CN102029614B - Three-degree-of-freedom spherical space robot wrist - Google Patents

Three-degree-of-freedom spherical space robot wrist Download PDF

Info

Publication number
CN102029614B
CN102029614B CN2011100255492A CN201110025549A CN102029614B CN 102029614 B CN102029614 B CN 102029614B CN 2011100255492 A CN2011100255492 A CN 2011100255492A CN 201110025549 A CN201110025549 A CN 201110025549A CN 102029614 B CN102029614 B CN 102029614B
Authority
CN
China
Prior art keywords
gear
wrist
episphere
lower semisphere
ball
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
CN2011100255492A
Other languages
Chinese (zh)
Other versions
CN102029614A (en
Inventor
邓宗权
侯绪研
姜生元
全齐全
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology
Original Assignee
Harbin Institute of Technology
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 Harbin Institute of Technology filed Critical Harbin Institute of Technology
Priority to CN2011100255492A priority Critical patent/CN102029614B/en
Publication of CN102029614A publication Critical patent/CN102029614A/en
Application granted granted Critical
Publication of CN102029614B publication Critical patent/CN102029614B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention discloses a three-degree-of-freedom spherical space robot wrist and relates to a robot wrist. The three-degree-of-freedom spherical space robot wrist solves the problems of complex structure, low integrated level, large own weight and coupling motion of the three-degree-of-freedom robot wrist. In the three-degree-of-freedom spherical space robot wrist, an upper semisphere shaft is rotationally connected with an interface of an end effector; an upper semisphere is rotationally connected with a lower semisphere; the contact surface of the upper semisphere and the lower semisphere is an offset inclined plane; the angle between the offset inclined plane and the horizontal plane is 10 to 25 degrees; an upper semisphere motor and a speed reducing mechanism are fixedly connected with a universal joint shaft through an upper semisphere gear transmission mechanism; the universal joint shaft is fixedly connected with the upper semisphere shaft through an internal universal joint; the upper semisphere shaft is rotationally connected with the interface of the end effector; a lower semisphere motor and the speed reducing mechanism are fixedly connected with a lower semisphere shaft through a lower semisphere gear transmission mechanism; a rotation motor and the speed reducing mechanism are fixedly connected with a turnplate through a rotation gear transmission mechanism; and the turnplate is in transmission connection with the interface of the end effector through an external universal joint. The three-degree-of-freedom spherical space robot wrist is applied to aerospace robots.

