Rope-driven redundancy mechanical arm

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 The invention relates to a mechanical arm, in particular to a rope-driven redundant mechanical arm. Background technique Redundant robots play an important role in the development of today's intelligent robots due to 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 and the control ci...

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to provide a rope-driven redundant mechanical arm, which effectively solves technical problems such as the elbow joint of the existing rope-driven mechanical arm is prone to slipping and affects control accuracy.

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