, manipulation, assembly, inspection and any desired motions including: a base system having standardized mechanical & electric interface and providing the output of motion with sufficient power; a series of serially connected flexible housing frames, each having two degrees of freedom and enabling the apparatus to execute various configurations; a series of serially connected motion transmission units enabling the transmission of the single motor's motion along all the motion transmission units; a series of independent motion distribution units enabling the output of motion from a motion transmission unit to its corresponding flexible housing frame; modular entities composed of the triple (flexible housing frame, motion transmission unit, motion distribution unit) enabling the apparatus to be easily scaleable. (ie, to add or remove modular entities according to the requirement of tasks).
  • the base system includes a single electric motor, a reduction gearbox and mechanical & electric interface to the first modular entity of the apparatus.
  • a flexible housing frame includes: (a) two standardized mechanical & electric interfaces at the two ends of the flexible housing frame enabling the easy connection with the previous or subsequent flexible housing frame, (b) the mechanical & electric interface with the corresponding motion distribution unit of the same modular entity, (c) a hinge mechanism supporting the degree of freedom for pivoting rotation, and (d) a cylinder-to-cylinder connection mechanism supporting the degree of freedom for twisting rotation.
  • the motion transmission unit includes two shafts and a special bevel-gear mechanism.
  • the motion distribution unit includes: (a) two clutches, (b) two speed reducers and (c) two brakes.
  • the input of the two clutches are connected to the shafts of the motion transmission unit of the same modular entity while their output are connected to the input of the two speed reducers.
  • Each brake has one end connected to the input of a corresponding speed reducer and the other end connected to the flexible housing frame of the same modular entity.
  • the modular entity includes one flexible housing frame, one motion transmission unit and one motion distribution unit.
  • the present invention provides a new type of modular robot manipulator driven by single electric motor.
  • the implementation of this system can enable substantially all of the drawbacks discussed above to be overcome.
  • the system of the present invention lends itself to the construction of a modular, self-configurable and highly flexible robot manipulator. By using a single motor driving mechanism, it will be possible to develop a miniaturized version of the modular robot manipulator. In this way, the modular robot manipulator can be applied to a highly constrained and complex environment like inside human-body.
  • Fig I shows the perspective views of a modular Robot Manipulate Apparatus, its modular entity and the full section view of the modular entity.
  • Fig 2 shows the detail of the full section view of the modular entity of a Modular Robot Apparatus.
  • the present invention provides an apparatus (1) for carrying a various type of machine tools (12) for the purpose of undertaking manipulation, assembly, material handling, inspection and any desired motions.
  • the apparatus (1) includes:
  • each flexible housing frame of the present appara t us ( 1) has two degrees of freedom (DOF): one for twisting rotation (7) and the other for pivoting rotation (8).
  • a modular entity (11) is composed of one flexible housing frame of the present apparatus (1), one motion transmission unit of the present apparatus (1), and one motion distribution unit of the present apparatus (1 ) .
  • the present apparatus (1) is composed of a series of serially connected modular entities (11).
  • the number of the modular entities (11) is variable according to a preferred application. This enables the present apparatus (I) to be easily scalable (i.e., to add or remove modular entities).
  • the flexible housing frame (4) of the present apparatus (1) includes:
  • the motion transmission unit (5) of the present apparatus (1) includes:
  • the bevel-gear mechanism (10) of the motion transmission unit (5) further includes: two small bevel gears (22 and 23) of equal size (one fixed on one end of the shaft (20) and the other fixed on one end of the shaft (25)), and a big bevel gear (24).
  • the two small bevel gears (22 and 23) are each engaged with the big bevel gear (24) at the angle of 90 ° without any axial offset.
  • the motion distribution unit (6) of the present apparatus ( 1 ) includes:
  • One clutch (27) having its input side mounted on the co ⁇ esponding shaft (20) and its output side connected to the corresponding speed reducer (32) through an interface of bevel gear mechanism (31) enabling the transmission of the rotary motion from the corresponding shaft (20) to the corresponding speed reducer (32);
  • a second clutch (30) having its input side mounted on the co ⁇ esponding shaft (25) and its output side connected to the co ⁇ esponding speed reducer (34) enabling the transmission of the rotary motion from the co ⁇ esponding shaft (25) to the corresponding speed reducer (34);
  • HI TWO brakes (28 and 29) each having its one side fixed on the co ⁇ esponding housing tubes (13 and 18) respectively and the other side connected with the output side of the co ⁇ esponding clutches (27 and 30) respectively, providing the force to brake the rotary motion of the corresponding speed reducers (32 and 34) respectively when the power is turned on or off;
  • a speed reducer (34) for twisting rotation having its output connected to the base of the big folk (16) through an interface mechanism (33), providing the torque for the co ⁇ esponding flexible housing frame (4) to execute twisting rotation.
