CN111185893A - Master-slave mechanical arm capable of synchronously acting - Google Patents
Master-slave mechanical arm capable of synchronously acting Download PDFInfo
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- CN111185893A CN111185893A CN202010158011.8A CN202010158011A CN111185893A CN 111185893 A CN111185893 A CN 111185893A CN 202010158011 A CN202010158011 A CN 202010158011A CN 111185893 A CN111185893 A CN 111185893A
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- 238000004891 communication Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003631 expected effect Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The master-slave mechanical arm capable of synchronously acting is provided with a driving mechanical arm and a plurality of slave mechanical arms, wherein the slave mechanical arms can synchronously act with the driving mechanical arm under the control of the driving mechanical arm and can repeatedly act as done by the driving mechanical arm. The driving mechanical arm is provided with five joints made of potentiometers, the rotating relation between a rotating handle of the potentiometer and the body is utilized to make a one-degree-of-freedom joint, and the five potentiometer joints are connected with three movable arms, a clamping jaw main tooth and a clamping jaw auxiliary tooth; the driven mechanical arm is provided with five joints made of servo motors, a one-degree-of-freedom type joint made of the rotation relation between the output shaft of the servo motor and the body is utilized, and the five servo motor joints are connected with three movable arms, a clamping jaw main tooth and a clamping jaw auxiliary tooth; the master mechanical arm and the slave mechanical arm are provided with a single chip microcomputer control circuit and a wireless communication module, and the master mechanical arm and the slave mechanical arm can realize synchronous action through a wireless communication function.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a master-slave mechanical arm capable of synchronously acting.
Background
At present, when teaching demonstration is carried out in a traditional mechanical laboratory, a teacher usually carries out demonstration test operation on a platform, and students return to respective experiment tables for operation after watching the demonstration process; or after the teacher plays the teaching video on the platform, the students operate on the own experiment table. Such a teaching method usually cannot achieve the expected effect, and students cannot understand the experimental demonstration of the teacher once, or even cannot see the demonstration content of the teacher clearly for various reasons, so that the students cannot complete the learning and experiment.
Disclosure of Invention
The invention aims to provide a master-slave mechanical arm capable of synchronously acting, wherein one master mechanical arm is placed on a platform in a classroom, and the other slave mechanical arms are placed on respective experiment tables of students; the device has the characteristics of simple operation, flexible action, synchronous or repeated control action and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a master-slave mechanical arm capable of synchronously acting comprises a mechanical arm consisting of a base, a rotating arm, a movable arm, a joint and a clamp, and is characterized in that the device is provided with a driving mechanical arm and one or a plurality of slave mechanical arms, wherein the slave mechanical arms can synchronously act with the driving mechanical arm under the control of the driving mechanical arm, and can also repeatedly act on the driving mechanical arm through a learning and memorizing device.
The driving mechanical arm is provided with a base, the base is provided with an installation plate, a first joint potentiometer is vertically arranged at the center of the installation plate, namely, the rotating relation between a rotary handle of the potentiometer and a body is used as a one-degree-of-freedom joint of the mechanical arm, the rotary handle of the joint potentiometer is positioned above the installation plate, a rotary mechanical arm is fixed on the rotary handle of the joint potentiometer in a sleeved mode, a second joint potentiometer is horizontally arranged at the upper part of the rotary mechanical arm, a first movable mechanical arm vertical to the rotary handle is arranged on the rotary handle of the joint potentiometer, a third joint potentiometer is horizontally arranged at the upper end part of the first movable mechanical arm, a second movable mechanical arm vertical to the rotary handle is arranged on the rotary handle of the joint potentiometer, and a fourth joint potentiometer is horizontally or vertically arranged at the upper end part of the second movable mechanical arm, a clamping jaw main tooth which is vertical to the rotary handle is arranged on the rotary handle of the joint potentiometer, a fifth joint potentiometer is arranged on the clamping jaw main tooth, and a clamping jaw auxiliary tooth is arranged on the rotary handle of the fifth joint potentiometer; the driven mechanical arm is also provided with a base, the base is also provided with a mounting plate, a first joint servo motor is vertically arranged at the center of the mounting