Description

Three Degree Of Freedom ball-type robot for space wrist
Technical field
The present invention relates to a kind of robot for space wrist.
Background technology
Robot for space is being brought into play more and more important effect in the tasks such as maintenance of celestial body detecting and sampling, spacecraft and space station; As realize the sampling of the moon and martian surface soil, the control of airship and the unlatching of hatch door, the assembling of cabin, space section, the maintenance of spacecraft etc.; All can replace the astronaut to accomplish; The notable feature of robot for space is a compact conformation, and integrated degree is high, and power to weight ratio and action space are big.
The robot for space that is applied under dangerous and the extreme environment is harsh to the performance indications requirement of wrist.Wrist is the important foundation part of linking arm and hand, and its performance directly influences positioning accuracy, flexibility and the operation function of robot for space end effector.The function of robot wrist is through the attitude of small adjustment change end effector in part in the space; Realize accurately location; The free degree of wrist and attitude scope directly influence flexibility, stability and the positioning accuracy of robot, and the control of robot optional position and attitude needs six-freedom degree, and wrist should have three degree of freedom; Wrist is positioned at the front end of arm, and the weight of wrist constitutes the additional load of forearm again and increases energy consumption.Wrist is to realize three revolutions at narrow space, so the mechanism design of wrist is complicated, variable element is many, and the performance indications of wrist have become the restriction robot and under the extreme environment of space, used and the main bottle footpath of expanding.
At present; Robot wrist still can not satisfy the job space requirement fully, and gear drive is generally adopted in the transmission of its three-degree-of-freedom motion, and complex structure, integrated level are low; There is the motion coupled problem; Make that flexibility, attitude adjustment capability and the accurate stationkeeping ability of end effector are limited, robot for space still can not be accomplished complex jobs such as airship hatch door unlatching through the adjustment of wrist, also have some limitation aspect the celestial body sampling.
The robot wrist can be divided three classes basically: 1. ball-type wrist, and its three joints axes intersect at a point, and its position and attitude are decoupling zeros; The inverse kinematics analysis is simple; Compact conformation, power to weight ratio is big, so the robot that special occasions such as robot for space use down adopts the ball-type wrist mostly.Because receive the restriction of frame for movement, this wrist design difficulty is big, complex structure, weight is difficult to reduce, and working space is little, and the rotation angle of wrist is less, generally about 260 °; 2. non-sphere wrist, its three axis do not meet at a bit, have overcome the limitation of frame for movement; The rotational angle in each joint can both reach more than 360 °, but that its shortcoming is a structure is not compact, bulky; Limited the raising of power to weight ratio index, motion can not decoupling zero, and control accuracy is low; 3. parallel-connection structure wrist, the wrist of this kind structure is actually a kind of parallel institution of miniaturization.
The aerospace flight center of The Martin Marietta and U.S. NASA is in a kind of remote-controlled robot wrist module that is used for the space station assembling of development in 1991; The layout of its motor adopts pitching, side-sway and rotation separate mode; But its structure is not compact; Power to weight ratio is little, the not decoupling zero of motion in three joints, and control accuracy is low.
The disclosed a kind of ball-type machinery wrist joint of US Patent No.5239883 through gear pair transmission realization side-sway and the motion of pitching two-freedom, because the transmission of motion all is the transmission realization through gear pair, so its structure is too complicated, weight is bigger.
Graco Robotics in 1991; Inc. developed the universal wrist of compact double Hooke's joint; Its helical gear driving-chain guarantees that by preventing that the cam mechanism that in the gear slide rail, moves that tilts leads overcome the little and not good enough shortcoming of structural strength of wrist power to weight ratio in the past, pitching and side-sway are respectively by two crossing universal joint turning cylinder transmissions; Make structure compact more; But the shortcoming of this wrist remains complex structure, and difficulty of processing is big, but the wrist helical gear has the not steady phenomenon of jump under the effect of load.
NASA has developed wrist module of new generation; The screw drive of three parallel connections of transmission adopted realizes side-sway, pitching; Simplified design; Reduced cost, because its additional flexibility is suitable for the destructuring environment, dangerous article are handled with successful being applied to of this universal wrist in NASA jet thrust laboratory.But the shortcoming of this wrist is to want three to drive realization side-sway, two motions of pitching.
Korea S has proposed a kind of ball-type two-freedom active drive robot wrist joint; Its lower semisphere moves through gear drive and realizes, episphere is through inner gimbal transmission campaign, and two offset ramp are combined into side-sway and two motions of pitching of wrist; Compact conformation, simple; And realized the decoupling zero of two input motions, and passed through the size of the mesh degree control carry-over moment of clutch, made wrist under the effect of certain moment, become passive wrist; Played and crossed the load protection and avoid mechanical interference and damage the effect in wrist joint; But the engagement of clutch can make the absolute position of wrist output not remember, and the Position Control of wrist was lost efficacy, and this wrist can only be realized the motion of two frees degree in addition.