  • the apparatus (1) of the present invention is therefore able to carrying a various types of machine tools (12) for the purpose of undertaking manipulation, assembly, material handling, inspection and any desired motions.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention provides an apparatus (1) for carrying various types of tools (12) for the purpose of undertaking welding, painting, manipulation, assembly, material handling, inspection and any desired motions. The apparatus includes a base system (2) having a standardized mechanical and electric interface and providing the output of motion with sufficient power (3), a series of serially connected flexible housing frames (4) enabling the apparatus to execute various configurations (ie, motions), a series of independent motion transmission units (5) enabling the transmission of the single motor"s motion along all the motion transmission units, and a series of serially connected motion distribution units (6) enabling the output of motion from a motion transmission unit to its corresponding link. Each flexible housing frame (4) has two degrees of freedom (DOF): one for twisting rotation (7) and the other for pivoting rotation (8). Each motion transmission unit includes two shafts (20 and 25) and a special bevel-gear mechanism (10). The triple (flexible housing frame, motion transmission unit, motion distribution unit) forms a modular entity (11) of the apparatus enabling the apparatus to be easily scaleable (ie, to add or remove modular entities according to the requirement of tasks).

Description

MODULAR ROBOT MANIPULATOR APPARATUS DESCRIPTION
Field of Invention
The present invention relates to a modular robot manipulator for carrying tools to fulfill multiple purpose applications such as: welding, painting, manipulation, assembly, material handling, inspection and the execution of any desired motions.
The apparatus has particular application for tasks in a high complex environment such as in-body surgery, in-body medical inspection, and tasks that are not possible with conventional robot manipulators having motor inside each link or flexible housing frame. It should be appreciated, however, that the broad concept of the inventive apparatus is not limited to this particular application, but is applicable to a variety of situations where scalability and single motor driving mechanism are required.
Background of Invention
Robot manipulator is a versatile machine for carrying tools to undertake a variety of tasks ranging from welding, painting, manipulation, assembly, material handling, minimally invasive in-body surgery, minimally invasive in-body inspection, to operation and inspection in various environments. However, the conventional robot manipulators exhibit a number of drawbacks and disadvantages. Some of the drawbacks are as follows:
1. High cost:
All the robot manipulators are composed of serially connected links. However, all the existing robot manipulators must have one actuator for each link or each degree of freedom. This makes the whole manipulator very heavy and very expensive to build.
2. Poor ratio of payload over weight:
Because of the weight constraint due to the fact that each link has one actuator inside, the effective output of torque of each actuator can not be fully used to carry the payload at the end of the manipulator. This lost of efficiency causes a serious problem of wastage of energy and severely limits the effective payload of the manipulator. Therefore, the ratio of payload over weight is very poor.
3. Limited flexibility:
Because of the weight of each link, the number of links that can be serially connected together is largely reduced because the torque output of each actuator has a limit. This results in a reduced number of degrees of freedom (ie, flexibility) that a manipulator can have.
4. Difficulty for miniaturization:
Because of the difficulty in making a mini or micro electric actuator with meaningful power output, it is extremely difficult to build a mini or micro manipulator if each link requires (at least) one electric actuator to be inside.
In view of the above drawbacks, there is clearly a need to develop a single motor driven manipulator. Summary of Invention
According to one aspect of the present invention, there is provided a system for carrying tools to undertake welding, painting, manipulation, assembly, inspection and any desired motions, the system including: a base system having standardized mechanical & electric interface and providing the output of motion with sufficient power; a series of serially connected flexible housing frames, each having two degrees of freedom and enabling the apparatus to execute various configurations; a series of serially connected motion transmission units enabling the transmission of the single motor's motion along all the motion transmission units; a series of independent motion distribution units enabling the output of motion from a motion transmission unit to its corresponding flexible housing frame; modular entities composed of the triple (flexible housing frame, motion transmission unit, motion distribution unit) enabling the apparatus to be easily scaleable. (ie, to add or remove modular entities according to the requirement of tasks).
In a preferred form of the invention, the base system includes a single electric motor, a reduction gearbox and mechanical & electric interface to the first modular entity of the apparatus.
