246results about How to "Large space for exercise" patented technology

The invention discloses an extensible-connection six-freedom-degree force feedback mechanical arm. The extensible-connection six-freedom-degree force feedback mechanical arm comprises a base mechanism, a parallel four-bar mechanism arranged on the base mechanism and an end executor mechanism connected to the tail end of the parallel four-bar mechanism. The extensible-connection six-freedom-degree force feedback mechanical arm can be used for capturing the movement of a wrist and can be connected with tools such as a force feedback data glove and a wrench in an extended mode. According to the extensible-connection six-freedom-degree force feedback mechanical arm, three freedom degrees used for determining the spatial positions of extension connecting positions have force sense feedback, force feedback is achieved in the mode that a direct-current servo motor is matched with a cable transmission speed reduction mechanism, and three freedom degrees used for determining the spatial postures of the extension connecting positions are detected through three high-accuracy photoelectric encoders; meanwhile, a good hardware platform is provided for obtaining the spatial positions and the spatial postures of extension devices and tools such as the data glove, the wrench and a screwdriver in virtual operation and obtaining the feedback force at the extension connecting positions, and the extensible-connection six-freedom-degree force feedback mechanical arm is compact in structure, large in movement space, high in rigidity, accurate in positioning and wide in application range.

A pneumatically artificial muscle driven flexible manipulator simulating human hand is composed of the bones of index finger, middle finger, ring finger and little finger and consisting of three units, the thumb bone consisting two units, thumb linking palm, middle palm, little finger linking palm, and artificial tendons. The hand bone system has 21 joints and 17 freedoms.

The invention discloses an endoscope-holding robot for a minimally invasive abdominal operation. The endoscope-holding robot comprises a horizontal moving mechanism, a vertical moving mechanism, an endoscope gesture adjusting mechanism and an endoscope holding rack, wherein the horizontal moving mechanism is a dual-guide-rail and single-screw lead screw sliding platform which is arranged in a horizontal direction; the vertical moving mechanism is a dual-guide-rail and single-screw lead screw sliding platform which is arranged in a vertical direction, and the vertical moving mechanism is integrally installed on a sliding block of the horizontal moving mechanism and is driven to move left and right by virtue of the sliding block; the endoscope gesture adjusting mechanism comprises a link mechanism and a cross rotary base; an endoscope is clamped by a clamp on the endoscope holding rack; the endoscope is distributed in a vertical direction; and an extension line of the axis of the endoscope passes through the central point of the cross rotary base. The robot disclosed by the invention is simple in integral structure, compact and reasonable in layout, large in motion space, good in action coordination among various moving parts and flexible to operate and control; and especially, the robot has the characteristics of being high in precision and good in sensitivity and coordination when various actions are implemented during running.

The invention relates to a calibration system and method of a robot and belongs to the field of robot calibration. The calibration system comprises a calibration device, the robot, a computer, a robot cable and a calibration device cable. The calibration device is connected with the computer for communication through the calibration device cable. The robot is connected with the computer for communication through the robot cable. The computer is used for collecting data of the calibration device and joint rotation angles of the robot and calculating the distance of tail ends of the robot between two points in the space according to the two times of continuously collected data of the calibration device. The data of the calibration device comprises the length of a wire drawing sensor, the angle of an angle sensor I, and the angle of an angle sensor II. According to the calibration system and method of the robot, data support with higher robustness is provided for structure parameter calculation, and meanwhile, calibration operation is more flexible, easy and convenient; the reliability and precision of structure parameter calculation are improved; coordinate values of the tail end of the robot do not need to be measured, so that operation steps are simplified, and the calibration efficiency is improved.