At present; Because wrist can not be realized the accurate adjustment of attitude; Brought difficulty and inconvenience for the smooth completion of robot for space celestial body sampling outside task; Main cause is that the routing motion through other big joint is realized having the motion coupled problem when executor tail end attitude is accurately adjusted, and also can bring the chatter of whole mechanical arm and influences positioning accuracy.
Robot for space can not opened door reason be that wrist rotation angle is limited, realize that through the routing motion in other joint there is the motion coupled problem in the rotation of executor tail end, can rotate the mechanical interference of track and make the unlatching failure of hatch door; Revolve and open drawing back in the process behind the hatch door, the movement locus of end effector also can be failed with hatch door rotational trajectory generation mechanical interference, even damages wrist; During mechanical arm celestial body exploration outside, it is the mode of operation that the requirement wrist can be realized master, passive wrist that the process of from soil, pulling out stone exists the problem of fragile wrist, solution route too.
Summary of the invention
The purpose of this invention is to provide a kind of Three Degree Of Freedom ball-type robot for space wrist, with solve present Three Degree Of Freedom robot wrist complex structure, integrated level is low, own wt is big and have the motion coupling problems.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: wrist comprises ball-type assembly, episphere gear drive, episphere motor and reducing gear, lower semisphere motor and reducing gear, frame, lower semisphere gear drive, spinning motor and reducing gear, rotating gear transmission mechanism, rotating disk, outside universal joint, end-effector interfaces and three absolute rotary angle transmitters; The ball-type assembly comprises first ball journal, episphere, lower semisphere, second ball journal, inner gimbal and inner gimbal axle; First ball journal is with the coaxial setting of episphere and process one; First ball journal and end-effector interfaces are rotationally connected; Episphere and lower semisphere are rotationally connected, and the contact-making surface of episphere and lower semisphere is an offset ramp, and the angle between offset ramp and the horizontal plane is 10 °-25 °; Lower semisphere is with the coaxial setting of second ball journal and process one; The ball-type assembly is provided with the perforation cavity from top to bottom, and inner gimbal is located in the cavity, and the center of rotation of inner gimbal overlaps with the centre of sphere of the spheroid of episphere and lower semisphere formation; The output of inner gimbal is located in the cavity of first ball journal; The input of inner gimbal is located in the cavity of second ball journal, and second ball journal is located in the frame, and second ball journal and frame are rotationally connected;
The lower semisphere gear drive is made up of first driving gear and first driven gear; The episphere gear drive is made up of second driving gear and second driven gear; The rotating gear transmission mechanism is made up of the 3rd driving gear, the 3rd driven gear, gear shaft and external toothing, and episphere gear drive, lower semisphere gear drive and the 3rd driving gear, the 3rd driven gear all are arranged in the frame;
Install on the output of lower semisphere motor and reducing gear and be with first driving gear, first driving gear and the engagement of first driven gear, first driven gear is packed on second ball journal;
Admittedly be set with second driving gear on the output of episphere motor and reducing gear 6; Second driving gear and the engagement of second driven gear; Second driven gear is sleeved on the end of inner gimbal axle admittedly; The other end of inner gimbal axle and the input of inner gimbal are affixed; The output of inner gimbal and first ball journal are affixed, and first ball journal and end-effector interfaces are rotationally connected, and the end of episphere motor and reducing gear, lower semisphere motor and reducing gear and spinning motor and reducing gear respectively is equipped with an absolute rotary angle transmitter;
Admittedly be set with the 3rd driving gear on the output of spinning motor and reducing gear; The 3rd driving gear and the engagement of the 3rd driven gear, the 3rd driven gear is sleeved on the gear shaft admittedly, and gear shaft and frame are rotationally connected; Gear shaft and external toothing engagement; External toothing and rotating disk are affixed, and rotating disk is arranged on the frame and the two is rotationally connected, and rotating disk is in transmission connection through outside universal joint and end-effector interfaces.
The present invention has following beneficial effect: 1, the center of rotation of inner gimbal of the present invention, outside universal joint and two two hemisphere centre ofs sphere coincidence formation ball-type wrists that offset ramp combines; Can realize side-sway, pitching and three initiatively decoupling zeros of input motion of rotation; Become self-movement; Make the control of attitude simple and easy to do, the motion coupling that has occurred when having avoided the joint to cooperate adjustment and the oscillation phenomenon of mechanical arm; 2, the side-sway of wrist and pitching are the motions that the hemisphere by two active drive is composited; Two hemisphere that two offset ramp combine make wrist pitching and the obviously increasing of side-sway working space, compact conformation, simple and handling ease; Owing to the transmission of controlling the wrist attitude does not have helical gear and bevel gear, therefore overcome the steady phenomenon that under dynamic load effect, produces jump; The spinning motion of the output that 3, is connected with end effector is to adopt bearing to be connected by the output of outside universal joint and episphere axle journal to realize suspending, so makes the spinning motion of wrist become independently decoupling zero campaign, can realize the wide-angle rotation; 4, the side-sway of end effector attitude and pitching and the servo-actuated of episphere output and be consistent; But it is constant to rotate attitude; Make the end effector normal direction easy to adjust, after wrist is accomplished the location, because outside universal joint is the self-movement that is suspended in a decoupling zero on the episphere; Outside universal joint can drive the end effector of spherical wrist output and realize big spinning motion, and complex job such as opened door can be realized smoothly; 5, after wrist is accomplished the location and is firmly grasped; Through the active drive of upper and lower hemisphere drive motors, realize Friction Compensation, remove the constraint of wrist pitching and side-sway; Become the passive wrist of compliance; Effectively remove mechanical interference, satisfy of the specific demand of space extreme environment, accomplish and extract stone in the outer celestial body sampling process and revolve the complex job that opens, draws back hatch door robot wrist.
