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A rope-driven redundancy mechanical arm

A technology of redundancy and manipulators, applied in the direction of manipulators, claw arms, joints, etc., can solve the problems that affect the control accuracy and the elbow joint is prone to slipping, so as to achieve good control accuracy and eliminate slipping problems

Inactive Publication Date: 2009-03-04
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a rope-driven redundant mechanical arm, which can effectively solve the technical problems of the prior art that the elbow joint of the rope-driven mechanical arm is prone to slipping and affects the control accuracy.

Method used

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  • A rope-driven redundancy mechanical arm
  • A rope-driven redundancy mechanical arm

Examples

Experimental program
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Effect test

no. 1 example

[0028] In this embodiment, the drive wheel 22 is provided with a stop cone, and the elbow joint control rope 25 is provided with a stop cone. Specifically, the stop cone hole is a groove provided on the top of the transmission wheel 22, the stop cone is a protrusion fixed on the elbow joint manipulation rope 25, and the protrusion fixed on the elbow joint manipulation rope 25 is inserted into the transmission wheel. In the groove that 22 tops offer, the transmission wheel 22 of this position and the elbow joint control rope 25 are relatively fixed. When the elbow joint control rope 25 pulls the transmission wheel 22 to rotate, due to the limitation of the protrusions and grooves, the elbow joint control rope 25 will not slip and has good control accuracy, which meets the requirements for high-speed movement and quick response of the mechanical arm. It can also be implemented very well.

[0029]In this embodiment, the stop taper hole and the stop cone body can have multiple re...

no. 2 example

[0031] In this embodiment, a stopper cone is set on the transmission wheel 22, and a stopper cone hole is set on the elbow joint manipulation rope 25. Specifically, the stop cone hole is a groove or a through hole provided on the elbow joint manipulation rope 25, and the stop cone is a protrusion provided on the top of the transmission wheel 22, and the protrusion provided on the top of the transmission wheel 22 is inserted into the elbow joint manipulation rope 25. In the groove or the through hole on the rope 25, the transmission wheel 22 of this position and the elbow joint manipulation rope 25 are relatively fixed. When the elbow joint control rope 25 pulls the transmission wheel 22 to rotate, due to the limitation of the protrusions and grooves, the elbow joint control rope 25 will not slip and has good control accuracy, which meets the requirements for high-speed movement and quick response of the mechanical arm. It can also be implemented very well.

[0032] In this em...

no. 3 example

[0034] In this embodiment, a stop cone is set on the drive wheel 22, and the elbow joint manipulation rope 25 is fixedly connected to the stop cone. Specifically, the stopper cone is a protrusion provided on the top of the transmission wheel 22. The protrusion can be a cylinder, a cone, a rectangle and a structure commonly used by those skilled in the art. Clamping, winding, etc. are fixedly connected to the protrusion, so that the transmission wheel 22 and the elbow joint control rope 25 at this position are relatively fixed, and the winding method is the most convenient.

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Abstract

A redundant manipulator driven by strings is composed of a base, a one-freedom elbow joint consisting of fixing platform, drive wheel, joint rod, drive axle and manipulating strings, and the three-freedom wrist and shoulder joints consisting of fixed platform, movable platform, joint rod, spherical bearing, and manipulating strings. Said manipulating string and / or drive wheel have stop mechanism, preventing skid.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a rope-driven redundant mechanical arm. Background technique [0002] Redundant robots play an important role in the development of today's intelligent robots because of their high flexibility. The motors of traditional anthropomorphic arm robots are all installed at the joints, which increases the inertia and mass of the robot, reduces the load-bearing capacity of the robot, and is also extremely unfavorable for high-speed movement and quick response. Rope drive has brought new ideas to overcome the influence of traditional robot drive on robot performance. The rope-driven anthropomorphic arm robot uses a rope-driven parallel mechanism to replace the joints of the anthropomorphic arm robot, which effectively reduces the weight of the arm and improves the speed. Responsiveness, suitable for occasions with strict requirements on weight and moment of inertia, such as aerospace. Since the motor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00B25J17/00B25J19/00
Inventor 陈伟海于守谦张建斌
Owner BEIHANG UNIV
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