In a preferred form of the invention, a flexible housing frame includes: (a) two standardized mechanical & electric interfaces at the two ends of the flexible housing frame enabling the easy connection with the previous or subsequent flexible housing frame, (b) the mechanical & electric interface with the corresponding motion distribution unit of the same modular entity, (c) a hinge mechanism supporting the degree of freedom for pivoting rotation, and (d) a cylinder-to-cylinder connection mechanism supporting the degree of freedom for twisting rotation.
In a preferred form of the invention, the motion transmission unit includes two shafts and a special bevel-gear mechanism.
In a preferred form of the invention, the motion distribution unit includes: (a) two clutches, (b) two speed reducers and (c) two brakes. The input of the two clutches are connected to the shafts of the motion transmission unit of the same modular entity while their output are connected to the input of the two speed reducers. Each brake has one end connected to the input of a corresponding speed reducer and the other end connected to the flexible housing frame of the same modular entity.
In a preferred form of the invention, the modular entity includes one flexible housing frame, one motion transmission unit and one motion distribution unit.
Thus, the present invention provides a new type of modular robot manipulator driven by single electric motor. The implementation of this system can enable substantially all of the drawbacks discussed above to be overcome. In particular, the system of the present invention lends itself to the construction of a modular, self-configurable and highly flexible robot manipulator. By using a single motor driving mechanism, it will be possible to develop a miniaturized version of the modular robot manipulator. In this way, the modular robot manipulator can be applied to a highly constrained and complex environment like inside human-body.
Brief Description of Figures
Fig I shows the perspective views of a modular Robot Manipulate Apparatus, its modular entity and the full section view of the modular entity.
Fig 2 shows the detail of the full section view of the modular entity of a Modular Robot Apparatus.
Detailed Description of The Invention
Referring to Fig 1(a) and Fig 1(c) of the drawings, the present invention provides an apparatus (1) for carrying a various type of machine tools (12) for the purpose of undertaking manipulation, assembly, material handling, inspection and any desired motions. The apparatus (1) includes:
L A base (2), having an interface mechanism (3) providing the output of rotary motion with sufficient power;
H A series of serially connected flexible housing frames (4) enabling the apparatus (1) to execute various configurations and providing the support for the apparatus (I) (similar to the bone supporting human arm); in. A series of serially connected rotary motion transmission units (5) enabling the transmission of the rotary motion provided by the base (2) along all the motion transmission units, and
IV. A series of serially connected motion distribution units (6) each enabling the output of rotary motion from a motion transmission unit to its corresponding flexible housing frame.
Referring to Fig 1(b) of the drawings, each flexible housing frame of the present apparatus (1) has two degrees of freedom (DOF): one for twisting rotation (7) and the other for pivoting rotation (8).
Referring to Fig 1(b) and Fig 1(c) of the drawings, a modular entity (11) is composed of one flexible housing frame of the present apparatus (1), one motion transmission unit of the present apparatus (1), and one motion distribution unit of the present apparatus (1). In other words, the present apparatus (1) is composed of a series of serially connected modular entities (11). The number of the modular entities (11) is variable according to a preferred application. This enables the present apparatus (I) to be easily scalable (i.e., to add or remove modular entities).
Referring to Fig 2 of the drawings, the flexible housing frame (4) of the present apparatus (1) includes:
I. A small housing tube (13) on which one end of the corresponding motion distribution unit is fixed, having a standardized interface mechanism (14) at one end to support the connection with the adjacent modular entity (or machine tool if it is the last one);
JH. A small folk (15) with its base fixed on the small housing tube (13), having two fingers: one serving as an interface mechanism for the fixture of the corresponding pivoting speed reducer (32), and the other serving as an interface mechanism for the big folk (16) to be hinged on it;
HI. A big folk (16) with its base fixed on an interface mechanism (33) to the corresponding twisting speed reducer (34), having two fingers: one fixed on the output side of the corresponding pivoting speed reducer (32) and the other hinged with the small folk (15);
IV. A big housing tube (18) on which the corresponding motion distribution unit is fixed, having a standardized interface mechanism (19) at one end to support the connection with the adjacent modular entity (or machine tool if it is the last one);
V. A cover (17) fixed on the big housing tube (18) providing an interface mechanism enabling the big folk (16) to rotate axially.