plate, namely, the rotating relation between an output shaft of the servo motor and a motor body is used as a joint of the mechanical arm, the output shaft of the joint servo motor is positioned above the mounting plate, a rotating mechanical arm is fixed on the output shaft of the joint servo motor in a sleeving manner, a second joint servo motor is horizontally arranged at the upper part of the rotating mechanical arm, a first movable mechanical arm vertical to the output shaft is arranged on the output shaft of the joint servo motor, a third joint servo motor is horizontally arranged at the upper end part of the first movable mechanical arm, a second movable mechanical arm vertical to the output shaft is arranged on the output shaft of the joint servo motor, and a fourth joint servo motor is horizontally or vertically arranged at the upper end part of the second movable mechanical arm A main clamping jaw tooth perpendicular to the output shaft is installed on the output shaft of the joint servo motor, a fifth joint servo motor is installed on the main clamping jaw tooth, and a secondary clamping jaw tooth is installed on the output shaft of the fifth joint servo motor;
the output ends of the first joint potentiometer, the second joint potentiometer, the third joint potentiometer, the fourth joint potentiometer and the fifth joint potentiometer are connected to the I/O input end of a main single chip microcomputer circuit through leads, and the I/O output end of the single chip microcomputer circuit is connected with a wireless communication module; the input ends of the first, second, third, fourth and fifth servo motors are connected to the I/O output end of a slave single chip microcomputer circuit by leads, and the I/O input end of the single chip microcomputer circuit is connected with a wireless communication module; the two wireless communication modules can communicate with each other.
The single chip of the main single chip circuit is internally provided with a program for processing the input signal of the joint potentiometer and outputting the processed signal to the wireless communication module; the single chip microcomputer of the slave single chip microcomputer circuit is internally provided with a program for processing an input signal of the wireless communication module and outputting the processed signal to the servo motor; the slave single-chip microcomputer circuit 2-3 is also internally provided with a storage memory module for storing the motion data information of the driving mechanical arm.
The master singlechip, the slave singlechip and the servo motor can be powered by a common power supply or two separate power supplies.
The common power supply or the two separated power supplies can be battery packs or alternating current rectification power supplies.
The invention has the beneficial effects that:
1. because the invention adopts the master and slave singlechip circuits and the wireless communication module circuit, the action of the master mechanical arm can be converted into an electric signal by taking the master mechanical arm as a joint potentiometer in a way that the rotation angle of the potentiometer, namely the resistance of the potentiometer, is changed, the master singlechip circuit processes the electric signal and sends out the data information of the electric signal through the wireless communication module; after the wireless communication module of the slave singlechip circuit receives the data information sent by the master singlechip circuit, the data information is processed and output to drive each servo motor of the slave mechanical arm, the servo motors are used as joints of the slave mechanical arm to drive the slave mechanical arm to move, and the movement is the movement of repeating the master mechanical arm, so that the synchronous movement of the master mechanical arm and the slave mechanical arm is completed.
2. The device can realize the synchronous action of a pair of mechanical arms, the master mechanical arm is arranged on the test bed of a teacher, the slave mechanical arm is arranged on the test bed of each student, and the master mechanical arm of the teacher can synchronously move with the slave mechanical arms of the students, so that the purpose of teaching demonstration is achieved. And the driven mechanical arms of all students can automatically synchronize or repeat the action of the driving mechanical arms, so that the students can repeatedly watch or demonstrate the action of the driving mechanical arms, and the teaching effect is improved.
3. Because the master mechanical arm and the slave mechanical arm communicate in a wireless transmission mode, the teaching aid does not need to perform work such as cable laying and the like during installation and arrangement, so that materials and labor are saved, the arrangement of the teaching aid is simple and attractive, and the superiority of a teaching environment is improved.
Drawings
Fig. 1 is a schematic structural diagram of a master-slave robot arm capable of synchronous motion.
Fig. 2 is a schematic structural diagram of the active mechanical arm.
Fig. 3 is a schematic structural view of the slave robot arm.
Fig. 4 is an electrical schematic diagram of a master-slave single chip circuit.
Fig. 5 is a workflow block diagram of a master-slave robotic arm control circuit.
