CN105058429A - Single drive source three-degree-of-freedom underactuated robot wrist fixing device - Google Patents
Single drive source three-degree-of-freedom underactuated robot wrist fixing device Download PDFInfo
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- CN105058429A CN105058429A CN201510578466.4A CN201510578466A CN105058429A CN 105058429 A CN105058429 A CN 105058429A CN 201510578466 A CN201510578466 A CN 201510578466A CN 105058429 A CN105058429 A CN 105058429A
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- idler pulley
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Abstract
The invention discloses a single drive source three-degree-of-freedom underactuated robot wrist fixing device. The single drive source three-degree-of-freedom underactuated robot wrist fixing device comprises a first fixed idler pulley part, a second fixed idler pulley part, a third fixed idler pulley part, a fourth fixed idler pulley part, a fifth fixed idler pulley part, a first sliding idler pulley part and a second sliding idler pulley part, and a tail end connecting rod is arranged between the first fixed idler pulley part and the fifth fixed idler pulley part. In this way, the invention can provide the single drive source three-degree-of-freedom underactuated robot wrist fixing device, ropes which are driven by a single drive source are taken as input ends, by means of transmission through an underactuated system, the tail end connecting rod which is taken as an output end is driven to do three-degree-of-freedom movement, a robot formed in this way is less in power source, the size of the wrist is smaller than that in the prior art, the weight is light, the cost is low, and the good practical performance is achieved.
Description
Technical field
The present invention relates to a kind of lack of driven robot, particularly relate to a kind of Single Drive Source three-degree of freedom under-actuated robot wrist fixture.
Background technology
Under-actuated systems is the system that a kind of utilization is less than that number of degrees of freedom, object power source carrys out drive mechanism.After Oriolo in 1991 proves under-actuated systems incomplete property theorem, lack of driven robot starts to be paid close attention to, and makes slow progress because its difficulty is comparatively large.The people such as Laliberte and Gosselin in 2003 have developed the manipulator SARAH [14] of a high drive lacking, and this manipulator is made up of 3 three joint fingers, and as the end effector of mechanical arm Canadian in international space station.The people such as Carrozza in 2004 have developed the manipulator SPRINGHand of another high drive lacking, and this manipulator is made up of 3 three joint fingers, is driven by tendon.
Summary of the invention
The technical problem that the present invention mainly solves is: how to provide a kind of rope adopting single power source to drive as input, and through the transmission of a under-actuated systems, drive and make three-degree-of-freedom motion as the tail end connecting rod of output, the robot power source using this mode to form is few, the volume of wrist is also little than robot wrist of the prior art, lightweight, and cost is low, has the lack of driven robot of good Practical Performance.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of Single Drive Source three-degree of freedom under-actuated robot wrist fixture, comprise: the first stator ring parts, second stator ring parts, 3rd stator ring parts, 4th stator ring parts, 5th stator ring parts, first sliding wheel parts and the second sliding wheel parts, tail end connecting rod is provided with between described first stator ring parts and the 5th stator ring parts, be fixedly connected with by the first rope between described tail end connecting rod with the 5th stator ring parts, the second rope is provided with between described first sliding wheel parts and the second stator ring parts.
In a preferred embodiment of the present invention, described Single Drive Source three-degree of freedom under-actuated robot wrist fixture also includes swivel link, and described swivel link is connected with tail end connecting rod.
In a preferred embodiment of the present invention, described second stator ring parts, to be connected between the 3rd stator ring parts and the second sliding wheel parts.
The invention has the beneficial effects as follows: adopt the rope of single power source driving as input, and through the transmission of a under-actuated systems, drive and make three-degree-of-freedom motion as the tail end connecting rod of output, the robot power source using this mode to form is few, the volume of wrist is also little than robot wrist of the prior art, lightweight, and cost is low, has good Practical Performance.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of a kind of Single Drive Source three-degree of freedom under-actuated robot wrist fixture one of the present invention preferred embodiment.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention provides following technical scheme.
