CN109968390B - Redundancy-underactuated combined manipulator device - Google Patents
Redundancy-underactuated combined manipulator device Download PDFInfo
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- CN109968390B CN109968390B CN201910290303.4A CN201910290303A CN109968390B CN 109968390 B CN109968390 B CN 109968390B CN 201910290303 A CN201910290303 A CN 201910290303A CN 109968390 B CN109968390 B CN 109968390B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- 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
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Abstract
The invention discloses a redundancy-underactuated combined manipulator device, wherein a first rotating shaft and a plurality of first fixed shafts are vertically supported between an upper layer of base and a lower layer of base, a second rotating shaft and a plurality of second fixed shafts are vertically supported between two layers of waist joints, and one end of each waist joint is connected with the base through the first rotating shaft; the first rotating shaft is connected with a first driving rod, and the other end of the first driving rod is connected with a second rotating shaft; a first pulley is arranged in the middle of the other end of a second driving rod on the waist joint, and the second driving rod is connected with a fourth connecting rotating shaft; one end of the big arm joint is connected with the waist joint, and the other end of the big arm joint is connected with the third driving rod; the paw component is connected with the small arm joint. The large arm joint, the small arm joint and the waist joint adopt a redundant driving mode, so that the condition of insufficient power source can be avoided, and the joints are ensured to be completely controllable; the gripper assembly adopts an under-actuated mode, simplifies the mechanical structure of the gripper, reduces the number of driving sources, and is beneficial to simplifying a control system and a control algorithm.
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to a redundancy-underactuated combined manipulator device.
Background
With the rapid development of science and technology, various fields have great breakthroughs, such as industry, aerospace, marine resource exploration and the like. For the above mentioned fields, manipulators are indispensable mechanical industrial equipment for them. For this purpose, a universal manipulator device is required. The patent application number is 201010594218.6, the chinese patent of the name "full drive formula dexterous manipulator", there are twelve initiative degrees of freedom on the robotic arm, and every degree of freedom joint position all installs and installs driving motor, this kind of full drive's mode for the manipulator structure is comparatively complicated and has increased the control degree of difficulty. The patent application number is 201810652599.5, Chinese patent named mechanical arm device, and the driving motor is arranged at the joint of the mechanical arm. Not only increased manipulator arm and born weight, had higher to rigidity requirement moreover, increased the load of driving motor and the inertia of motion of whole arm simultaneously.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides a redundancy-underactuated combined manipulator device.
The technical scheme is as follows: the invention relates to a redundancy-underactuated combined manipulator device, which comprises a base, a waist joint, a large arm joint, a small arm joint and a paw assembly, wherein the waist joint is arranged on the base; the base is provided with an upper layer and a lower layer, a first rotating shaft and a plurality of first fixed shafts are vertically supported between the upper layer and the lower layer of base, so that the base is integrally of a double-layer parallel structure; the waist joints are arranged in an upper layer and a lower layer in parallel, a second rotating shaft and a plurality of second fixed shafts are vertically supported between the two layers of waist joints, and one ends of the waist joints are connected with the base through first connecting rotating shafts; the first pulley of first actuating lever is installed to first actuating lever one end intermediate position, and the other end is connected in first axis of rotation, and it is fixed that upper and lower both ends all carry out the auto-lock with two nuts, and first actuating lever is connected in the second axis of rotation through the slide in the middle of it, and it is fixed all with two nuts auto-locks upper and lower both sides. The waist joint is connected with a second driving rod, a first pulley of the second driving rod is installed in the middle of the other end of the second driving rod, the second driving rod is connected with a fourth connecting rotating shaft through a middle slide rail, the fourth connecting rotating shaft is installed in the large-arm joint through a horizontal bearing, one end of the large-arm joint is connected with the waist joint through a third connecting rotating shaft, the other end of the large-arm joint is connected with a fifth connecting rotating shaft, the fifth connecting rotating shaft is connected with a third driving rod, a first pulley of the third driving rod is installed in the middle of the other end of the third driving rod, the third driving rod is connected with a seventh connecting rotating shaft through a middle slide rail, the seventh connecting rotating shaft is connected with a small-arm joint through a nut, and the gripper assembly is connected with the small-arm joint.