Fig. 6 is a schematic workflow diagram of a master-slave robotic arm.
Detailed Description
The following describes the specific structure of the master-slave mechanical arm capable of synchronously operating according to the present invention in further detail with reference to the accompanying drawings.
Fig. 1 to 5 are schematic structural views of a master-slave robot arm capable of synchronous motion according to the present invention. The device has a driving mechanical arm 1 and a plurality of driven mechanical arms 2, 3, … …, n. (for convenience of description, the slave arm 2 is used to represent n-1 slave arms.) the slave arm 2 may be controlled by the master arm 1 to operate synchronously with the master arm 1, or may be controlled by a learning memory device (described later in the context of a monolithic computer circuit) to repeat operations performed by the master arm 1.
The driving mechanical arm 1 is provided with a mounting plate 1-4, a first joint potentiometer 1-5 is vertically mounted at the central part of the mounting plate 1-4, namely, the rotation relation between a rotary handle and a body of the potentiometer is used as a one-degree-of-freedom joint of the mechanical arm. The rotary handle of the first joint potentiometer 1-5 is positioned above the mounting plate 1-4, a rotary mechanical arm 1-6 is fixed on the rotary handle of the first joint potentiometer 1-5 in a sleeved mode, a second joint potentiometer 1-7 is horizontally arranged at the upper part of the rotary mechanical arm 1-6, a first movable mechanical arm 1-8 vertical to the rotary handle is arranged on the rotary handle of the second joint potentiometer 1-7, a third joint potentiometer 1-9 is horizontally arranged at the upper end part of the first movable mechanical arm 1-8, a second movable mechanical arm 1-10 vertical to the rotary handle is arranged on the rotary handle of the third joint potentiometer 1-9, a fourth joint potentiometer 1-11 is horizontally or vertically arranged at the upper end part of the second movable mechanical arm 1-10, a clamping jaw main tooth 1-12 vertical to the rotary handle is arranged on the rotary handle of the fourth joint potentiometer 1-11; a fifth joint potentiometer 1-13 is arranged on the main jaw teeth 1-12, and a secondary jaw tooth 1-14 is arranged on a rotary handle of the fifth joint potentiometer 1-13. A main single-chip microcomputer circuit board 1-3 is further mounted on a base 1-1 of the driving mechanical arm 1, and a wireless communication module 1-2 is further mounted on the main single-chip microcomputer circuit board 1-3. The driven mechanical arm 2 is provided with a mounting plate 2-4, a first joint servo motor 2-5 is vertically mounted at the center of the mounting plate 2-4, namely, the rotation relation between an output shaft of the servo motor and a motor body is used as a one-degree-of-freedom joint of the mechanical arm. An output shaft of a first joint servo motor 2-5 is positioned above a mounting plate 2-4, a rotary mechanical arm 2-6 is fixed on the output shaft of the first joint servo motor 2-5 in a sleeving manner, a second joint servo motor 2-7 is horizontally arranged at the upper part of the rotary mechanical arm 2-6, a first movable mechanical arm 2-8 vertical to the output shaft is arranged on the output shaft of the second joint servo motor 2-7, a third joint servo motor 2-9 is horizontally arranged at the upper end part of the first movable mechanical arm 2-8, a second movable mechanical arm 2-10 vertical to the output shaft is arranged on the output shaft of the third joint servo motor 2-9, a fourth joint servo motor 2-11 is horizontally or vertically arranged at the upper end part of the second movable mechanical arm 2-10, an output shaft of the fourth joint servo motor 2-11 is provided with a main tooth 2-12 of a clamping claw vertical to the output shaft; a fifth joint servo motor 2-13 is arranged on the caliper claw main tooth 2-12, and a caliper claw auxiliary tooth 2-14 is arranged on an output shaft of the fifth joint servo motor 2-13. A main single-chip microcomputer circuit board 2-3 is further mounted on the base 2-1 of the driven mechanical arm 2, and a wireless communication module 2-2 is further mounted on the main single-chip microcomputer circuit board 2-2.