Description of drawings
Fig. 1 is robot wrist's structural representation of the present invention; Fig. 2 is robot wrist's side-sway of the present invention and pitching transmission mechanism master cutaway view; Accompanying drawing 3 is robot wrist's rotation transmission mechanism master cutaway view sketch mapes of the present invention, and accompanying drawing 4 is structural representations of specific embodiment.
The specific embodiment
The specific embodiment one: combine Fig. 1-Fig. 3 that this embodiment is described; The wrist of this embodiment comprises ball-type assembly, episphere gear drive 5, episphere motor and reducing gear 6, lower semisphere motor and reducing gear 8, frame 9, lower semisphere gear drive 10, spinning motor and reducing gear 12, rotating gear transmission mechanism 13, rotating disk 15, outside universal joint 16, end-effector interfaces 18 and three absolute rotary angle transmitters 7; The ball-type assembly comprises first ball journal 1-1, episphere 1, lower semisphere 3, second ball journal 3-1, inner gimbal 4 and inner gimbal axle 4-1; First ball journal 1-1 is with episphere 1 coaxial setting and process one; First ball journal 1-1 and end-effector interfaces 18 are rotationally connected; Episphere 1 is rotationally connected with lower semisphere 3, and the contact-making surface of episphere 1 and lower semisphere 3 is an offset ramp, and the angle [alpha] between offset ramp and the horizontal plane is 10 °-25 °; Lower semisphere 3 is with the coaxial setting of second ball journal 3-1 and process one; The ball-type assembly from top to bottom is provided with and connects cavity 19, and inner gimbal 4 is located in the cavity 19, and the center of rotation of inner gimbal 4 overlaps with the centre of sphere of episphere 1 with the spheroid of lower semisphere 3 formations; The output of inner gimbal 4 is located in the cavity of first ball journal 1-1; The input of inner gimbal 4 is located in the cavity of second ball journal 3-1, and second ball journal 3-1 is located in the frame 9, and second ball journal 3-1 and frame 9 are rotationally connected;
Lower semisphere gear drive 10 is made up of the first driving gear 10-1 and the first driven gear 10-2; Episphere gear drive 5 is made up of the second driving gear 5-1 and the second driven gear 5-2; Rotating gear transmission mechanism 13 is made up of the 3rd driving gear 13-1, the 3rd driven gear 13-2, gear shaft 13-3 and external toothing 13-4, and episphere gear drive 5, lower semisphere gear drive 10 and the 3rd driving gear 13-1, the 3rd driven gear 13-2 all are arranged in the frame 9;
Install on the output of lower semisphere motor and reducing gear 8 and be with the first driving gear 10-1, the first driving gear 10-1 and first driven gear 10-2 engagement, the first driven gear 10-2 is packed on second ball journal 3-1;
Admittedly be set with the second driving gear 5-1 on the output of episphere motor and reducing gear 6; The second driving gear 5-1 and second driven gear 5-2 engagement; The second driven gear 5-2 is sleeved on the end of inner gimbal axle 4-1 admittedly; The other end of inner gimbal axle 4-1 and the input of inner gimbal 4 are affixed; The output of inner gimbal 4 and first ball journal 1-1 are affixed, and first ball journal 1-1 and end-effector interfaces 18 are rotationally connected, and the end of episphere motor and reducing gear 6, lower semisphere motor and reducing gear 8 and spinning motor and reducing gear 12 respectively is equipped with an absolute rotary angle transmitter 7;
Admittedly be set with the 3rd driving gear 13-1 on the output of spinning motor and reducing gear 12; The 3rd driving gear 13-1 and the 3rd driven gear 13-2 engagement, the 3rd driven gear 13-2 is sleeved on the gear shaft 13-3 admittedly, and gear shaft 13-3 and frame 9 are rotationally connected; Gear shaft 13-3 and external toothing 13-4 engagement; External toothing 13-4 and rotating disk 15 are affixed, and rotating disk 15 is arranged on the frame 9 and the two is rotationally connected, and rotating disk 15 is in transmission connection with end-effector interfaces 18 through outside universal joint 16.
The specific embodiment two: combine Fig. 2 that this embodiment is described; The wrist of this embodiment also comprises thin-wall bearing 2; Episphere 1 is rotationally connected through thin-wall bearing 2 with lower semisphere 3; Can guarantee that first ball journal 1-1 rotates freely around the normal of lower semisphere 3 offset ramp, making the working space of first ball journal of output 1-1 is axis with the offset ramp normal, and cone angle is the cone of 2 α.Other compositions and annexation are identical with the specific embodiment one.
The specific embodiment three: combine Fig. 2 that this embodiment is described; The wrist of this embodiment also comprises flange bearing 11; Second ball journal 3-1 and frame 9 are rotationally connected through flange bearing 11, can guarantee that lower semisphere 3 rotates freely around the central axis of frame 9, make lower semisphere 3 offset ramp normals rotate 360 ° around the central axis of frame 9; And then the working space that makes first ball journal of output 1-1 expands as around frame 9 central axis, and cone angle is the cone of 4 α.Other compositions and annexation are identical with the specific embodiment one.
The specific embodiment four: combine Fig. 3 that this embodiment is described; The wrist of this embodiment also comprises rolling bearing 17; First ball journal 1-1 and end-effector interfaces 18 are rotationally connected through rolling bearing 17; Can guarantee side-sway and the pitch attitude servo-actuated mutually of end-effector interfaces 18 and first ball journal 1-1, and make the autobiography of end-effector interfaces 18 become the self-movement of decoupling zero.Other compositions and annexation are identical with the specific embodiment one.
