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Single motor driven two-freedom degree joint structure

A technology of single-motor drive and joint structure, which is applied in the field of bionic robots, can solve problems such as troublesome motor layout, and achieve the effect of improving drive efficiency

Inactive Publication Date: 2009-07-22
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In general, the drive of joints with 2 to 3 degrees of freedom adopts the full drive method, that is, the number of driving motors is equal to the number of degrees of freedom of the joints, which often brings troubles to the layout of the motors

Method used

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  • Single motor driven two-freedom degree joint structure
  • Single motor driven two-freedom degree joint structure
  • Single motor driven two-freedom degree joint structure

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0027] like figure 1 as shown, figure 1 A schematic diagram of the structure of a two-degree-of-freedom joint driven by a single motor provided by the present invention, the structure consists of a motor 1, a frame 2, a motor gear 3, a first gear 4, a second gear 4', a cross shaft 5, a first An angular displacement sensor 6 , a second angular displacement sensor 6 ′, a first magneto-rheological damper 7 , a second magnetorheological damper 7 ′ and an actuator 8 are formed.

[0028] Wherein, the frame 2 is connected with the execution part 8 through the cross shaft 5, the frame 2 is connected with the first shaft of the cross shaft 5 through a bearing, and the execution part 8 is connected with the first shaft of the cros...

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Abstract

The invention discloses a single motor-driven two-degree-of-freedom joint structure, which consists of a motor (1), a machine frame (2), a motor gear (3), a first gear (4), a second gear (4'), a cross-shaped intersecting axle (5), a first angular displacement sensor (6), a second angular displacement sensor (6'), a first magnetorheological damper (7), a second magnetorheological damper(7') and an actuating part (8). The structure realizes the control of the single motor over the two-degree-of-freedom motion by controlling the output damping torque of the magnetorheological dampers with two controllable end shafts.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a single-motor-driven two-degree-of-freedom joint structure applied to bionic robots. Background technique [0002] A two-degree-of-freedom joint refers to a joint with two degrees of freedom that intersect perpendicularly on two axes. The prototypes of such joints are ubiquitous in human and animal bodies. The development of two-degree-of-freedom joints has certain significance for various bionic robots. [0003] In nature, joints with 2 to 3 axes perpendicular intersecting degrees of freedom are very common in various animal bodies, such as neck joints, wrist joints, ankle joints, knuckle joints, waist joints, crabs and other walking animals. Leg joints of other reptiles, etc. Therefore, for various bionic robots, how to make joints with axes intersecting degrees of freedom is one of the problems to be solved. [0004] In general, the drive of joints with 2 to 3 degrees...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J19/00F16H37/00
Inventor 罗杨宇李成荣
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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