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Three-degree of freedom under-actuated robot wrist device

An under-actuated, degree-of-freedom technology, used in manipulators, manufacturing tools, joints, etc., can solve the problems of complex mechanical structure, high cost and large volume, and achieve the effect of small size, low cost and reliable operation.

Inactive Publication Date: 2012-07-04
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since a degree of freedom needs to be supported by a power source (such as a motor, etc.), and the quality of the power source often accounts for the majority of the total mass of the joint, the obvious disadvantage of this type of device is that the device is fully driven, As a result, the mechanical structure is more complicated, the volume is larger, the quality is larger, and the cost is higher

Method used

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  • Three-degree of freedom under-actuated robot wrist device
  • Three-degree of freedom under-actuated robot wrist device
  • Three-degree of freedom under-actuated robot wrist device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] Embodiment one: see figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , the three-degree-of-freedom underactuated robot wrist device includes a box body 1, an output end with three degrees of freedom and a power source input end; the power source is a single power source, which is connected to the box body through a rope 316; the output The end is an end link 2 connected to the box body 1; an underactuated system is installed in the box body 1, and the rope three 16 is connected to the end link 2 through the underactuated system; the linear motion of the rope three 16 is transmitted through the underactuated system, Drive the end link 2 to move in three degrees of freedom. The single power source can be that the output end of a motor 19 is connected with a screw mandrel 20, and the screw mandrel 20 is screwed with a nut sleeve 21, and the nut sleeve 21 is connected with the rope three 16.

Embodiment 2

[0054] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows: see figure 1 , Figure 5 , Figure 6 , Figure 7 , the structure of the underactuated system is: the rope three 16 is connected to a sliding guide wheel b in the vertical direction, and after a rope two 15 bypasses the sliding guide wheel b in the vertical direction, one end goes around a fixed The guide wheel a is connected to the end connecting rod 2 and inserted into the lower end of the box, which can pull the end link 2 to swing, while the other end bypasses a fixed guide wheel 2 c and a fixed guide wheel 3 d and then connects to a horizontal The sliding guide wheel f in the direction can pull the sliding guide wheel f to move horizontally; after a rope-14 walks around the sliding guide wheel f in the horizontal direction, one end of the rope-14 walks around a fixed guide wheel 4e Connect one side of rotating connecting rod 2 to make rotating connecting ...

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Abstract

The invention relates to a three-degree of freedom under-actuated robot wrist device, which comprises a cabinet, an output end with three degrees of freedom and a power source input end. The power source input end is provided with a single power source and is connected with the cabinet through a rope 3; the output end is provided with a tail end connecting rod and is connected with the cabinet; an under-actuated system is arranged in the cabinet, and the rope 3 is connected with the tail end connecting rod through the under-actuated system; the linear movement of the rope 3 drives the tail end connecting rod to make three-degree of freedom movement through the transmission of the under-actuated system.

Description

technical field [0001] The invention relates to a robot wrist device, in particular to a three-degree-of-freedom underactuated robot wrist device. Background technique [0002] Similar to human beings, the function of the robot is realized through the operation of the mechanical arm, and the wrist is an important device connecting the arm and the claw, and its design is one of the key technologies of the robot. Existing robot wrists generally have three degrees of freedom, and all use three motors to realize three degrees of freedom, mainly including a rotary arm, an inclined arm, a wrist, a housing, a mounting seat, a reducer, a transmission shaft and a motor. Since a degree of freedom needs to be supported by a power source (such as a motor, etc.), and the quality of the power source often accounts for the majority of the total mass of the joint, the obvious disadvantage of this type of device is that the device is fully driven, Resulting in more complicated mechanical st...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 何斌刘文珍周琨韩立志
Owner SHANGHAI UNIV
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