Furthermore, a vertical bearing and a horizontal bearing are fixed on the two layers of waist joints, one end of a second driving rod is connected to a second connecting rotating shaft, a first pulley of the second driving rod is arranged in the middle of the other end of the second driving rod, two ends of the first pulley of the second driving rod are respectively limited by double nuts in a self-locking manner, and the second driving rod is connected to a fourth connecting rotating shaft through a slide way in the middle of the second driving rod; the second connecting rotating shaft penetrates through a second driving rod and a second pulley to connect the second driving rod with the waist joint, a second driving rod first pulley is installed in the middle of the other end of the second driving rod, the second driving rod is connected to a fourth connecting rotating shaft through a slide way in the middle of the second driving rod, and the fourth connecting rotating shaft is fixed on the large arm joint through a horizontal bearing; one end of the large arm joint is connected with the waist joint through a third connecting rotating shaft, and the other end of the large arm joint is connected with a third driving rod through a fifth connecting rotating shaft; the middle position of the other end of the third driving rod is provided with a first pulley of the third driving rod, two sides of the first pulley of the third driving rod are respectively limited by double nuts in a self-locking way, the third driving rod is connected with a seventh connecting rotating shaft through a slide way in the middle of the third driving rod, and the seventh connecting rotating shaft is connected with a forearm joint through a nut.
Furthermore, the hand assembly comprises a first gripper driving rod, a second gripper driving rod and a plurality of gripper driving rods, one end of the first gripper driving rod is connected with a first longitudinal gripper driving rod and a first transverse gripper driving rod, double nuts are arranged on the outer sides of the first longitudinal gripper driving rod and the first transverse gripper driving rod for self-locking and limiting, and the second transverse gripper driving rod and the second longitudinal gripper driving rod are arranged on the gripper driving rods in the same mode.
Furthermore, one end of the first driving rod is connected to the first rotating shaft, double nuts are adopted to perform self-locking up and down of the first driving rod and are fixed in the middle of the first rotating shaft, and the second rotating shaft penetrates through the first driving rod slide way and is installed on the waist joint through a horizontal bearing.
Furthermore, the sixth connecting rotating shaft penetrates through the large arm joint and is connected with the small arm joint through a horizontal bearing, the two sides of the sixth connecting rotating shaft are symmetrical, one end of the third driving rod is connected with the fifth connecting rotating shaft, a first pulley of the third driving rod is installed in the middle of the other end of the third driving rod, the two sides of the first pulley of the third driving rod are limited through double-nut self-locking, the third driving rod is connected with the seventh connecting rotating shaft through a slide rail in the middle of the third driving rod, and the seventh connecting rotating shaft is connected with the small arm joint through a nut.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the large arm joint, the small arm joint and the waist joint are driven in a redundant mode, so that the condition of insufficient power source can be avoided, and the joints are completely controllable;
(2) the gripper assembly adopts an under-actuated mode, simplifies the mechanical structure of the gripper, reduces the number of driving sources, and is beneficial to simplifying a control system and a control algorithm;
(3) according to the invention, different driving modes such as redundant driving, underactuation and the like are respectively adopted according to the motion requirement difference of different parts such as a large arm joint, a paw assembly and the like, so that the motion of the manipulator can be effectively controlled, and the number of driving sources can be reduced to the maximum extent.
(3) All driving motors (including a first driving rod forward driving motor, a first driving rod reverse driving motor, a second driving rod forward driving motor, a second driving rod reverse driving motor, a third driving rod forward driving motor, a third driving rod reverse driving motor, two paw assembly forward driving motors and two paw assembly reverse driving motors) are arranged on the base, and the installation mode reduces the bearing of each mechanical arm, reduces the driving and control difficulty of each joint and improves the safety and stability of the system.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a schematic view of a single parallelogram motion of the gripper assembly of the present invention;
FIG. 4 is a schematic view of the mounting positions of the transmission shaft, pulley, etc. in the gripper assembly of the present invention;
FIG. 5 is a schematic view (top view) of the connection between the base and the waist joint of the present invention;
FIG. 6 is a schematic view of the connection between the waist joint and the upper arm joint according to the present invention;
FIG. 7 is a schematic view of the connection between the large arm joint and the small arm joint according to the present invention.
