Drawing wire type serial mechanical arm

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.

Description

technical field [0001] The invention relates to a serial manipulator structure, in particular to a pull-wire serial manipulator. Background technique [0002] Manipulators have been used in various fields in people's production and life. The drive motors of traditional manipulators are installed on the joints, which greatly increases the weight of the manipulator itself, reduces the load-bearing capacity of the manipulator, and is also extremely unfavorable for high-speed movement and quick response. In order to overcome the weight of the motor installed on the joints of the manipulator, the power and energy consumption of the motor must be increased; at the same time, the drive motor and control circuit of the traditional manipulator are on the manipulator, which are vulnerable to vibration and external pollution when they are working. Damage caused by the impact of objects. [0003] In order to overcome the above-mentioned shortcomings of the traditional mechanical arm, t...

AI Technical Summary

Problems solved by technology

However, the structure of the parallel manipulator is huge and complex, and the weight of the additional device is usually equivalent to the weight of the motor, which cannot be ignored. The number of driving motors is large, and the energy consumption is large; and it has strong nonlinearity, so it is not suitable for miniaturization and cost reduction and energy consumption.

Regarding the structure of the serial pull-wire manipulator, there is no record in domestic and foreign literature

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