Referring to Fig2 of the drawings, the motion transmission unit (5) of the present apparatus (1) includes:
I. One shaft (20), having a standardized interface mechanism (21) at one end to support the connection with the shaft of the adjacent motion transmission unit and the other end fixed on the corresponding bevel-gear mechanism (10); π. A second shaft (25), having a standardized interface mechanism (26) at one end to support the connection with the shaft of the adjacent motion transmission unit and the other end fixed on the corresponding bevel-gear mechanism (10); m. A bevel-gear mechanism (10) transmitting the rotary motion between above two shafts (20 and 25) no matter what the angle is between these two shafts (20 and 25).
Referring to Fig 2 of the drawings, the bevel-gear mechanism (10) of the motion transmission unit (5) further includes: two small bevel gears (22 and 23) of equal size (one fixed on one end of the shaft (20) and the other fixed on one end of the shaft (25)), and a big bevel gear (24). The two small bevel gears (22 and 23) are each engaged with the big bevel gear (24) at the angle of 90 ° without any axial offset.
Referring to Fig2 of the drawings, the motion distribution unit (6) of the present apparatus ( 1 ) includes:
I. One clutch (27) having its input side mounted on the coσesponding shaft (20) and its output side connected to the corresponding speed reducer (32) through an interface of bevel gear mechanism (31) enabling the transmission of the rotary motion from the corresponding shaft (20) to the corresponding speed reducer (32); π. A second clutch (30) having its input side mounted on the coσesponding shaft (25) and its output side connected to the coσesponding speed reducer (34) enabling the transmission of the rotary motion from the coσesponding shaft (25) to the corresponding speed reducer (34);
HI TWO brakes (28 and 29) each having its one side fixed on the coσesponding housing tubes (13 and 18) respectively and the other side connected with the output side of the coσesponding clutches (27 and 30) respectively, providing the force to brake the rotary motion of the corresponding speed reducers (32 and 34) respectively when the power is turned on or off;
IV. A speed reducer (32) for pivoting rotation fixed on the corresponding finger small folk (15) having its input connected to the output of the coσesponding clutch (27) through an interface of bevel-gear mechanism (31) and its output shaft fixed on the coσesponding finger of the big folk (16), providing the torque for the corresponding flexible housing frame (4) to execute pivoting rotation;
V. A speed reducer (34) for twisting rotation having its output connected to the base of the big folk (16) through an interface mechanism (33), providing the torque for the coσesponding flexible housing frame (4) to execute twisting rotation.
The apparatus (1) of the present invention is therefore able to carrying a various types of machine tools (12) for the purpose of undertaking manipulation, assembly, material handling, inspection and any desired motions.
It will be appreciated that various modifications, alterations and/or additions may be introduced into the construction and aσangement of the parts of the apparatus (1) particularly herein without departing from the spirit or ambit of the present invention.

Claims

1. An apparatus for carrying a various types of tools for the purpose of welding, painting, manipulation, assembly, material handling, inspection and any desired motions, the apparatus including: a base system having standardized mechanical & electric interface and providing the output of motion with sufficient power; a series of serially connected flexible housing frames, each having two degrees of freedom and enabling the apparatus to execute various configurations; a series of serially connected motion transmission units enabling the transmission of the single motor's motion along all the motion transmission units; a series of independent motion distribution units enabling the output of motion from a motion transmission unit to its corresponding flexible housing frame; modular entities composed of the triple (flexible housing frame, motion transmission unit, motion distribution unit) enabling the apparatus to be easily scaleable. (ie, to add or remove modular entities according to the requirement of tasks).
2. An apparatus as claimed in Claim 1 wherein the base system includes a single electric motor, a reduction gearbox and mechanical & electric interface to the first modular entity of the apparatus.
3. An apparatus as claimed in Claim 1 wherein the flexible housing frame includes: (a) two standardized mechanical & electric interfaces at the two ends of the flexible housing frame enabling the easy connection with the previous or subsequent flexible housing frame, (b) the mechanical & electric interface with the coσesponding motion distribution unit of the same modular entity, (c) a hinge mechanism supporting the degree of freedom for pivoting rotation, and (d) a cylinder-to-cylinder connection mechanism supporting the degree of freedom for twisting rotation.
4. An apparatus as claimed in Claim 1 wherein the motion transmission unit includes two shafts and a special bevel-gear mechanism.
5. An apparatus as claimed in Claim 1 wherein the motion distribution unit includes: (a) two clutches, (b) two speed reducers and (c) two brakes. The input of the two clutches are connected to the shafts of the motion transmission unit of the same modular entity while their output are connected to the input of the two speed reducers. Each brake has one end connected to the input of a coσesponding speed reducer and the other end connected to the flexible housing frame of the same modular entity.