Figure 8 is a schematic diagram of a robot assembly cable track of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1 to 8, the redundancy-underactuated combined manipulator device of the present invention includes a base 16, a waist joint 12, a large arm joint 8, a small arm joint 1 and a gripper assembly; the base 16 is provided with an upper layer and a lower layer, a first rotating shaft 17 and a plurality of first fixed shafts are vertically supported between the upper layer and the lower layer of the base, so that the base 16 is integrally in a double-layer parallel structure; the waist joints 12 are arranged in an upper layer and a lower layer in parallel, a second rotating shaft 19 and a plurality of second fixed shafts are vertically supported between the two layers of waist joints 12, and one end of each waist joint 12 is connected with the base 16 through a first connecting rotating shaft 20; the middle position of the first rotating shaft 17 is connected with one end of a first driving rod 18 by passing through a first driving rod second pulley 14, the other end of the first driving rod 18 is provided with a first driving rod first pulley 13, the first driving rod 18 is connected with the middle position of a second rotating shaft 19 by a slide way in the middle of the first driving rod, the middle of the other end of the second driving rod 9 is provided with a second driving rod first pulley 29, the waist joint 12 is connected with the second driving rod 9 by passing through a second driving rod second pulley 30 by a second connecting rotating shaft 11, the second driving rod 9 is connected with a fourth connecting rotating shaft 10 by a slide way in the middle of the second driving rod, the fourth connecting rotating shaft 10 is fixed on the big arm joint 8 by a horizontal bearing, one end of the big arm joint 8 is connected with the waist joint 12 by a third connecting rotating shaft 21, the other end is connected with a third driving rod 3 by a fifth connecting rotating shaft 5, the other end of the third driving rod 3 is provided with a third driving rod first pulley 2, the third driving rod 3 is connected with a seventh connecting rotating shaft 4 through a slideway in the middle of the third driving rod, the seventh connecting rotating shaft 4 is connected with the small arm joint 1 through a horizontal bearing, and the paw component is connected with the small arm joint 1.
Wherein, vertical bearings and horizontal bearings are fixed on the two layers of waist joints 12, one end of the second driving rod 9 is connected with the second connecting rotating shaft 11, the other end is provided with a second driving rod first pulley 29, two ends of the second driving rod first pulley 29 are respectively limited by double nuts, and the second driving rod 9 is connected with the fourth connecting rotating shaft 10 through a slideway in the middle of the second driving rod; the second connecting rotating shaft 11 passes through a second driving rod second pulley 30 to connect the second driving rod 9 with the waist joint 12, the other end of the second driving rod 9 is provided with a second driving rod first pulley 29, the second driving rod 9 is connected to a fourth connecting rotating shaft 10 through a slide way in the middle of the second driving rod, and the fourth connecting rotating shaft 10 is fixed on the large arm joint 8 through a horizontal bearing; one end of the large arm joint 8 is connected with the waist joint 12 through a third connecting rotating shaft 21, and the other end of the large arm joint is connected with a third driving rod 3 through a fifth connecting rotating shaft 5; the other end of the third driving rod 3 is provided with a first pulley 2 of the third driving rod, two sides of the first pulley 2 of the third driving rod are respectively limited by double nuts in a self-locking way, the third driving rod 3 is connected with a seventh connecting rotating shaft 4 through a slide way in the middle of the third driving rod, and the seventh connecting rotating shaft 4 is connected with the forearm joint 1 through a horizontal bearing.
As shown in fig. 1, the base 16 is provided with an upper layer and a lower layer, a first rotating shaft 17 and a plurality of first fixing shafts are vertically supported between the upper layer and the lower layer of the base, so that the base 16 is integrally in a double-layer parallel structure, the base 16 is connected with the waist joint 12 through a first connecting rotating shaft 20, the waist joint 12 is arranged in the upper layer and the lower layer in parallel, a second rotating shaft 19 and a plurality of second fixing shafts are vertically supported between the two layers of the waist joints 12, and one end of the waist joint 12 is connected with the base 16 through the first connecting rotating shaft 20; the middle position of the first rotating shaft 17 is connected with one end of a first driving rod 18 by a second pulley 14 passing through the first driving rod, the other end of the first driving rod 18 is provided with a first driving rod first pulley 13, the first driving rod 18 is connected with the middle position of a second rotating shaft 19 by a slide way in the middle of the first driving rod, the waist joint 12 is connected with a second driving rod 9 by a second connecting rotating shaft 11 passing through a second driving rod second pulley 30, the other end of the second driving rod 9 is provided with a second driving rod first pulley 29, the second driving rod 9 is connected with a fourth connecting rotating shaft 10 by a slide way in the middle of the second driving rod, the fourth connecting rotating shaft 10 is fixed on a big arm joint 8 by a horizontal bearing, one end of the big arm joint 8 is connected with the waist joint 12 by a third connecting rotating shaft 21, the other end is connected with a third driving rod 3 by a fifth connecting rotating shaft 5, the other end of the third driving rod 3 is provided with a third driving rod first pulley 2, the third driving rod 3 is connected with a seventh connecting rotating shaft 4 through a slideway in the middle of the third driving rod, the seventh connecting rotating shaft 4 is connected with the small arm joint 1 through a horizontal bearing, and the paw component is connected with the small arm joint 1.