Present embodiment is that the present invention is applied to a specific embodiment on the door that opens the cabin: combine Fig. 4 explanation; End-effector interfaces 18 is affixed with end effector 21; A bidirectional force sensor 20 is installed on the end effector 21; The normal direction of at first adjusting end-effector interfaces 18 is consistent with hatch door knob center line, accomplishes to clamp the hatch door knob; Because spinning motion and side-sway and pitching are decoupling zeros; Become an independent motion, and can realize the wide-angle rotation, therefore can drive spinning motor and reducing gear 12 and drive rotating gear transmission mechanism 13 realization end effectors 21 spinning motions; The hatch door knob of outwarding winding is realized that hatch door revolves to open.
Drive by the angle rule that inverse kinematics calculates by episphere 1 and lower semisphere 3; Can realize the swing of wrist end effector 21 in the arbitrary plane of the central axis that passes through frame 9; Consider when drawing back hatch door; Can avoid wrist end effector 21 tracks and hatch door movement locus interferes; A bidirectional force sensor 20 is installed on robot wrist end effector 21; Episphere motor and reducing gear 6 constitute closed-loop control with bidirectional force sensor 20 detected power F respectively with lower semisphere motor and reducing gear 8; Drive the episphere motor and overcome the frictional force that frictional force such as inner gimbal 4, episphere gear drive 5 and contact-making surface and driving lower semisphere motor and reducing gear 8 overcome lower semisphere gear drive 10 and contact-making surface with reducing gear 6; And the movement locus that guarantees wrist end effector 21 in the plane that the central axis of crossing frame 9 and power F form along the direction swing of power F, just can compensate through the internal friction of motor deceleration device and movement transferring, realization wrist end effector 21 in the plane of stressed F along the direction of stressed F move; Episphere motor and reducing gear 6 and lower semisphere motor and reducing gear 8 and bidirectional force sensor 20 detected power F swing through the closed-loop control and the direction of following power F; When the detected power F value of bidirectional force sensor 20 is little below 0.1N, just can realize the frictional force full remuneration of motor deceleration device and movement transferring, become a complete submissive passive wrist; Improve the flexibility of wrist, the protection wrist is not damaged when extracting stone and drawing back hatch door.When the direction of power F changed, the rotation direction according to Jacobian matrix change episphere motor and reducing gear 6 and lower semisphere motor and reducing gear 8 can realize Friction Compensation in the other direction.When the Three Degree Of Freedom robot wrist adopts passive wrist pattern operation; The position of side-sway, pitching and rotation still can be by the absolute rotary angle transmitter 7 storage memories of end; Three Degree Of Freedom robot wrist operation is accomplished when returning to the active wrist, can return to the Zero calibration position.
Friction Compensation through episphere motor and the reducing gear 6 and the active drive of lower semisphere motor and reducing gear 8; Can remove the constraint of wrist pitching and side-sway; Make wrist become passive wrist pattern; Effectively remove mechanical interference, satisfy of the specific demand of space extreme environment, accomplishes and extract stone and spacecraft hatch door when outer celestial body is sampled and complex job such as draw back robot wrist.
Operation principle: the present invention will carry out the attitude Zero calibration before operation; Its process is the central axes that driving episphere motor and reducing gear 6 make first ball journal 1-1 and frame 9; This moment, episphere 1 was zero with the relative rotation of lower semisphere 3, to the side-sway and the not influence of pitching of three freedom decoupling wrist; Give three absolute rotary angle transmitter 7 energisings of end this moment respectively, the dead-center position of three freedom decoupling wrist is just stored and remembered to three rotary angle transmitters 7; When the three freedom decoupling wrist is located; Episphere motor and reducing gear 6 drive the rotation of episphere gear drive 5 and inner gimbal 4 drive epispheres 1; Lower semisphere motor and reducing gear 8 drive lower semisphere gear drive 10 and rotate the rotation that drives lower semisphere 3; Spinning motor and reducing gear 12 drive rotating gear transmission mechanism 13 and drive rotating disk 15 and end-effector interfaces 1 rotation; Lower semisphere 3 is fixedly the time, and the rotation of episphere 1 is that the normal with lower semisphere 3 inclined-planes is an axis, to double the circular cone that the inclined-plane inclined angle alpha is a coning angle; When lower semisphere rotation 360 is spent; The range of movement of episphere output is to be the axle center with the lower semisphere axis of rotation, to be four times in the circular cone that the inclined-plane inclined angle alpha is a coning angle, the working space scope of wrist side-sway and pitching just; Two hemisphere that two offset ramp combine obviously strengthen the pitching of wrist and the working space of side-sway; With first ball journal 1-1 through the end-effector interfaces 18 that bearing 17 is rotationally connected, can export rotation torque and active force, the attitude of wrist output depends in rotation position and lower semisphere 3 rotary courses of episphere 1 side-sway and the luffing angle of the wrist of the corner decision of relative episphere 1 at the place, inclined-plane.
Episphere motor and reducing gear 6, lower semisphere motor and reducing gear 8 and spinning motor and reducing gear 12 are controlled with the absolute rotary angle transmitter 7 formation position closed loops of terminal installation separately respectively; Realize the angle position control of episphere 1 corner, lower semisphere 3 corners and outside universal joint 16 input shafts, and then can perception and side-sway, pitching and the rotation position of remembering three freedom decoupling type wrist.

