Drawing wire type serial mechanical arm

A manipulator and wire-pulling technology, applied in the field of serial manipulator structure, can solve the problems of large and complex parallel manipulator structure, unsuitable miniaturization, cost reduction and energy consumption, etc. The effect of small size and few additional devices
CN101733743AInactive Publication Date: 2010-06-16SOUTH CHINA UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
SOUTH CHINA UNIV OF TECH
Publication Date
2010-06-16
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The invention relates to a drawing wire type serial mechanical arm which has two degrees of freedom (DOF) at wrist joint, one DOF at elbow joint and two DOFs at shoulder joint. The whole structure of the mechanical arm comprises a seat driving box, a joint rod and a joint drive mechanism. The driving motor of each DOF is mounted on the seat driving box of the mechanical arm, the motive power of the motor is transferred to the mechanical arm by manipulating the drawing wire, thus overcoming the influence of motor weight mounted on the mechanical arm to the carrying capacity and movement flexibility of the mechanical arm; forward and backward movement of each DOF of the mechanical arm can be realized by the forward and backward rotation of each detached driving motors, so that the drawing wire can maintain in tense state in the movement process, thus solving the unidirection property that means drawing but not compressing in the driving process; in the invention, the size and position of the pulley wheels are artfully configured, the effectively overcoming the defects such as small driving range and easy interference between wires in the driving process of parallel wires.
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Claims

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