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Three-drive extensible dexterous mechanical arm

A manipulator, three-drive technology, applied in manipulators, program-controlled manipulators, joints, etc., can solve the problems of unfavorable energy saving, increase the structural complexity of space manipulators, increase the mass and moment of inertia of space manipulators, and achieve structural Compactness, high degrees of freedom, and overall light weight

Inactive Publication Date: 2014-04-16
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, most space manipulators have six degrees of freedom, and each joint must be equipped with a drive unit composed of a motor and a reducer. This increases the structural complexity of the space manipulator and increases the mass and moment of inertia of the space manipulator. bad for saving energy

Method used

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  • Three-drive extensible dexterous mechanical arm
  • Three-drive extensible dexterous mechanical arm
  • Three-drive extensible dexterous mechanical arm

Examples

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Embodiment Construction

[0034] The structure of the mechanical arm will be further described below in conjunction with the accompanying drawings.

[0035] Such as figure 1 , 2 As shown, three driving units 1, 33, 34 provide power for the entire mechanical arm, wherein the output ends of the driving units 1, 34 are respectively connected with the lead screws 3, 31 through the couplings 2, 32; the lead screws 3, 31 Lead screw nuts 4, 30 are respectively installed on the top, and lead screw nuts 4, 30 are respectively connected with push rods 5, 28, which can push the push rods to do reciprocating linear motion; 26 is connected with the outer wall of the deflection ring 10. Through the sliding of the lead screw nuts 4 and 30, the push rods 5 and 28 are pushed respectively, and the force transmission of the connecting rods 8 and 26 can control the deflection of the deflection ring 10; the output end of the drive unit 33 is connected to the The first joint input end 6 is connected to drive the first jo...

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Abstract

The invention discloses a three-drive extensible dexterous mechanical arm, and aims to simplify the structure of the mechanical arm and increase the degree of freedom to dexterously and effectively capture a space target. A power source of the three-drive extensible dexterous mechanical arm is three driving units arranged on a base, wherein two driving units control a posture of the three-drive extensible dexterous mechanical arm through the transmission of motions of a lead screw, a lead screw nut, a push rod and a connecting rod; the third driving unit controls the rotary motion of the whole three-drive extensible dexterous mechanical arm; and therefore, (2N+5) degrees of freedom can be controlled through the three driving units, wherein N is a natural number. A joint of the three-drive extensible dexterous mechanical arm is a combined body of a universal joint pin, a joint shell and concave and convex limiting mechanisms, and the joint can bend and rotate; meanwhile, the joint can be connected in series for extension, so that the mechanical arm has extremely high degree of freedom and dexterity.

Description

technical field [0001] The invention relates to the technical field of robot mechanism design, specifically, a three-drive expandable mechanical arm is designed for flexible grasping and capturing of space objects. Background technique [0002] With the continuous deepening of space exploration, space manipulators play a vital role in engineering fields such as space docking, on-orbit service, cargo handling, and target acquisition. Facing the complex space environment, a wide variety of operating objects, and increasingly complex operating tasks, the space manipulator is required to have the characteristics of high reliability, economy, safety, and dexterity. [0003] At present, most space manipulators have six degrees of freedom, and each joint must be equipped with a drive unit composed of a motor and a reducer. This increases the structural complexity of the space manipulator and increases the mass and moment of inertia of the space manipulator. Not conducive to saving...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J17/00
Inventor 褚明贾庆轩孙汉旭黄飞杰邓夏陈钢
Owner BEIJING UNIV OF POSTS & TELECOMM
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