CN103009401A - Mechanical arm, control method of mechanical arm and robot - Google Patents
Mechanical arm, control method of mechanical arm and robot Download PDFInfo
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- CN103009401A CN103009401A CN2012105442911A CN201210544291A CN103009401A CN 103009401 A CN103009401 A CN 103009401A CN 2012105442911 A CN2012105442911 A CN 2012105442911A CN 201210544291 A CN201210544291 A CN 201210544291A CN 103009401 A CN103009401 A CN 103009401A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention discloses a mechanical arm, a control method of the mechanical arm and a robot. The invention relates to the field of automatic control, and provides the mechanical arm. The mechanical arm comprises at least one servo motor, an enclosed air bag and at least one rope, wherein the air bag comprises at least one joint; one end of each rope is connected with the tail end of one of the joints, and the other end of each rope is connected with one of the servo motors; and the posture of each joint is controlled by adjusting the length of each rope by the servo motor. In a preferred mode of execution, the mechanical arm comprises at least two ropes, wherein one end of each rope is connected with the tail end of one of the joints, and the other end of each rope is connected with one of the servo motors; each joint is controlled by at least two ropes; and mutual coupling is controlled through the length of each rope of each joint, so that the posture of each joint is controlled. The invention provides the mechanical arm with high safety degree. The mechanical arm is supported by using the air bag, and is driven by a guy cable, so that the inertia of the mechanical arm is greatly reduced, the compliance of the mechanical arm is improved greatly, and the mechanical arm is safer for using and is more attractive.
Description
Technical field
The present invention relates to automation field, in particular, relate to control method and the robot of a kind of mechanical arm, mechanical arm.
Background technology
Mechanical arm is the automatic control equipment that has imitation human arm function and can finish various operations, and the robot system that is made of this mechanical arm is linked by multi-joint and allows in two dimension or three dimensions moves or use linear displacement to move.
In the conventional prior art, the material that some rigidity of mechanical arm normal operation are very strong such as metal manufacturing, and drive motors all is directly installed on the mechanical arm, therefore the inertia during manipulator motion can be very large and lacks compliance in the situation of open loop control, so that the control to mechanical arm has increased difficulty in design process.In addition, cause easily larger injury when this mechanical arm that utilizes the metal manufacturing and people or other objects are in contact with one another or during work because bumping.The collision problem of mechanical arm seems even more important in the service robot field, because working environment can exist a lot of uncertainties and needs often interactive mutually with the people, thereby increased unexpected risk of collision.For this problem, open day is on August 7th, 2012, publication number is that the U.S. of US8234949 authorizes patent of invention to propose joint with the method driving device arm of steel wire drive, the inertia of the base that its servomotor can be installed in mechanical arm when alleviating manipulator motion.But the structural member of this type of mechanical arm still uses rigid material, therefore still has certain collision nocuity.
Summary of the invention
The object of the invention is to solve the problem of mechanical arm of the prior art security deficiency in the process of service robot, provide a kind of degree of safety high mechanical arm, this mechanical arm is supported by air bag and drives in the mode of drag-line, thereby the compliance that has alleviated widely the inertia of mechanical arm and increased this mechanical arm, so that the use of mechanical arm is more safe and more attractive in appearance.
In order to achieve the above object, one aspect of the present invention provides a kind of mechanical arm, mechanical arm comprises at least one servomotor, enclosed air bag, at least one rope, air bag comprises at least one joint, one end of each rope connects the wherein end in a joint, the other end is connected with a servomotor wherein, and the length of regulating rope by servomotor is controlled the attitude in joint.
According to one embodiment of present invention, mechanical arm comprises at least two ropes, one end of each rope connects the wherein end in a joint, the other end is connected with a servomotor wherein, and each joint is controlled by at least two ropes, the length control of each bar rope of each joint intercouples, with the attitude in control joint.
According to one embodiment of present invention, mechanical arm comprises that at least two servomotors, each servomotor control a rope independently.