As shown in fig. 2, the gripper assembly includes a first gripper driving rod 23, a second gripper driving rod 22 and a plurality of gripper driving rods, one end of the first gripper driving rod 23 is connected with a first longitudinal gripper driving rod 25 and a first transverse gripper driving rod 26, the outer sides of the first longitudinal gripper driving rod 25 and the first transverse gripper driving rod 26 are provided with double nuts for self-locking and limiting, the second transverse gripper driving rod 24 and the second longitudinal gripper driving rod 27 are arranged on a driving rod 28 in the same manner, and the right-most gripper driving rod in fig. 2 is connected with the third driving rod through a pulley, so as to connect the forearm joint with the gripper assembly.
As shown in fig. 4, the paw transmission rod 28 sequentially passes through the paw longitudinal transmission rod 27, the paw transverse transmission rod and the paw longitudinal transmission rod on the other side, the outermost sides of the three transmission rods are respectively limited by double-nut self-locking, then the paw transmission rod 28 passes through the paw first pulley 33, and the two sides of the paw first pulley 33 are both limited by double-nut self-locking. The second gripper pulley 34 is connected to the first gripper pulley 33 in the same manner.
As shown in fig. 5, the second rotating shaft 19 is fixedly connected to one end of the first forward rope 35, and the other end of the first forward rope 35 is connected to the first forward driving motor shaft by passing through the first driving lever and the first pulley 13. The first rotating shaft 19 is fixedly connected with one end of a first reverse rope 36, and the other end of the first reverse rope 36 is connected with a first reverse driving motor shaft by winding the first driving rod and the second pulley 14.
When the first forward motor is started, the first forward rope 35 pulls the second rotating shaft 19 to move towards the first driving rod first pulley 13, and the first driving rod 18 drives the waist joint 12 to rotate clockwise around the first connecting rotating shaft 20. Conversely, when the first reverse motor is started, the first reverse rope 36 pulls the second rotating shaft 19 to move towards the first driving rod and the second pulley 14, and the first driving rod 18 drives the waist joint 12 to rotate counterclockwise around the first connecting rotating shaft 20.
As shown in fig. 6, the fourth connecting rotation shaft 10 is fixedly connected to one end of the second forward rope, and the other end of the second forward rope is connected to the second forward driving motor shaft around the second driving lever first pulley 29. The fourth connecting rotation shaft 10 is fixedly connected to one end of a second reverse rope, and the other end of the second reverse rope is connected to a second reverse driving motor shaft by passing around a second driving rod and a second pulley 30. When the second forward motor is started, the second forward rope pulls the fourth connecting rotating shaft 10 to move to the second driving rod first pulley 29, and the second driving rod 9 drives the large arm joint 8 to rotate clockwise around the third connecting rotating shaft 21. On the contrary, the second reverse motor is started, the second reverse rope pulls the fourth connecting rotating shaft 10 to move to the second driving rod second pulley 30, and the second driving rod 9 drives the big arm joint 8 to rotate anticlockwise around the third connecting rotating shaft 21.
As shown in fig. 7, the seventh connecting rotation shaft 4 is fixedly connected to one end of the third forward rope, and the other end of the third forward rope is connected to the third forward driving motor shaft around the second pulley 2. The seventh connecting rotating shaft 4 is fixedly connected with one end of a third reverse rope, and the other end of the third reverse rope is connected with a third reverse driving motor shaft by winding a third driving rod and a second pulley 6. And when the third forward motor is started, the third forward rope pulls the seventh connecting rotating shaft 4 to move to the third driving rod first pulley 2, and the third driving rod 3 drives the forearm joint 1 to rotate clockwise around the sixth connecting rotating shaft 7. On the contrary, the third reverse motor is started, the third reverse rope pulls the seventh connecting rotating shaft 4 to move to the third driving rod second pulley 6, and the third driving rod 3 drives the forearm joint 1 to rotate anticlockwise around the sixth connecting rotating shaft 7.
