Series-parallel connection ball joint device

Abstract

A series-parallel connection ball joint device comprises a ball joint base, a static platform, an X-axis branched chain, a movable platform, a supporting chain, a Y-axis branched chain and a swinging unit. The ball joint base and the static platform are installed at the output end of the swinging unit and an installing flange respectively. When the swinging unit moves, the static platform and the ball joint base generate relative rotation, the movable platform is formed to rotate around the Z-axis of the movable platform, the X-axis branched chain is connected between the static platform and the movable platform and drives the movable platform to rotate around the Y-axis of the movable platform, the Y-axis branched chain is connected between the static platform and the movable platform and drives the movable platform to rotate around the X-axis of the movable platform, and the series-parallel connection ball joint device generates three-freedom-degree rotation around the rotation center. A series-parallel connection structure is utilized to improve rigidity, bearing capacity, working space and movement accuracy of a ball joint, the size of the ball joint is reduced; and simultaneously the series-parallel connection ball joint device serving as a module can achieve flexible operation in simulating the human arm by different combinations.

Description

technical field [0001] The invention relates to a series-parallel ball joint device, specifically, a three-degree-of-freedom series-parallel mechanism used for the wrist and shoulder of a robot, and belongs to the technical field of humanoid robots. Background technique [0002] The human arm has 7 degrees of freedom, the shoulder and the wrist each have 3 degrees of freedom, which rotate around the shoulder joint point and the wrist joint point respectively, and the elbow joint has a rotational degree of freedom, which drives the forearm to rotate around the elbow joint. In order to imitate the flexible movement of the human arm, people have studied a variety of mechanisms to achieve three-degree-of-freedom rotation around a fixed point, among which: the Unimate2000B manipulator developed by Unimate in the United States, the PUMA562 robot produced by PUMA, and the Omni mechanical wrist developed by Graco Robotics It adopts a serial robot configuration, three kinematic joint...

AI Technical Summary

Problems solved by technology

In order to imitate the flexible movement of the human arm, people have studied a variety of mechanisms to achieve three-degree-of-freedom rotation around a fixed point, among which: the Unimate2000B manipulator developed by Unimate in the United States, the PUMA562 robot produced by PUMA, and the Omni mechanical wrist developed by Graco Robotics It adopts a serial robot configuration, three kinematic joints are connected in series, and the rotation axes intersect at one point. This kind of mechanism is mostly driven by gear transmission or motor directly. Performance of the Humanoid Arm

There are also some manipulators that use a parallel mechanism with less degrees of freedom to achieve three-degree-of-freedom rotation around a fixed point, including: the classic 3-RRR mechanism, and the 3-RRR+S mechanism proposed by Liu Lei of Hebei University of Technology. These mechanisms have high rigidity and high precision. , but the working space is small, which also cannot meet the requirements of the humanoid arm

At the same time, the existing humanoid arms are also very bulky in size and cannot achieve the dimensions of a human arm.

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