According to one embodiment of present invention, the cross-sectional area of joint position is less than the cross-sectional area of other position of air bag.
According to one embodiment of present invention, mechanical arm also comprises the sleeve pipe for nested rope, and sleeve pipe all is arranged on the inside of air bag, and the entrance of each sleeve pipe is fixed therein the top in a joint, and its outlet is fixed on the root of mechanical arm.
According to one embodiment of present invention, air bag comprises at least two joints that link together, and the connected mode in joint is tree-shaped connected mode, annular shape connected mode or is connected in series mode.
According to one embodiment of present invention, the joint comprises single-DOF-joint, and single-DOF-joint is controlled by two ropes, and two rope positions are divided equally with 180 degree in the cross section in joint.
According to one embodiment of present invention, the joint comprises two-freedom degree joint, and two-freedom degree joint is controlled by at least three ropes, and the position of each the bar rope in the two-freedom degree joint is divided with the angle combination less than 180 degree in the cross section in joint.
According to one embodiment of present invention, the position of each the bar rope in two-freedom degree joint number with rope in the cross section in joint is divided equally.
According to one embodiment of present invention, mechanical arm comprises for the air pump of giving airbag aeration, for detection of the baroceptor of air pressure and the gas pressure regulator that is used for receiving the air pressure instruction, gas pressure regulator receive the air pressure instruction and the pressure signal that sent by baroceptor after, by air pump the air pressure in the air bag is controlled and to be made its air pressure consistent with the air pressure instruction; Mechanical arm also comprises attitude controller, is used for the control servomotor and regulates the attitude that the length of rope is controlled the joint.
According to another aspect of the present invention, provide a kind of control method of mechanical arm, may further comprise the steps:
Gas pressure regulator is sent the air pressure instruction, and detect air pressure and send pressure signal by baroceptor;
After gas pressure regulator receives air pressure instruction and pressure signal,, and by the air valve on air pump or the air bag air pressure in the air bag is controlled airbag aeration by air pump, made its air pressure consistent with the air pressure instruction;
After adjusting the air pressure in the air bag, send attitude command;
Attitude controller receives attitude command, controls each servomotor and adjusts the length of each rope according to attitude command, so that consistent with attitude command by the attitude in the joint of rope control.
According to a further aspect of the invention, provide a kind of robot, comprise such as the described mechanical arm of above-mentioned technical scheme.
The present invention has following beneficial effect with respect to prior art:
(1) to have adopted enclosed not extensible air bag be that mechanical arm plays a supportive role to mechanical arm of the present invention, reduced greatly the harmfulness that mechanical arm brings with other contactant collisions in the course of the work, guaranteed the security of mechanical arm work, in addition, this mechanical arm can shrink air bag idle the time, reduced taking up room of mechanical arm, easy to carry and transport;
(2) mechanical arm of the present invention has adopted the mechanical arm design in multistage joint, separate controlling between joint and the joint wherein, do not need to be subjected to the activity in other joints and make corresponding adjusting, after the multistage joint is by suitable combination, have the mobility of highly imitating human arm;
(3) can there be a plurality of frees degree in the joint of mechanical arm employing of the present invention, be that single joint can be controlled by many ropes, the joint that consists of like this is more flexible than the joint of single-degree-of-freedom in the prior art, can realize the activity that mechanical arm is more complicated, finally realize the more function of robot;
(4) mechanical arm of the present invention is arranged at inside air bag with all ropes, so that mechanical arm is controlled flow process is more succinct, and has avoided because a large amount of ropes expose to the outward appearance that mechanical arm affects mechanical arm, so that use the robot of this kind mechanical arm more attractive in appearance.
(5) cabling of sleeve pipe of the present invention is inner from the joint, and particularly the center is passed and can greatly be reduced sleeve pipe needs reservation because of joint motion length.
