Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

An anthropomorphic 6-DOF robot gravity balance method

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

Active Publication Date: 2016-03-30
TIANJIN UNIV
View PDF16 Cites 2 Cited by
  • Summary
  • 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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • An anthropomorphic 6-DOF robot gravity balance method
  • An anthropomorphic 6-DOF robot gravity balance method
  • An anthropomorphic 6-DOF robot gravity balance method

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J19/00
Inventor 赵臣闫帅赵汉望范荣芳罗小明
Owner TIANJIN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com