Exoskeleton mechanism based on parallelogram connection-rod and wire rope

A parallelogram, link mechanism technology, applied in manipulators, program-controlled manipulators, motion accessories, etc., can solve problems such as bloated mechanisms, complex control strategies, and the drive device and exoskeleton mechanism are not integrated. The effect of high integration and compact structure
CN101455609AInactive Publication Date: 2009-06-17HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HARBIN INST OF TECH
Publication Date
2009-06-17
Estimated Expiration
Not applicable · inactive patent

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Abstract

The present invention relates to an external skeleton mechanism based on parallelogram connecting rod and wire cable, and relates to an external skeleton mechanism. The aim of the invention is to settle the problems that the existing external skeleton mechanism which is used aiming at the hand part can not realize bidirectional active driving, the mechanism is overstaffed, the strong friction between the cable and the mechanism makes the control more difficult, etc. A first thread wheel and a second thread wheel of the invention are respectively installed on two sides of the upper part of second machine frame. The first thread wheel is coaxial with one end of the fourth connecting rod. The second thread wheel is coaxial with one end of Number1 connecting rod. One end of the second wire cable is connected with a clamp plate. The other end of the second wire cable is installed on a second adjusting slider. The third thread wheel and the fourth thread wheel are respectively installed on two sides of the upper part of third machine frame. The third wire wheel is coaxial with the Number4 connecting rod. The fourth thread wheel is coaxial with connecting rod 4. Each joint of the invention adopts a parallelogram link mechanism. The middle driving component adopts a wire cable for transmission. The hand can be surrounded with the external skeleton form for executing an enveloping movement.
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Description

technical field

[0001] The invention relates to an exoskeleton mechanism. Background technique

[0002] At present, the most typical exoskeleton mechanisms in the world are: EXOS exoskeleton hand, CyberGrasp (force feedback) data glove. The design ideas of these exoskeleton mechanisms mainly use the knuckles of human fingers as part of their exoskeleton mechanisms, so this exoskeleton mechanism is not an independent exoskeleton mechanism, that is, without the cooperation of human fingers, this exoskeleton mechanism Mechanisms cannot generate any movement. Therefore, it will inevitably bring the following three problems: ① It needs to cooperate with each knuckle of the human hand to form a polygonal mechanism to generate motion, which will affect the reality of force perception during force feedback. ②Both cannot realize two-way active driving, which can only make the human hand produce stretching motion and the motion originates from the human hand. ③Using rope transmissi...

Claims

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