Description of drawings
Fig. 1 is the structural representation of the mechanical arm of first embodiment of the invention;
Fig. 2 is the structural representation of the mechanical arm of second embodiment of the invention;
Fig. 3 is the tree-shaped connected mode schematic diagram in multistage of the present invention joint;
Fig. 4 is the annular shape connected mode schematic diagram in multistage of the present invention joint;
Fig. 5 is the mode that the is connected in series schematic diagram in multistage of the present invention joint;
Fig. 6 A is the rope distribution top view of two-freedom degree joint of the present invention;
Fig. 6 B is the rope distribution front view of two-freedom degree joint of the present invention;
Fig. 6 C is the rope distribution side view of two-freedom degree joint of the present invention;
Fig. 7 A is the rope distribution top view of single-DOF-joint of the present invention;
Fig. 7 B is the rope distribution front view of single-DOF-joint of the present invention;
Fig. 7 C is the rope distribution side view of single-DOF-joint of the present invention;
Fig. 8 is the activity chart of joint of mechanical arm of the present invention;
Fig. 9 is the structural representation of pneumatic control system of the present invention;
Figure 10 is the structural representation of attitude control system of the present invention;
Figure 11 is the schematic flow sheet of mechanical arm control method of the present invention.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
As shown in Figure 1, in the first embodiment of the present invention, mechanical arm comprises at least one servomotor 10, be used for the air pump 21 to airbag aeration, be used for discharging the air valve 22 of the air bag that is in off working state, baroceptor 23 for detection of air pressure, enclosed air bag 30 and at least one rope 40, wherein air pump 21, air valve 22 and baroceptor 23 consist of the gas ducting of adjusting air bag 30 air pressure inside, gas ducting is arranged near the root of mechanical arm, air bag 30 comprises at least one joint that links together, such as, the first joint GJ1 among Fig. 1, the second joint that in Fig. 1, does not draw in addition, the 3rd joint etc., each joint is controlled by at least one rope, wherein an end of each rope 40 connects the wherein end 401 in a joint, the other end is connected with a servomotor 10 wherein, control the attitude in joint by the length of servomotor 10 adjusting ropes 40, when servomotor 10 is hauled 40 the time, the joint is to mobile on one side, when servomotor 10 payout 40, the joint homing.All ropes all are arranged on the inside of this air bag 30, mechanical arm of the present invention also comprises the many sleeve pipes 50 for nested rope 40, interior all nested ropes 40 only of each sleeve pipe 50 wherein, sleeve pipe 50 can be crooked, but its cross-sectional area in the course of work does not change, and mainly is smooth and easy in order to guarantee that rope 40 stretches.The present invention is by being arranged on servomotor 10 root position of mechanical arm, and the inertia when having alleviated manipulator motion is so that mechanical arm is more prone to control and operation.
As shown in Figure 2, in the second embodiment of the present invention, mechanical arm comprises at least two servomotors 10, be used for the air pump 21 to airbag aeration, be used for discharging the air valve 22 of the air bag that is in off working state, baroceptor 23 for detection of air pressure, enclosed air bag 30 and at least two ropes 40, wherein air pump 21, air valve 22 and baroceptor 23 consist of the gas ducting of adjusting air bag 30 air pressure inside, gas ducting is arranged near the root of mechanical arm, air bag 30 comprises at least two joints that link together, such as, the first joint GJ1 among Fig. 2, second joint GJ2, the 3rd joint that in Fig. 2, does not draw in addition, the 4th joint etc., each joint is controlled by at least two ropes, wherein an end of each rope 40 connects the wherein end 401 in a joint, the other end is connected with a servomotor 10 wherein, and each joint is controlled by at least two ropes, the length control of each bar rope of each joint intercouples, with the attitude in control joint.All ropes all are arranged on the inside of this air bag 30, mechanical arm of the present invention also comprises the many sleeve pipes 50 for nested rope 40, interior all nested ropes 40 only of each sleeve pipe 50 wherein, sleeve pipe 50 can be crooked, but its cross-sectional area in the course of work does not change, and mainly is smooth and easy in order to guarantee that rope 40 stretches.The present invention is by being arranged on servomotor 10 root position of mechanical arm, and the inertia when having alleviated manipulator motion is so that mechanical arm is more prone to control and operation.
