An anthropomorphic 6-DOF robot gravity balance method

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) Force-sensing robots that have been launched internationally, such as the PHANTOM series of force-sensing robots from SensAble Technologies in the United States and the Virtuose series of force-sensing robots from Haption in France, have not achieved complete gravity balance, but only the gravity balance design of the position mechanism .

[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...

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