Claims (4)

1. Three Degree Of Freedom ball-type robot for space wrist; It is characterized in that said wrist comprises ball-type assembly, episphere gear drive (5), episphere motor and reducing gear (6), lower semisphere motor and reducing gear (8), frame (9), lower semisphere gear drive (10), spinning motor and reducing gear (12), rotating gear transmission mechanism (13), rotating disk (15), outside universal joint (16), end-effector interfaces (18) and three absolute rotary angle transmitters (7); The ball-type assembly comprises first ball journal (1-1), episphere (1), lower semisphere (3), second ball journal (3-1), inner gimbal (4) and inner gimbal axle (4-1); First ball journal (1-1) is with the coaxial setting of episphere (1) and process one; First ball journal (1-1) is rotationally connected with end-effector interfaces (18); Episphere (1) and lower semisphere (3) are rotationally connected; The contact-making surface of episphere (1) and lower semisphere (3) is an offset ramp; Angle between offset ramp and the horizontal plane (α) is 10 °-25 °, lower semisphere (3) and the coaxial setting of second ball journal (3-1) and process one, and the ball-type assembly from top to bottom is provided with and connects cavity (19); Inner gimbal (4) is located at and connects in the cavity (19); And the center of rotation of inner gimbal (4) overlaps with the centre of sphere of the spheroid that episphere (1) and lower semisphere (3) constitute, and the output of inner gimbal (4) is located in the perforation cavity (19) of first ball journal (1-1), and the input of inner gimbal (4) is located in the perforation cavity (19) of second ball journal (3-1); Second ball journal (3-1) is located in the frame (9), and second ball journal (3-1) is rotationally connected with frame (9);
Lower semisphere gear drive (10) is made up of first driving gear (10-1) and first driven gear (10-2); Episphere gear drive (5) is made up of second driving gear (5-1) and second driven gear (5-2); Rotating gear transmission mechanism (13) is made up of the 3rd driving gear (13-1), the 3rd driven gear (13-2), gear shaft (13-3) and external toothing (13-4), and episphere gear drive (5), lower semisphere gear drive (10) and the 3rd driving gear (13-1), the 3rd driven gear (13-2) all are arranged in the frame (9);
Install on the output of lower semisphere motor and reducing gear (8) and be with first driving gear (10-1), first driving gear (10-1) and first driven gear (10-2) engagement, first driven gear (10-2) is packed on second ball journal (3-1);
Admittedly be set with second driving gear (5-1) on the output of episphere motor and reducing gear (6); Second driving gear (5-1) and second driven gear (5-2) engagement; Second driven gear (5-2) is sleeved on the end of inner gimbal axle (4-1) admittedly; The input of the other end of inner gimbal axle (4-1) and inner gimbal (4) is affixed; The output of inner gimbal (4) and first ball journal (1-1) are affixed, and first ball journal (1-1) is rotationally connected with end-effector interfaces (18), and the end of episphere motor and reducing gear (6), lower semisphere motor and reducing gear (8) and spinning motor and reducing gear (12) respectively is equipped with an absolute rotary angle transmitter (7);
Admittedly be set with the 3rd driving gear (13-1) on the output of spinning motor and reducing gear (12); The 3rd driving gear (13-1) and the 3rd driven gear (13-2) engagement; The 3rd driven gear (13-2) is sleeved on the gear shaft (13-3) admittedly; Gear shaft (13-3) is rotationally connected with frame (9), gear shaft (13-3) and external toothing (13-4) engagement, and external toothing (13-4) is affixed with rotating disk (15); The frame (9) that is arranged on rotating disk (15) goes up and the two is rotationally connected, and rotating disk (15) is in transmission connection through outside universal joint (16) and end-effector interfaces (18).
2. according to the said Three Degree Of Freedom ball-type of claim 1 robot for space wrist, it is characterized in that said wrist also comprises thin-wall bearing (2), episphere (1) and lower semisphere (3) are rotationally connected through thin-wall bearing (2).
3. according to claim 1 or 2 said Three Degree Of Freedom ball-type robot for space wrists, it is characterized in that said wrist also comprises flange bearing (11), second ball journal (3-1) is rotationally connected through flange bearing (11) with frame (9).
4. according to claim 1 or 2 said Three Degree Of Freedom ball-type robot for space wrists, it is characterized in that said wrist also comprises rolling bearing (17), first ball journal (1-1) is rotationally connected through rolling bearing (17) with end-effector interfaces (18).
CN2011100255492A 2011-01-24 2011-01-24 Three-degree-of-freedom spherical space robot wrist Expired - Fee Related CN102029614B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011100255492A CN102029614B (en) 2011-01-24 2011-01-24 Three-degree-of-freedom spherical space robot wrist