In above-mentioned two embodiments, air bag 30 is made by material not extensible or that range of extension is low, and air bag 30 is inflated by air pump 21, and baroceptor 23 is installed in the gas ducting to detect air pressure.As shown in Figure 2, the cross section of joint position can be done littlely than other positions, so that the position of joint can be easier to be bent.All ropes among the present invention are made of not stretchable material, and wherein rope 40 passes sleeve pipe 50, and the entrance 502 of sleeve pipe 50 is fixed on the top in joint, and the outlet 501 of sleeve pipe 50 is fixed on one side of whole mechanical arm, such as root position.Sleeve pipe 50 is made of material flexible, immutable its shape of cross section only.Outlet 501 positions of sleeve pipe 50 and the distance of servomotor 10 are fixed, and it is consistent with the contracted length of rope in the joint position to make servomotor 10 pull out the length of rope.The combination in the joint among the present invention can form with any combination of connected mode, tree-shaped connected mode, annular connected mode or above-mentioned three kinds of connected modes of series connection, wherein the gas circuit between the joint all connects, and sleeve pipe 50 all can arrive by the center in other joints the root of mechanical arm at last.Relatively walk from the mechanical arm outside, the cabling of sleeve pipe 50 passes from articulation center can reduce sleeve pipe 50 needs reservation because of joint motion length greatly.
The below is specifically described principle of the present invention and working method as an example of the second embodiment example:
The kind of joint of mechanical arm wherein comprises universal (two-freedom) joint, single-DOF-joint.Fig. 6 A to Fig. 6 C has shown the structure of two-freedom degree joint, and Fig. 7 A to Fig. 7 C has shown the structure of single-DOF-joint.Two-freedom degree joint is utilized in the situation of three rope controls by minimum three ropes control, and wherein a kind of distribution is divided equally with 120 degree shown in the cross section among Fig. 6 A, certainly also has other distribution mode, and its angle can arbitrarily make up but be less than 180 degree.The rope position of single-DOF-joint can be divided equally with 180 degree shown in the cross section among Fig. 7 A, and be arranged on that side of depression in joint, shown in the side view among Fig. 7 C, otherwise can not effectively control the activity in joint, wherein the rope of every side quantity is installed can be more than one.Joint combination among the present invention in the mechanical arm can be combined by a plurality of single-DOF-joints, also can be that a plurality of two-freedom degree joints combine, can also be to be formed by single-degree-of-freedom and two-freedom degree joint hybrid combining, these can arrange according to actual conditions.
Mechanical arm of the present invention mainly is comprised of pneumatic control system and attitude control system.As shown in Figure 9 and Figure 10, this pneumatic control system comprises enclosed air bag 30, be used for to air bag 30 inflations air pump 21, for detection of the baroceptor 23 of air pressure and the gas pressure regulator 60 that is used for receiving the air pressure instruction, gas pressure regulator 60 receive the air pressure instructions and the pressure signal that sent by baroceptor 23 after, controlled by the air pressure in air pump 21 or 22 pairs of air bags of air valve and to make its air pressure consistent with the air pressure instruction, this air bag 30 comprises a plurality of joints that are interconnected; Attitude control system comprises at least two servomotors 10, at least two ropes 40 and attitude controller 70, and all there are at least two ropes controls in each joint, and the length control of each bar rope of each joint intercouples; Each servomotor 10 is controlled each rope 40 independently, adjusts the length of its ropes of controlling 40 by each servomotor 10 of attitude controller 70 control, thereby so that consistent with attitude command by the attitude in the joint of at least two ropes 40 controls.