The invention belongs to the field of motion control for industrial robots, and particularly discloses a control method and a system for a six-joint industrial robot passing through an attitude singularity. The control method and the system comprises the following steps that (1) a trajectory in the preset planned route by a robot that an attitude singularity located is intercepted, a position value of the trajectory starting point, a variable value of three rear joints, a position value of an ending point and the variable value of three rear joints; (2) the variable value of three rear joints in the attitude singularity position is obtained by the mean of interpolation; (3) the variable value of three front joints corresponding to the attitude singularity position is evaluated; and (4) the variable value of three rear joints and the variable value of three front joints corresponding to the attitude singularity position are used as a corresponding motion control parameter for the industrial robot in the attitude singularity position, the motion control of the industrial robot is achieved, therefore the six-joint industrial robot is enabled to pass through the attitude singularity smoothly. The control method and the system enable the robot to pass through the attitude singularity smoothly in the premise without changing the original planned route; the control method and the system is simple and practical, and high in calculation efficiency.

The invention discloses a pull wire type measuring system and method applied to spatial location accuracy and track measurement of an industrial robot. The system comprises the industrial robot. A measuring assembly comprises a measurement adapter, pull wire encoders, a data acquisition card and a computing terminal. The measurement adapter is mounted on an end effector of the industrial robot. The four pull wire encoders are connected with the measurement adapter through four testing cables. Base points of the four pull wire encoders are located in the same plane and are non-colinear. Extension lines of the four testing cables intersect at one point in space. The pull wire encoders are connected with the data acquisition card through wires. The data acquisition card is connected with the computing terminal. By means of the method, position information of the end effector of the industrial robot can be obtained, and the moving track of the industrial robot can be described in real time and the real-time speed and acceleration of the industrial robot can be computed when the industrial robot moves. The pull wire type measuring system is simple in structure, convenient to operate, large in movement space and high in accuracy.

The invention discloses a minimally invasive celiac surgery robot. The minimally invasive celiac surgery robot comprises a base, a surgery mechanical box and a driving system. The surgery mechanical box and the driving system are arranged above the base. The driving system comprises an X-direction translational driving device, a Y-direction translational driving device and a Z-direction elevatingdriving device. The X-direction translational driving device is used for driving the Z-direction elevating driving device, the Y-direction translational driving device and the surgery mechanical box to perform reciprocating linear motion along an X-axis direction. The Z-direction elevating driving device is used for driving the Y-direction translational driving device and the surgery mechanical box to perform reciprocating elevating motion along a Z-axis direction. The Y-direction translational driving device is used for driving the surgery mechanical box to perform reciprocating linear motionalong a Y-axis direction. With outstanding strengths in stability, safety and feasibility, the minimally invasive celiac surgery robot helps improve accuracy of surgery operation and surgery quality.

The invention discloses a cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement. The measurement system comprises an industrial robot, and a measurement assembly comprises a positioning disc, measurement adapters, cable encoders, data lines, a data acquisition card and a computing terminal. According to the measurement system, the cable encoders are used as main bodies for measurement, test cable lengths of the cable encoders are used for being converted into point location coordinate value changes on a robot end effector, the measurement system is applicable to the industrial field, the service life of test equipment is long, the motion space of the robot is large, and the measured data accuracy is high. By the aid of the measurement system and the measurement method, poses of the robot can be measured in real time conveniently, the structure is simple, the motion space is large, and the precision is high.

The invention relates to a calibration system and method for an industrial robot. A computer contains data collection software. An industrial robot is in connection and communication with the computer through an industrial robot cable. A joint arm type measuring machine is in connection and communication with the computer through a joint arm type measuring machine cable. The data collection software is controlled by the computer to collect the tail end position of the industrial robot and the joint rotation angle of the joint arm type measuring machine. A connection plate is connected with a flange plate at the tail end of the sixth joint of the to-be-calibrated industrial robot through a bolt I. A conical hole is connected with the connection plate through a bolt II. The joint arm type measuring machine is adopted for measurement, and the characteristics of flexible movement and large space of the joint arm type measuring machine are brought into play, so that when data are collected, the movement space at the tail end of the robot is large, movement of the joints of the robot are more sufficient, and a data support with higher robustness is provided for structural parameter calculation.