A kind of Single Drive Source three-degree of freedom under-actuated robot wrist fixture is provided in the present embodiment, described Single Drive Source three-degree of freedom under-actuated robot wrist fixture comprises: the first stator ring parts 1, second stator ring parts 3, 3rd stator ring parts 4, 4th stator ring parts 5, 5th stator ring parts 7, first sliding wheel parts 2 and the second sliding wheel parts 6, tail end connecting rod 8 is provided with between described first stator ring parts 1 and the 5th stator ring parts 7, be fixedly connected with by the first rope 10 between described tail end connecting rod 8 with the 5th stator ring parts 7, the second rope 11 is provided with between described first sliding wheel parts 2 and the second stator ring parts 3.Described Single Drive Source three-degree of freedom under-actuated robot wrist fixture also includes swivel link 9, and described swivel link 9 is connected with tail end connecting rod 8.Described second stator ring parts 3, to be connected between the 3rd stator ring parts 4 and the second sliding wheel parts 6.
The invention has the beneficial effects as follows: adopt the rope of single power source driving as input, and through the transmission of a under-actuated systems, drive and make three-degree-of-freedom motion as the tail end connecting rod 82 of output, the robot power source using this mode to form is few, the volume of wrist is also little than robot wrist of the prior art, lightweight, and cost is low, has good Practical Performance.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (3)
1. a Single Drive Source three-degree of freedom under-actuated robot wrist fixture, it is characterized in that, comprise: the first stator ring parts (1), second stator ring parts (3), 3rd stator ring parts (4), 4th stator ring parts (5), 5th stator ring parts (7), first sliding wheel parts (2) and the second sliding wheel parts (6), tail end connecting rod (8) is provided with between described first stator ring parts and the 5th stator ring parts, be fixedly connected with by the first rope (10) between described tail end connecting rod with the 5th stator ring parts, the second rope (11) is provided with between described first sliding wheel parts and the second stator ring parts.
2. Single Drive Source three-degree of freedom under-actuated robot wrist fixture according to claim 1, it is characterized in that, described Single Drive Source three-degree of freedom under-actuated robot wrist fixture also includes swivel link (9), and described swivel link is connected with tail end connecting rod.
3. Single Drive Source three-degree of freedom under-actuated robot wrist fixture according to claim 1, is characterized in that, described second stator ring parts, is connected between the 3rd stator ring parts and the second sliding wheel parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510578466.4A CN105058429A (en) | 2015-09-14 | 2015-09-14 | Single drive source three-degree-of-freedom underactuated robot wrist fixing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510578466.4A CN105058429A (en) | 2015-09-14 | 2015-09-14 | Single drive source three-degree-of-freedom underactuated robot wrist fixing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105058429A true CN105058429A (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510578466.4A Pending CN105058429A (en) | 2015-09-14 | 2015-09-14 | Single drive source three-degree-of-freedom underactuated robot wrist fixing device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791802A (en) * | 2010-01-21 | 2010-08-04 | 上海大学 | Three-degree of freedom under-actuated robot wrist device |
| CN101804635A (en) * | 2010-03-17 | 2010-08-18 | 上海大学 | Ball hinge-based three degree of freedom under-actuated robot wrist device |
| CN102009414A (en) * | 2010-12-29 | 2011-04-13 | 上海大学 | Wrist device for three degree of freedom (TDOF) underactuated robot |
| US20120043100A1 (en) * | 2009-05-08 | 2012-02-23 | Ntn Corporation | Remote-controlled work robot |
| CN102528815A (en) * | 2012-01-05 | 2012-07-04 | 上海大学 | Multi-degree-of-freedom underactuated manipulator |
| CN204954863U (en) * | 2015-09-14 | 2016-01-13 | 苏州达力客自动化科技有限公司 | Single three degree of freedom underactuated robot arm fixing device of driving source |
-
2015
- 2015-09-14 CN CN201510578466.4A patent/CN105058429A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120043100A1 (en) * | 2009-05-08 | 2012-02-23 | Ntn Corporation | Remote-controlled work robot |
| CN101791802A (en) * | 2010-01-21 | 2010-08-04 | 上海大学 | Three-degree of freedom under-actuated robot wrist device |
| CN101804635A (en) * | 2010-03-17 | 2010-08-18 | 上海大学 | Ball hinge-based three degree of freedom under-actuated robot wrist device |
| CN102009414A (en) * | 2010-12-29 | 2011-04-13 | 上海大学 | Wrist device for three degree of freedom (TDOF) underactuated robot |
| CN102528815A (en) * | 2012-01-05 | 2012-07-04 | 上海大学 | Multi-degree-of-freedom underactuated manipulator |
| CN204954863U (en) * | 2015-09-14 | 2016-01-13 | 苏州达力客自动化科技有限公司 | Single three degree of freedom underactuated robot arm fixing device of driving source |
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Application publication date: 20151118 |