As shown in fig. 3, (a) is an initial state of the parallelogram, when the distance between the vertex a and the vertex B decreases, the vertical bar AC and the vertical bar BD rotate clockwise to reach an intermediate state (B), when the distance between the vertex a and the vertex B continues to decrease, the vertical bar AC and the vertical bar BD continue to rotate clockwise to reach a final state (C), and conversely, when the distance between the vertex C and the vertex D decreases, the vertical bar AC and the vertical bar BD rotate counterclockwise.
As shown in fig. 8, in the left side view, one end of the fourth forward cable 31 is fixedly connected to the first driving lever 23, and the other end of the fourth forward cable 31 passes through the pulleys of the gripper assembly and is finally connected to the fourth forward motor shaft. The fourth forward motor is started, and the fourth forward rope 31 pulls the first drive rod 23 of the gripper, so as to drive the whole manipulator assembly to contract inwards. In the right side view, one end of a fourth reverse cable 32 is fixedly connected to the second drive link 22, and the other end of the fourth reverse cable passes around the pulleys of the second drive link in turn and is finally fixedly connected to the shaft of the fourth reverse motor. And when the fourth reverse motor is started, the fourth reverse rope 32 pulls the second gripper driving rod 22 to move, and then the whole manipulator assembly is driven to move outwards in an expanding way.
The specific working principle of the invention is as follows:
as shown in fig. 5 to 8, when the manipulator works, the position of the waist joint 12 is adjusted by the cooperation of the first forward motor and the first reverse motor, the position of the large arm joint 8 is adjusted by the cooperation of the second forward motor and the second reverse motor, the position of the small arm joint 1 is adjusted by the cooperation of the third forward motor and the third reverse motor, the gripper assembly is adjusted to a position where a target object is to be gripped, and the fourth forward motor is started to drive the gripper assembly to grip the target object;
the position of the forearm joint 1 is adjusted through the cooperation of the third forward motor and the third reverse motor, the position of the forearm joint 8 is adjusted through the cooperation of the second forward motor and the second reverse motor, the position of the waist joint 12 is adjusted through the cooperation of the first forward motor and the first reverse motor, the gripper assembly moves the grabbed object to an unloading area, the fourth reverse motor is started, the gripper assembly is driven to unload the target object, the next operation is carried out after the operation is finished, and the manipulator is retracted and stored after the operation is finished.
According to the embodiment, the large arm joint, the small arm joint and the waist joint are driven in a redundant mode, so that the situation of insufficient power sources can be avoided, and the joints are completely controllable. The paw component adopts an underactuated mode, simplifies the mechanical structure of the paw, reduces the number of driving sources, and is beneficial to simplifying a control system and a control algorithm. According to the motion demand difference of different parts such as a large arm joint and a paw assembly, different driving modes such as redundant driving and under-driving are respectively adopted, so that the motion of the manipulator can be effectively controlled, and the number of driving sources can be reduced to the maximum extent. All driving motors, including first actuating lever forward driving motor, first actuating lever reverse driving motor, second actuating lever forward driving motor, second actuating lever reverse driving motor, third actuating lever forward driving motor, third actuating lever reverse driving motor, two gripper assembly forward driving motors, two gripper assembly reverse driving motors, all install on the base, the bearing of each arm has been reduced to this kind of mounting means, reduce the degree of difficulty of each joint drive and control, system security and stability have been improved.
Claims (4)
1. A redundancy-underactuated combined manipulator device is characterized in that: comprises a base, a waist joint, a big arm joint, a small arm joint and a paw component; the base is provided with an upper layer and a lower layer, a first rotating shaft and a plurality of first fixed shafts are vertically supported between the upper layer and the lower layer of base, so that the base is integrally of a double-layer parallel structure; the waist joints are arranged in an upper layer and a lower layer in parallel, a second rotating shaft and a plurality of second fixed shafts are vertically supported between the two layers of waist joints, and one ends of the waist joints are connected with the base through the first rotating shaft; the middle position of the first rotating shaft is connected with a first driving rod through a pulley, and the other end of the first driving rod is connected to the middle position of the second rotating shaft through a slide way; the waist joint is connected with a second driving rod, a first pulley of the second driving rod is arranged in the middle of the other end of the second driving rod, two ends of the first pulley of the second driving rod are respectively limited through double nuts in a self-locking mode, and the second driving rod is connected to a fourth connecting rotating shaft through a slide way in the middle of the second driving rod; one end of the large arm joint is connected with the waist joint through a third connecting rotating shaft, and the other end of the large arm joint is connected with a third driving rod through a fifth connecting rotating shaft; the paw component is connected with the forearm joint; the two layers of waist joints are respectively fixed with a vertical bearing and a horizontal bearing, and one end of a second driving rod is connected with a second connecting rotating shaft; one end of the large arm joint is connected with the waist joint through a third connecting rotating shaft, and the other end of the large arm joint is connected with a third driving rod through a fifth connecting rotating shaft; and a third driving rod first pulley is arranged in the middle of the other end of the third driving rod, two sides of the third driving rod first pulley are respectively limited by double nuts in a self-locking way, the third driving rod is connected with a seventh connecting rotating shaft through a slide way in the middle of the third driving rod, and the seventh connecting rotating shaft is connected with a forearm joint through a horizontal bearing.