The output ends of the first, second, third, fourth and fifth joint potentiometers 1-5, 1-7, 1-9, 1-11 and 1-13 are respectively connected to the I/O input end of the main single chip microcomputer circuit 1-3 by leads, and the I/O output end of the single chip microcomputer circuit 1-3 is connected with a wireless communication module 1-2; the input ends of the first, second, third, fourth and fifth servo motors 2-5, 2-7, 2-9, 2-11 and 2-13 are respectively connected to the I/O output end of the slave singlechip circuit 2-3 by leads, and the I/O input end of the singlechip circuit 2-3 is connected with a wireless communication module 2-2; the two wireless communication modules 1-2 and 2-2 can communicate with each other.
The single chip of the main single chip circuit 1-3 is internally provided with a program for processing an input signal of the joint potentiometer and outputting the processed data to the wireless communication module 1-2; the single chip microcomputer of the slave single chip microcomputer circuit 2-3 is internally provided with a program for processing signals input by the wireless communication module 2-2 and outputting processed data to the servo motor; the slave single-chip microcomputer circuit 2-3 is also internally provided with a storage memory module for storing the motion data information of the driving mechanical arm.
The master single chip microcomputer circuit 1-3, the slave single chip microcomputer circuit 2-3, the joint potentiometer and the joint servo motor can be powered by a common power supply or can be powered by two separate power supplies.
The common power supply or the two separated power supplies can be battery packs or alternating current rectification power supplies.
The specific parts of the driving mechanical arm 1 and the driven mechanical arm 2 are selected, and RV24YN20S carbon film potentiometers are selected as each joint potentiometer of the driving mechanical arm 1; MG995 servo motors are selected as the first, second and third joint servo motors of the driven mechanical arm 2, and Yinyan EMAX servo motors are selected as the fourth and fifth joint servo motors; the wireless communication module is selected from an NRF24L01 wireless communication module.
The working process of the invention is that the driving mechanical arm 1 needs to be manually controlled, and by rotating each joint of the driving mechanical arm 1, the movable contact in the RV24YN20S carbon film potentiometer can slide on the resistor body, and voltage proportional to the rotation angle of the mechanical arm is output. The voltage signal is transmitted to a main singlechip circuit 1-3 for processing and then is sent out by an NRF24L01 wireless communication module 1-2; after receiving the signals, the wireless communication module 2-2NRF24L01 of the slave singlechip circuit 2-3 of the slave mechanical arm 2 transmits the signals to the slave singlechip for processing, converts the processed data into control signals for joint servo motors, and controls each joint servo motor to move according to the motion data of the master mechanical arm 1, so that motion simulation of the master mechanical arm 1 is completed, and synchronous motion of the master mechanical arm and the slave mechanical arm is completed. If the driven mechanical arm 2 needs to repeat the action of the driving mechanical arm 1 by itself, the driven mechanical arm 2 can be independently repeated one or more times by utilizing the motion information data stored in the singlechip circuit 2-3, so that the demonstration and the watching are facilitated. The tips of the master arm 1 and the slave arm 2 may be configured with different clamps to meet different application requirements. The working process of the invention is shown in fig. 6, and the specific process is as follows:
1. resetting the system; and when the initial button is pressed, the whole controller actively places the slave device at the same angle, and the stored content is emptied.
2. The driving device rotates; the operator rotates each rotatable arm.
3. The potentiometer transmits proportional voltage; the electrical signals output by different rotation angles are different.
4. The single chip microcomputer processes signals; different electric signals are received in the single chip microcomputer, and the electric signals are processed and transmitted to be effective values through programming.
5. The master wireless communication module board of the active device transmits signals to the slave wireless communication module board; wireless transmission and signal transmission.
6. The slave device is used for master control of the signals sent by the device through the wireless communication module.
7. The single chip of the driven device processes signals; the received signal is processed again.
8. Pressing a synchronization button; the signal output by the single chip microcomputer is directly transmitted to the driven device steering engine, and the driven device steering engine completes the same action as the driving device.
9. Pressing a storage button; the signal of singlechip output is saved, constantly repeated transmission to the steering wheel, and the action of constantly repeated initiative device is accomplished to the slave unit steering wheel.