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011100255492A CN102029614B (en) 2011-01-24 2011-01-24 Three-degree-of-freedom spherical space robot wrist

Publications (2)

Publication Number Publication Date
CN102029614A CN102029614A (en) 2011-04-27
CN102029614B true CN102029614B (en) 2012-05-30

Family

ID=43883336

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011100255492A Expired - Fee Related CN102029614B (en) 2011-01-24 2011-01-24 Three-degree-of-freedom spherical space robot wrist

Country Status (1)

Country Link
CN (1) CN102029614B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10292779B2 (en) * 2015-11-23 2019-05-21 Sina Robotics And Medical Innovators Co. Adapting manual laparoscopic surgical instruments for robotic telesurgery applications

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103251458A (en) * 2013-05-09 2013-08-21 天津工业大学 Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot
CN103302678B (en) * 2013-05-24 2016-02-03 宁波大学 A kind of wrist joint of robot
CN103341865B (en) * 2013-07-05 2015-06-24 大连理工大学 Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method
CN104633407A (en) * 2013-11-13 2015-05-20 沈阳新松机器人自动化股份有限公司 Three-degree-of-freedom rotating platform
CN104742151B (en) * 2015-04-07 2017-05-10 哈尔滨工业大学深圳研究生院 Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method
CN105058373B (en) * 2015-09-07 2016-10-19 哈尔滨工业大学 A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism
CN105250026B (en) * 2015-11-16 2017-05-31 哈尔滨理工大学 A kind of two-freedom device for adjusting posture
CN105480439B (en) * 2016-01-14 2017-08-25 北京空间飞行器总体设计部 A kind of space manipulator maintainable technology on-orbit device
CN105653820B (en) * 2016-01-26 2019-04-12 西安交通大学 A kind of Delta robot architecture's Parameters design for overcoming universal joint corner to limit
CN106730830B (en) * 2016-11-17 2021-02-12 歌尔光学科技有限公司 Driving mechanism, multi-degree-of-freedom cradle head and VR seat
CN107420709B (en) * 2017-08-25 2022-12-09 吉林大学珠海学院 Three-shaft universal gear holder
CN108673562B (en) * 2018-05-31 2021-07-13 哈尔滨理工大学 Welcome robot head neck structure based on ball gear fluted disc mechanism
CN108748125B (en) * 2018-06-04 2021-10-01 南京圣凯冷拉型钢有限公司 Snakelike industrial robot
JP6882245B2 (en) * 2018-10-22 2021-06-02 ファナック株式会社 Robot system
CN109318252A (en) * 2018-10-24 2019-02-12 上海机器人产业技术研究院有限公司 A kind of Three Degree Of Freedom wrist and its kinematic calculation method
CN109855528B (en) * 2019-01-14 2024-02-27 中北大学 Ball joint movement sensor
CN109623878B (en) * 2019-01-22 2023-06-27 天津大学 Self-calibration method of sensing system for simulating wrist joint of smart hand
CN109794954B (en) * 2019-02-21 2024-01-02 长春艾希技术有限公司 Floating platform
US10951105B2 (en) 2019-04-11 2021-03-16 Honeywell International Inc. Geared spherical electromagnetic machine with two-axis rotation
CN110171015B (en) * 2019-05-21 2022-06-07 太原理工大学 Motion decoupling hydraulic drive three-degree-of-freedom spherical wrist
US11446814B2 (en) 2020-06-01 2022-09-20 Dalian University Of Technology Electromagnetic drive spherical robotic wrist with two degrees of freedom and control method therefor
CN112228527B (en) * 2020-10-15 2022-05-17 重庆大学 Gear assembly with variable tooth thickness
CN114536352B (en) * 2020-11-27 2023-09-12 三赢科技(深圳)有限公司 Mechanical positioning structure and manipulator assembly
CN112629384B (en) * 2020-12-18 2022-08-02 中国科学院光电技术研究所 Hooke inclined disc type ball joint posture detection device
CN113146675B (en) * 2021-02-25 2022-07-29 北京空间飞行器总体设计部 Lunar surface sampling mechanical arm joint
CN113459152B (en) * 2021-08-19 2022-11-01 北京交通大学 Large-motion-range composite flexible bionic ball socket joint
CN114061942B (en) * 2021-10-19 2023-09-01 九江学院 Angle fault detection device and alarm device of universal shaft
CN114102650B (en) * 2021-12-27 2023-11-28 杭州电子科技大学 Multi-degree-of-freedom robot end effector

