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Wrist device for three degree of freedom (TDOF) underactuated robot

A robot and underactuated technology, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of complex mechanical structure, large volume, and high quality, and achieve the effect of small volume, low cost, and light weight

Inactive Publication Date: 2011-04-13
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 mass of the power source often accounts for most of the total mass of the joint, the obvious disadvantage of this type of device is that the device adopts a fully driven method, 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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  • Wrist device for three degree of freedom (TDOF) underactuated robot
  • Wrist device for three degree of freedom (TDOF) underactuated robot
  • Wrist device for three degree of freedom (TDOF) underactuated robot

Examples

Experimental program
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Effect test

Embodiment 1

[0019] Embodiment one: see figure 1 , figure 2 , image 3 , the three-degree-of-freedom underactuated robot wrist device includes a static platform, a dynamic platform, three branches and two driving power sources, and is characterized in that: the static platform hinges the dynamic platform through the three branches , two of the three branches are driven by two driving power sources, and the moving platform moves in three degrees of freedom through the transmission of the three branches.

Embodiment 2

[0020] Embodiment two: see figure 1 , figure 2 , image 3 , the structure of the static platform is: one end of a curved base connecting rod (32) is fixed on the upper surface of the base (1) by two screws (33), (34), and the other end is connected to the three branches One of the branches; a first motor fixing seat (2) is also fixed on the upper surface of the base (1) by two screws (36), (37), and the first motor fixing seat (2) and The base connecting rods (32) are spaced at 120°; another second motor fixing seat (31) is fixed on the upper surface of the base (1) by two screws (38), (39), and the second motor fixing seat (31) are spaced 120° apart from the motor holder (2) and the base connecting rod (32).

[0021] The two driving power sources are two motors, and the first motor (3) and the second motor (30) are respectively fixed to the first motor fixing base (2) and the second motor fixing base (31) by bolts Above, the output ends of the first motor (3) and the se...

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Abstract

The invention relates to a wrist device for a three degree of freedom (TDOF) underactuated robot. The device comprises a static platform, a movable platform, three branches and two drive power sources, wherein the static platform is hinged with the movable platform through the three branches, and two of the three branches are connected with the two drive power sources respectively; and under driving of the two drive power sources, the movable platform performs three degree of freedom motion through transmission of the three branches.

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] The underactuated mechanism refers to the mechanism whose control access is smaller than the degree of freedom of the system. An underactuated robot is a robot containing an underactuated mechanism. The extensive attention of scholars has become a new hot spot in the field of robotics research. Underactuated robots appear in various forms such as space robots, underwater robots, mobile robots, walking robots, parallel robots, servo robots and flexible robots. [0003] The parallel mechanism can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. The parallel mechanism has no cumulative error and high precision; the driving devi...

Claims

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Application Information

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IPC IPC(8): B25J17/02
Inventor 何斌刘文珍
Owner SHANGHAI UNIV
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