The invention relates to a self-calibration system and a method for articulated arm type coordinate measuring machine and belongs to the self-calibration field. The self-calibration system comprises a self-calibration device, an articulated arm type coordinate measuring machine, a computer, a self-calibration device cable and an articulated arm type coordinate measuring machine cable, the computer comprises a data collecting card; the self-calibration device is connected to the computer through the self-calibration device cable, the articulated arm type coordinate measuring machine is connected to the computer through the articulated arm type coordinate measuring machine cable; the data collecting card is controlled by the computer for collecting the effective length of the self-calibration device and the corner of the articulated arm type coordinate measuring machine; the effective length of the self-calibration device is the distance between the centre of sphere of the standard ball and the centre of sphere of the ball head of the steel ball. The self-calibration system and the method for articulated arm type coordinate measuring machine can offer data support with stronger robustness for resolving the structure parameter, the resolving reliability and the precision of the structure parameter are improved; the calibration operation is more flexible and light.

The invention discloses a parallel four-degree-of-freedom leg mechanism of a walking robot. The leg mechanism comprises a frame, a thigh rod, a shank rod, a thigh rotating mechanism and a shank rotating mechanism, wherein the frame is connected with the walking robot; the thigh rod and the shank rod are sequentially arranged under the frame from top to bottom; one end of the thigh rod is hinged to the frame; one end of the shank rod is hinged to the other end of the thigh rod; one end of the thigh rotating mechanism is mounted on the frame in a sliding manner; the other end of the thigh rotating mechanism is hinged to the middle of the thigh rod; one end of the shank rotating mechanism is mounted on the frame in a sliding manner; the other end of the shank rotating mechanism is hinged to the end part, close to the thigh rod, of the shank rod. The leg mechanism disclosed by the invention has good dynamic performance, and solves the problems that an existing serial joint is poor in stiffness, high in energy consumption, and poor in dynamic performance; besides, the problem that the torque of rotary direct driving force is not enough at present is solved.

The invention discloses a partial pendulum and steering mechanism for partial pendulum form vehicle, the main vehicle skeleton includes a front support, a main beam, the upper part of the main beam has a top end extended segment, the top end extended segment and the main beam are integrated into one form, a front steering upright column sleeve canister is provided on the top end extended segment, the shaft thread of the front steering upright column sleeve canister and the shaft thread of a shaft bearing groove on the main beam are collinear, a half open form front steering upright column runs through the front steering upright column sleeve canister and the bottom of the half open form front steering upright column and connects with a shaft bearing provided inside the shaft bearing groove, the top end of the half open form front steering upright column is provided with a vehicle handle, the vehicle handle at the side wall of the half open form front steering upright column stretches out a connection rod, the connection rod is connected with a pin shaft in the middle of a universal steering mechanism. The partial pendulum and steering mechanism for partial pendulum form vehicle, with the structure of half open form front steering upright column, makes the main beam have an upward extending space, thereby increases the functional load bearing ability of the main beam, makes the overall structure of the partial pendulum and steering mechanism compact, and lowers production cost.

The invention discloses a system and a method for pull-on-the-cable measurement of spatial pose precision and tracks of a moving component. Based on a parallel mechanism principle, the system and the method are used for measurement of the spatial pose precision and the tracks of the moving component of large equipment like an industrial robot or vertical milling machine. The system comprises a positioning disk, eight ball joints or universal joints, eight pull-on-the-cable displacement sensors, a data line, a data acquisition card and a computer. Eight test cables pulled out of the eight pull-on-the-cable displacement sensors are connected with the eight ball joints or universal joints mounted on the positioning disk on the moving component, the eight pull-on-the-cable displacement sensors are connected to the data acquisition card, and the computer is used for acquiring data and performing analytical calculation, so that poses of the moving component is obtained. When the moving component moves, the moving tracks can be described in real time, and real-time speed and real-time accelerated speed are calculated. The system has the advantages that the poses and the moving tracks of the moving component of the large equipment such as the robot or vertical milling machine can be measured simply and conveniently in real time, and accordingly, the system is low in cost, simple in structure, large in moving space and high in precision.