As shown in figure 11, the flow process of controlling of mechanical arm may further comprise the steps:
S101: gas pressure regulator is sent the air pressure instruction, and detect air pressure and send pressure signal by baroceptor 23;
S102: after gas pressure regulator receives air pressure instruction and pressure signal, inflated by 21 pairs of air bags of air pump 30, and controlled by the air pressure in 22 pairs of air bags of the air valve on air pump 21 or the air bag 30, make its air pressure consistent with described air pressure instruction; The adjustment of air pressure can change the rigidity of whole mechanical arm, thereby change the compliance of mechanical arm, pneumatic control system can start when mechanical arm uses always, also can start first before mechanical arm uses, guarantee to close after air pressure correctly, then just use mechanical arm to save power supply;
S103: after adjusting the air pressure in the air bag 30, send attitude command;
S104: attitude controller 70 receives attitude commands, controls each servomotor 10 and adjusts the length of each rope according to attitude command, so that consistent with attitude command by the attitude in the joint of rope control.
The length control of the rope 40 in each joint is coupled, when a joint need to change attitude, each root rope all needs to make corresponding change on its joint, for example, two ropes in single-DOF-joint are if wherein a rope is carried out when loosening order, another root rope is then carried out the order of tension so, guarantee the smooth activity in joint herein, if when other joints need not change attitude, the length of its rope remains unchanged.
This mechanical arm of the present invention can be applied in the robot, can so that robot movable freely and also security high.
Air bag of the present invention can comprise at least two joints that link together, and the connected mode in joint is tree-shaped connected mode, annular shape connected mode or is connected in series mode that the below describes with several embodiment respectively:
Embodiment 1
As shown in Figure 3, a plurality of joint set of the mechanical arm in the present embodiment are combined into tree-shaped connected mode, this mechanical arm comprises mechanical arm root DB, the first joint GJ1, second joint GJ2, the 3rd joint GJ3, the air pump 21 that the 4th joint GJ4 and Fig. 3 do not draw, air valve 22, baroceptor 23, gas pressure regulator 60, enclosed air bag 30, a plurality of servomotors 10 and many ropes 40, joint in the present embodiment is not only four, can be more joints, mechanical arm root DB wherein, the first joint GJ1, second joint GJ2, the 3rd joint GJ3 and the 4th joint GJ4 link to each other successively, each joint is controlled by at least two ropes, wherein an end of each rope 40 connects the wherein end 401 in a joint, the other end is connected with a servomotor 10 wherein, and all ropes all are arranged on inside or the central authorities of this air bag 30, mechanical arm of the present invention also comprises the many sleeve pipes 50 for nested rope 40, interior all nested ropes 40 only of each sleeve pipe 50 wherein, sleeve pipe 50 can be crooked, but its cross-sectional area in the course of work does not change.
In the present embodiment, a plurality of joints can also be arranged, be not only four joints, and some joint is horizontally set in all joints, and the joint that also has is vertical setting.For example, as shown in Figure 3, the first joint GJ1 and the 3rd joint GJ3 horizontally set, second joint GJ2 and the 4th joint GJ4 vertically arrange.
In the present embodiment, articulate type can be single-DOF-joint, also can be two-freedom degree joint, and concrete condition is decided according to actual, is not specifically limited in the present embodiment.Mechanical arm in the present embodiment mainly is comprised of pneumatic control system and attitude control system.Pneumatic control system can start when mechanical arm uses always, also can start first before mechanical arm uses, and guarantees to close after air pressure correctly, then just uses mechanical arm to save power supply.Gas pressure regulator 60 receives the pressure signal that air pressure instructions and baroceptor 23 detect, and then controls air pressure in 22 pairs of air bags 30 of air pump 21 and air valve and controls and make it consistent with the air pressure instruction.The adjustment of air pressure can change the rigidity of whole mechanical arm, thereby changes the compliance of mechanical arm.