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09309089A (en) * 1996-05-24 1997-12-02 Ricoh Co Ltd Wrist mechanism for assembly robot
CN1285447C (en) * 2002-09-10 2006-11-22 天津大学 Driving robot wrist
EP1815950A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
CN101927498B (en) * 2009-11-12 2011-08-24 哈尔滨工业大学 Two-degree-of-freedom robot wrist

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10292779B2 (en) * 2015-11-23 2019-05-21 Sina Robotics And Medical Innovators Co. Adapting manual laparoscopic surgical instruments for robotic telesurgery applications

Also Published As

Publication number Publication date
CN102029614A (en) 2011-04-27

Similar Documents

Publication Publication Date Title
CN102029614B (en) Three-degree-of-freedom spherical space robot wrist
CN103341865B (en) Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method
CN111604935B (en) Electromagnetically-driven spherical robot wrist with two degrees of freedom and control method thereof
CN105314102B (en) A kind of unmanned plane for equipping mechanical arm
CN104589368B (en) Soft contact joint based on cross axle structure
US8770055B2 (en) Multi-axis pivot assembly for control sticks and associated systems and methods
CN101486192B (en) Single motor driven two-freedom degree joint structure
CN103128744A (en) Humanoid flexible mechanical arm device
US8127871B2 (en) Frame walker predicated on a parallel mechanism
CN103381602A (en) Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom
CN203528630U (en) Spherical jump robot system
CN101590650B (en) Decoupled three-rotational-degree-of-freedom parallel mechanism
Wang et al. Design and modeling of a novel transformable land/air robot
CN101116971A (en) Movement decoupling spherical surface rotating paralleling mechanism can be used as the robot wrist joint
CN103737582A (en) High-precision advanced welding robot mechanism with six degrees of freedom
CN108556577B (en) Air-ground dual-purpose spherical robot
CN113183184A (en) Six-degree-of-freedom force feedback teleoperation master hand with gravity compensation
CN103424269A (en) Coupled four-DOF motion simulation platform comprising closed-loop subchain
CN100556621C (en) Omnidirectional rolling spherical robot apparatus with stabilized platform
CN102120299B (en) Decoupled three-rotation parallel mechanism
Bashevkin et al. A novel hemispherical anti-twist tracking system (HATTS) for CubeSats
CN102476288A (en) Special six-freedom-degree parallel mechanism
RU167129U1 (en) COMBINED SPHERAL WORK
US11446814B2 (en) Electromagnetic drive spherical robotic wrist with two degrees of freedom and control method therefor
EP3095563B1 (en) Device for the movement and positioning of an object in space

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120530

Termination date: 20220124