The invention has the beneficial effects that:
1. because the invention adopts the master and slave singlechip circuits and the wireless communication module circuit, the action of the master mechanical arm can be converted into an electric signal by taking the master mechanical arm as a joint potentiometer in a way that the rotation angle of the potentiometer, namely the resistance of the potentiometer, is changed, the master singlechip circuit processes the electric signal and sends out the data information of the electric signal through the wireless communication module; after the wireless communication module of the slave singlechip circuit receives the data information sent by the master singlechip circuit, the data information is processed and output to drive each servo motor of the slave mechanical arm, the servo motors are used as joints of the slave mechanical arm to drive the slave mechanical arm to move, and the movement is the movement of repeating the master mechanical arm, so that the synchronous movement of the master mechanical arm and the slave mechanical arm is completed.
2. The device can realize the synchronous action of a pair of mechanical arms, the master mechanical arm is arranged on the test bed of a teacher, the slave mechanical arm is arranged on the test bed of each student, and the master mechanical arm of the teacher can synchronously move with the slave mechanical arms of the students, so that the purpose of teaching demonstration is achieved. And the driven mechanical arms of all students can automatically synchronize or repeat the action of the driving mechanical arms, so that the students can repeatedly watch or demonstrate the action of the driving mechanical arms, and the teaching effect is improved.
3. Because the master mechanical arm and the slave mechanical arm communicate in a wireless transmission mode, the teaching aid does not need to perform work such as cable laying and the like during installation and arrangement, so that materials and labor are saved, the arrangement of the teaching aid is simple and attractive, and the superiority of a teaching environment is improved.
Claims (6)
1. A master-slave mechanical arm capable of synchronously acting comprises a mechanical arm consisting of a base, a rotating arm, a movable arm, a joint and a clamp, and is characterized in that the device is provided with a driving mechanical arm and one or a plurality of slave mechanical arms, wherein the slave mechanical arms can synchronously act with the driving mechanical arm under the control of the driving mechanical arm, and can also repeatedly act on the driving mechanical arm through a learning and memorizing device.
2. A synchronously movable master-slave manipulator as claimed in claim 1, wherein the master manipulator has a base, a mounting plate is provided on the base, a first joint potentiometer is vertically provided at the center of the mounting plate, i.e. a one-degree-of-freedom joint of the manipulator is provided by the rotation relationship between the rotary handle of the potentiometer and the body, the rotary handle of the joint potentiometer is located above the mounting plate, a rotary manipulator is fixed on the rotary handle of the joint potentiometer in a sleeved manner, a second joint potentiometer is horizontally provided at the upper part of the rotary manipulator, a first movable manipulator vertical to the rotary handle is provided on the rotary handle of the joint potentiometer, a third joint potentiometer is horizontally provided at the upper end of the first movable manipulator, a second movable manipulator vertical to the rotary handle is provided on the rotary handle of the joint potentiometer, a fourth joint potentiometer is horizontally or vertically arranged at the upper end part of the second movable mechanical arm, a clamping jaw main tooth vertical to the rotary handle is arranged on the rotary handle of the joint potentiometer, a fifth joint potentiometer is arranged on the clamping jaw main tooth, and a clamping jaw auxiliary tooth is arranged on the rotary handle of the fifth joint potentiometer; the driven mechanical arm is also provided with a base, the base is also provided with a mounting plate, a first joint servo motor is vertically arranged at the center of the mounting plate, namely, the rotating relation between an output shaft of the servo motor and a motor body is used as a joint of the mechanical arm, the output shaft of the joint servo motor is positioned above the mounting plate, a rotating mechanical arm is fixed on the output shaft of the joint servo motor in a sleeving manner, a second joint servo motor is horizontally arranged at the upper part of the rotating mechanical arm, a first movable mechanical arm vertical to the output shaft is arranged on the output shaft of the joint servo motor, a third joint servo motor is horizontally arranged at the upper end part of the first movable mechanical arm, a second movable mechanical arm vertical to the output shaft is arranged on the output shaft of the joint servo motor, and a fourth joint servo motor is horizontally or vertically arranged at the upper end part of the second movable mechanical arm The output shaft of the joint servo motor is provided with a main clamping jaw tooth which is vertical to the output shaft, the main clamping jaw tooth is provided with a fifth joint servo motor, and the output shaft of the fifth joint servo motor is provided with an auxiliary clamping jaw tooth.