Thereby the length that attitude controller 70 is adjusted rope 40 on the joint by control servomotor 10 matches the attitude and instruction of mechanical arm.The length control of the rope in each joint is coupled, and when a joint need to change attitude, each root rope all needed to make corresponding change on its joint.When if other joints need not change attitude, the length of its rope remains unchanged.
Embodiment 2
As shown in Figure 4, a plurality of joint set of the mechanical arm in the present embodiment are combined into annular connected mode, this mechanical arm comprises mechanical arm root DB, the first joint GJ1, second joint GJ2, the 3rd joint GJ3, the 4th joint GJ4, the 5th joint GJ5, the air pump 21 that the 6th joint GJ6 and Fig. 4 do not draw, air valve 22, baroceptor 23, gas pressure regulator 60, enclosed air bag 30, a plurality of servomotors 10 and many ropes 40, joint in the present embodiment is not only six, can be more joints, the first joint GJ1 wherein, second joint GJ2, the 3rd joint GJ3, the 4th joint GJ4, the joint combination of the 5th joint GJ5 and the common looping shape of the 6th joint GJ6, also can be for utilizing the wherein joint combination of the common looping shape in the joint more than three or three, also can be combined into a plurality of annular cylindrarthrosis combinations that link together, specifically decide according to actual conditions.Equally, in the present embodiment, articulate type can be single-DOF-joint, also can be two-freedom degree joint, and concrete condition is decided according to actual, is not specifically limited in the present embodiment.Other technologies scheme in the present embodiment is identical with embodiment 1, does not repeat them here.
Embodiment 3
As shown in Figure 5, a plurality of joint set of the mechanical arm in the present embodiment are combined into the connected mode of series connection, this mechanical arm comprises mechanical arm root DB, the first joint GJ1, second joint GJ2, the 3rd joint GJ3 that links to each other successively, joint in the present embodiment is not only three, can be more, wherein, all joints or all be horizontally set, or vertically arrange.Other technologies scheme in the present embodiment is all identical with embodiment 1, does not repeat them here.
In sum, mechanical arm provided by the invention adopts enclosed air bag as supporter, reduced the harm that mechanical arm brings with other contactant collisions in work and transportation, the motion and the rope that also adopt multistage to have the incompatible control mechanical arm of multivariant joint set are built in the air bag, so that mechanical arm is more flexible, outward appearance is also beautified more.Mechanical arm of the present invention can also be applied on kinematic robot or the augmentor.
Above-described embodiment is the better embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not run counter to change, the modification done under Spirit Essence of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (12)
1. mechanical arm, it is characterized in that, described mechanical arm comprises at least one servomotor, enclosed air bag, at least one rope, described air bag comprises at least one joint, one end of each rope connects the wherein end in a joint, the other end is connected with a servomotor wherein, and the length of regulating rope by described servomotor is controlled the attitude in described joint.
2. mechanical arm according to claim 1, it is characterized in that, described mechanical arm comprises at least two ropes, one end of each rope connects the wherein end in a joint, the other end is connected with a servomotor wherein, and each joint is controlled by at least two ropes, and the length control of each bar rope of each joint intercouples, to control the attitude in described joint.
3. mechanical arm according to claim 2 is characterized in that, described mechanical arm comprises that at least two servomotors, each servomotor control a rope independently.
4. mechanical arm according to claim 1 and 2 is characterized in that, the cross-sectional area of described joint position is less than the cross-sectional area of other position of described air bag.
5. mechanical arm according to claim 1 and 2, it is characterized in that, described mechanical arm also comprises the sleeve pipe for nested described rope, described sleeve pipe all is arranged on the inside of described air bag, the entrance of each described sleeve pipe is fixed therein the top in a joint, and its outlet is fixed on the root of described mechanical arm.
6. mechanical arm according to claim 1 and 2 is characterized in that, described air bag comprises at least two joints that link together, and the connected mode in joint is tree-shaped connected mode, annular shape connected mode or is connected in series mode.
