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Anthropomorphic six-degree-of-freedom robot gravitational equilibrium method

A gravity balance, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of good static transparency

Active Publication Date: 2012-12-19
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0017] The technical problem to be solved by the present invention is to provide an anthropomorphic 6-DOF robot gravity balance method that can solve the problem of complete gravity balance of the 6-DOF force-sensing main hand

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  • Anthropomorphic six-degree-of-freedom robot gravitational equilibrium method
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Embodiment Construction

[0036] An anthropomorphic six-degree-of-freedom robot gravity balance method of the present invention will be described in detail below in conjunction with the embodiments and accompanying drawings.

[0037] A kind of anthropomorphic 6-DOF robot gravity balance method of the present invention comprises the following steps:

[0038] 1) The entire 6-DOF main-hand robot is set up in an anthropomorphic arrangement, and the first joint axis of the 6-DOF main-hand robot is arranged vertically, so that the first joint does not rotate vertically under the action of gravity. rotary motion of the axis;

[0039] 2) The three joint mechanisms of the wrist are arranged in the center of the wrist, and the center of mass of the wrist mechanism is located at the center of the wrist and intersects with the forearm rod at a certain point through symmetrical design or counterweight design;

[0040] Firstly, the gravity balance design of the three joint mechanisms of the wrist is realized throug...

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Abstract

The invention discloses an anthropomorphic six-degree-of-freedom robot gravitational equilibrium method which comprises the following steps: the whole six-degree-of-freedom master robot is arranged in an anthropomorphic arrangement way, and the first joint axis of the six-degree-of-freedom master robot is arranged vertically so as to prevent the first joint from conducting rotary motion around the vertical axis under the action of gravity; the three joint mechanisms of the wrist are in wrist heart arrangement, and through symmetric design or counterweight design, the center of mass of the wrist mechanism is positioned at the wrist heart and intersected with a forearm rod piece at one point; a forearm drive motor moves back to one side of a large arm joint through a parallelogram mechanism; through a large arm drive motor and a counter weight thereof and the forearm drive motor and a counter weight thereof, the whole master position mechanism realizes gravitational equilibrium; and in implementation, firstly the gravitational equilibrium of the wrist mechanism is adjusted and then the gravitational equilibrium of the position mechanism is adjusted. The method well solves the complete gravitational equilibrium problem of the force-sensing master, can realize complete gravitational equilibrium of the six-degree-of-freedom robot and fulfill the establishment condition of Jacobi equation, and has good static transparency.

Description

technical field [0001] The invention relates to a robot gravity balance method. In particular, it relates to an anthropomorphic 6-DOF robot gravity balance method. Background technique [0002] (1) At present, the force-sensing robots that have been launched internationally, such as the PHANTOM series force-sensing robots of the US SensAble Technologies and the Virtuose series force-sensing robots of the French company Haption, have not achieved complete gravity balance, but only the gravity balance of the position mechanism design. [0003] If the main hand does not have complete gravity balance, it means that the robot does not meet the preconditions for force Jacobian calculation, and there is a certain error in the calculated joint torque value, which will affect the force-sensing accuracy of the main-hand robot to a certain extent. [0004] (2) In the invention patent with the patent number CN102320040A, its self-adjusting balance mechanism uses a DC motor to drive an...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J19/00
Inventor 赵臣闫帅赵汉望范荣芳罗小明
Owner TIANJIN UNIV
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