Five-degree-of-freedom manipulator, drive circuit and control method

Abstract

The invention discloses a five-degree-of-freedom manipulator. The manipulator comprises a manipulator big arm, a manipulator small arm, a first wrist, a second wrist as well as a manipulator palm, which are sequentially connected with one another, the five-degree-of-freedom manipulator further comprises a first steering gear and a second steering gear, which are arranged on two sides of the bottom of the manipulator big arm in a parallel-connection manner and used for controlling the operation of the manipulator big arm, a third steering gear used for driving the manipulator small arm to move, a fourth steering gear used for driving the first wrist to move, a fifth steering gear used for driving the second wrist to move and a sixth steering gear used for driving the manipulator palm to move. The invention further discloses a driver circuit and a control method for the five-degree-of-freedom manipulator. Compared with a two-degree-of-freedom manipulator or a three-degree-of-freedom manipulator, the five-degree-of-freedom manipulator is more flexible to move and can increase the scope of the manipulator palm in grab objects.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a five-degree-of-freedom manipulator, a drive circuit and a control method. Background technique [0002] Nowadays, the role of manipulators is becoming more and more important. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and Department of Atomic Energy etc. The manipulator is mainly composed of a hand and a motion mechanism. To be able to grasp objects in space, a manipulator needs multiple degrees of freedom. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. Generally, special-purpose manipulators have 2 or 3 degrees of freedom, and their types can be divided into hydraulic,...

AI Technical Summary

Problems solved by technology

If it is necessary to increase the degree of freedom of the robot arm in order to grab space objects in a wider range, it will also make the mechanism of the robot arm more complicated and the weight will increase accordingly.

The existing mechanical arms driven by a single steering gear have limited driving force and generally have fewer degrees of freedom. When there are more degrees of freedom, the phenomenon of insufficient driving force of the large arm and shaking of the manipulator will occur

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