7. mechanical arm according to claim 2 is characterized in that, described joint comprises single-DOF-joint, and described single-DOF-joint is controlled by two ropes, and two rope positions are divided equally with 180 degree in the cross section in described joint.
8. mechanical arm according to claim 2, it is characterized in that, described joint comprises two-freedom degree joint, described two-freedom degree joint is controlled by at least three ropes, and the position of each the bar rope in the described two-freedom degree joint is divided with the angle combination less than 180 degree in the cross section in described joint.
9. mechanical arm according to claim 8 is characterized in that, the position of each the bar rope in described two-freedom degree joint number with described rope in the cross section in described joint is divided equally.
10. mechanical arm according to claim 1 and 2, it is characterized in that, described mechanical arm comprises for the air pump of giving described airbag aeration, for detection of the baroceptor of air pressure and the gas pressure regulator that is used for receiving the air pressure instruction, described gas pressure regulator receive the air pressure instruction and the pressure signal that sent by baroceptor after, by described air pump the air pressure in the described air bag is controlled and to be made its air pressure consistent with the air pressure instruction; Described mechanical arm also comprises attitude controller, is used for controlling described servomotor and regulates the attitude that the length of rope is controlled described joint.
11. the control method of a mechanical arm is characterized in that, may further comprise the steps:
Gas pressure regulator is sent the air pressure instruction, and detect air pressure and send pressure signal by baroceptor;
After gas pressure regulator receives described air pressure instruction and pressure signal,, and by the air valve on air pump or the described air bag air pressure in the air bag is controlled airbag aeration by air pump, made its air pressure consistent with described air pressure instruction;
After adjusting the air pressure in the air bag, send attitude command;
Attitude controller receives attitude command, controls each servomotor and adjusts the length of each rope according to described attitude command, so that consistent with described attitude command by the attitude in the joint of rope control.
12. a robot is characterized in that, comprises such as each described mechanical arm among the claim 1-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210544291.1A CN103009401B (en) | 2012-12-14 | 2012-12-14 | Mechanical arm, control method of mechanical arm and robot |
| PCT/CN2012/087876 WO2014089887A1 (en) | 2012-12-14 | 2012-12-28 | Mechanical arm, control method of mechanical arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210544291.1A CN103009401B (en) | 2012-12-14 | 2012-12-14 | Mechanical arm, control method of mechanical arm and robot |
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| CN103009401A true CN103009401A (en) | 2013-04-03 |
| CN103009401B CN103009401B (en) | 2014-09-10 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105361983A (en) * | 2015-09-14 | 2016-03-02 | 张英华 | Prosthesis mechanical arm, robot and robot control method |
| CN105361983B (en) * | 2015-09-14 | 2017-05-10 | 张英华 | Robot and robot control method |
| CN107030702A (en) * | 2017-06-02 | 2017-08-11 | 华中科技大学 | A kind of method for planning track of mechanical arm |
| CN108698744A (en) * | 2017-07-27 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | Cargo protecting system, method and robot device in cargo hold |
| CN108698744B (en) * | 2017-07-27 | 2019-07-30 | 深圳蓝胖子机器人有限公司 | Cargo protecting system, method and robot device in cargo hold |
| CN107901032A (en) * | 2017-09-26 | 2018-04-13 | 南京航空航天大学 | Friction free rope drives passive de-coupling mechanism and its decoupling antifriction method |
| CN107901032B (en) * | 2017-09-26 | 2020-11-20 | 南京航空航天大学 | Friction-free rope-driven passive decoupling mechanism and decoupling antifriction method thereof |
| CN108818559A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of myoarchitecture of emulated robot |
| WO2021196438A1 (en) * | 2020-03-31 | 2021-10-07 | 电子科技大学中山学院 | Pneumatically controlled distance-adjustable extension mechanism for mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103009401B (en) | 2014-09-10 |
| WO2014089887A1 (en) | 2014-06-19 |
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