2. The combined redundant-underactuated manipulator apparatus of claim 1, wherein: the gripper assembly comprises a gripper first driving rod, a gripper second driving rod and a plurality of gripper driving rods, wherein one end of the gripper first driving rod is connected with a gripper first longitudinal driving rod and a gripper first transverse driving rod, double nuts are arranged on the outer sides of the gripper first longitudinal driving rod and the gripper first transverse driving rod for self-locking and limiting, the gripper second driving rod is symmetrically arranged on the other side of the gripper first driving rod, and the gripper second driving rod is also connected with the corresponding longitudinal driving rod and transverse driving rod; a second transverse drive link for the gripper and a second longitudinal drive link for the gripper are mounted in the same manner on the gripper drive link.
3. The combined redundant-underactuated manipulator apparatus of claim 1, wherein: one end of the first driving rod is connected to the first rotating shaft, double nuts are adopted to perform self-locking up and down of the first driving rod and are fixed in the middle of the first rotating shaft, and the second rotating shaft penetrates through the first driving rod slide way and is installed on the waist joint through the horizontal bearing.
4. The combined redundant-underactuated manipulator apparatus of claim 1, wherein: the sixth connecting rotating shaft penetrates through the large arm joint and is connected with the small arm joint through a nut, one end of a third driving rod is connected with the fifth connecting rotating shaft, a first pulley of the third driving rod is installed in the middle of the other end of the third driving rod, two sides of the first pulley of the third driving rod are limited through double-nut self-locking, the third driving rod is connected with a seventh connecting rotating shaft through a slide rail in the middle of the third driving rod, and the seventh connecting rotating shaft is connected with the small arm joint through a horizontal bearing.
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| CN201910290303.4A CN109968390B (en) | 2019-04-11 | 2019-04-11 | Redundancy-underactuated combined manipulator device |
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| CN201910290303.4A CN109968390B (en) | 2019-04-11 | 2019-04-11 | Redundancy-underactuated combined manipulator device |
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| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN103786162A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工业大学 | Expandable underactuated cable-rod truss type mechanical claw |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
| CN207373169U (en) * | 2017-11-07 | 2018-05-18 | 山东大学 | A kind of four axis robot devices suitable for high temperature with high dust environment |
| CN108814890A (en) * | 2018-03-12 | 2018-11-16 | 南京航空航天大学 | Gravitational equilibrium tail end traction type upper limb rehabilitation robot and working method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101284987B1 (en) * | 2011-09-09 | 2013-07-10 | 고려대학교 산학협력단 | Torque-free robot arm using multi-DOF counterbalance mechanism based on double parallelogram mechanism |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN103786162A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工业大学 | Expandable underactuated cable-rod truss type mechanical claw |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
| CN207373169U (en) * | 2017-11-07 | 2018-05-18 | 山东大学 | A kind of four axis robot devices suitable for high temperature with high dust environment |
| CN108814890A (en) * | 2018-03-12 | 2018-11-16 | 南京航空航天大学 | Gravitational equilibrium tail end traction type upper limb rehabilitation robot and working method |
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Effective date of registration: 20230925 Address after: 223113 Factory Building 3, East Area, Industrial Concentration Zone, Dongshuanggou Town, Hongze District, Huai'an City, Jiangsu Province Patentee after: Huai'an Xinrui Power Equipment Co.,Ltd. Address before: 212003, No. 2, Mengxi Road, Zhenjiang, Jiangsu Patentee before: JIANGSU University OF SCIENCE AND TECHNOLOGY |