6. An apparatus as claimed in Claim 1 wherein the modular entity includes one flexible housing frame, one motion transmission unit and one motion distribution unit.
PCT/SG2000/000002 2000-01-11 2000-01-11 Modular robot manipulator apparatus WO2001051259A2 (en)

Priority Applications (1)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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WO2001051259A2 true WO2001051259A2 (en) 2001-07-19
WO2001051259A3 WO2001051259A3 (en) 2001-11-08
WO2001051259B1 WO2001051259B1 (en) 2002-05-30

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CN100348380C (en) * 2005-06-30 2007-11-14 上海交通大学 Self-reconstructed self-repair robot basic analogue space transmission
EP1930129A1 (en) * 2005-09-27 2008-06-11 Kabushiki Kaisha Yaskawa Denki Multi-joint manipulator
US7597025B2 (en) 2003-01-17 2009-10-06 Toyota Jidosha Kabushiki Kaisha Articulated robot
US7747352B2 (en) * 2004-04-20 2010-06-29 Massachusetts Institute Of Technology Physical modeling system for constructing and controlling articulated forms with motorized joints
WO2011003451A1 (en) * 2009-07-09 2011-01-13 Abb Research Ltd A robot arm system and a robot arm
CN102166750A (en) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 Positioning beam and robot linear motion unit with same
ITTO20100440A1 (en) * 2010-05-26 2011-11-27 Oto Melara Spa ROBOT ARM FOR A VEHICLE.
CN102431038A (en) * 2011-10-28 2012-05-02 武汉需要智能技术有限公司 Modular joint combination of mechanical arm with multiple degrees of freedom
CN102528806A (en) * 2010-12-20 2012-07-04 财团法人精密机械研究发展中心 Server capable of being serially connected with other servers and switching structure of server
ITMI20111920A1 (en) * 2011-10-24 2013-04-25 Milano Politecnico ROBOT ARCHITECTURE ARTICULATED FOR MEDICAL USE.
CN103144102A (en) * 2013-03-28 2013-06-12 南京妙手机电科技有限公司 Mechanical arm with connecting module with two degrees of freedom
CN103286775A (en) * 2013-05-21 2013-09-11 华南理工大学 Nondestructive testing robot for excavator
CN103884484A (en) * 2012-12-21 2014-06-25 中国直升机设计研究所 Automatic delivery apparatus
CN105171722A (en) * 2015-10-26 2015-12-23 冯亿坤 Eel-like underwater multi-freedom-degree robot
EP3072642A3 (en) * 2015-03-23 2016-10-19 Rolls-Royce plc Flexible tools and apparatus for machining objects
CN106272387A (en) * 2016-09-27 2017-01-04 安徽大学 Modularized reconfigurable robot
CN106737627A (en) * 2017-01-12 2017-05-31 河海大学常州校区 A kind of imitative trunk mechanical arm
CN106926227A (en) * 2015-12-31 2017-07-07 中国科学院沈阳自动化研究所 A kind of open-ended modularity mechanical arm
CN108312140A (en) * 2018-03-28 2018-07-24 陕西蓝智机器人有限公司 A kind of single machine axis connection formula multi-freedom joint mechanical arm
EP2698234A3 (en) * 2012-08-17 2018-08-08 LIEBHERR-VERZAHNTECHNIK GmbH Device for the automated removal of workpieces arranged in a container
CN109476019A (en) * 2016-07-26 2019-03-15 Groove X 株式会社 Articulated robot
CN113968482A (en) * 2021-09-29 2022-01-25 四川大学华西医院 Gear and belt wheel coupled passive clamping mechanism
WO2023148159A1 (en) * 2022-02-01 2023-08-10 Neura Robotics GmbH Arm portion for a robot arm, arm part for a robot arm, and robot arm

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Cited By (39)

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Publication number Priority date Publication date Assignee Title
US7597025B2 (en) 2003-01-17 2009-10-06 Toyota Jidosha Kabushiki Kaisha Articulated robot
DE102004002416B8 (en) 2003-01-17 2017-04-13 Kawasaki Jukogyo Kabushiki Kaisha articulated robot
DE102004002416B4 (en) * 2003-01-17 2016-12-15 Kawasaki Jukogyo Kabushiki Kaisha articulated robot
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