3. A synchronously operable master-slave robotic arm as claimed in claim 2, wherein the output terminals of said first, second, third, fourth and fifth joint potentiometers are wired to the I/O input terminal of a master monolithic circuit, the I/O output terminal of which is connected to a wireless communication module; the input ends of the first, second, third, fourth and fifth servo motors are connected to the I/O output end of a slave single chip microcomputer circuit by leads, and the I/O input end of the single chip microcomputer circuit is connected with a wireless communication module; the two wireless communication modules can communicate with each other.
4. A synchronously operable master-slave manipulator as claimed in claim 3, wherein said master-slave microchip circuit has a built-in single-chip microprocessor for processing signals input from the joint potentiometer and for outputting the processed signals to the wireless communication module; the single chip microcomputer of the slave single chip microcomputer circuit is internally provided with a program for processing an input signal of the wireless communication module and outputting the processed signal to the servo motor; the slave single-chip microcomputer circuit 2-3 is also internally provided with a storage memory module for storing the motion data information of the driving mechanical arm.
5. A synchronously operable master-slave robotic arm as claimed in claim 4, wherein said master, slave and servo motors are powered by a common power supply or by separate power supplies.
6. A synchronously operable master-slave robotic arm as claimed in claim 5, wherein said common power supply or said separate power supplies are either battery packs or AC rectified power supplies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010158011.8A CN111185893A (en) | 2020-03-09 | 2020-03-09 | Master-slave mechanical arm capable of synchronously acting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010158011.8A CN111185893A (en) | 2020-03-09 | 2020-03-09 | Master-slave mechanical arm capable of synchronously acting |
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| CN111185893A true CN111185893A (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010158011.8A Pending CN111185893A (en) | 2020-03-09 | 2020-03-09 | Master-slave mechanical arm capable of synchronously acting |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02274482A (en) * | 1989-04-17 | 1990-11-08 | Toshiba Corp | Bilateral master slave manipulator |
| JPH07205059A (en) * | 1994-01-19 | 1995-08-08 | Aichi Corp:Kk | Operation device of manipulator |
| CN102615637A (en) * | 2012-04-01 | 2012-08-01 | 山东电力研究院 | Master-slave control robot work platform for high-voltage live working |
| CN103328161A (en) * | 2011-01-31 | 2013-09-25 | 丰田自动车株式会社 | Multi-joint arm robot, control method, and control program |
| CN205835319U (en) * | 2016-06-06 | 2016-12-28 | 内蒙古机电职业技术学院 | A kind of five degree of freedom steering wheel mechanical arm |
| CN108161883A (en) * | 2018-01-08 | 2018-06-15 | 山东优宝特智能机器人有限公司 | A kind of main hand of force feedback remote operating |
| CN211940908U (en) * | 2020-03-09 | 2020-11-17 | 辽宁科技大学 | Master-slave mechanical arm capable of synchronously acting |
-
2020
- 2020-03-09 CN CN202010158011.8A patent/CN111185893A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02274482A (en) * | 1989-04-17 | 1990-11-08 | Toshiba Corp | Bilateral master slave manipulator |
| JPH07205059A (en) * | 1994-01-19 | 1995-08-08 | Aichi Corp:Kk | Operation device of manipulator |
| CN103328161A (en) * | 2011-01-31 | 2013-09-25 | 丰田自动车株式会社 | Multi-joint arm robot, control method, and control program |
| CN102615637A (en) * | 2012-04-01 | 2012-08-01 | 山东电力研究院 | Master-slave control robot work platform for high-voltage live working |
| CN205835319U (en) * | 2016-06-06 | 2016-12-28 | 内蒙古机电职业技术学院 | A kind of five degree of freedom steering wheel mechanical arm |
| CN108161883A (en) * | 2018-01-08 | 2018-06-15 | 山东优宝特智能机器人有限公司 | A kind of main hand of force feedback remote operating |
| CN211940908U (en) * | 2020-03-09 | 2020-11-17 | 辽宁科技大学 | Master-slave mechanical arm capable of synchronously acting |
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