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Trunk-simulating mechanical arm unit device

A technology of unit device and mechanical arm, which is applied in the field of robotics, can solve the problems of bulky air compressor, large system footprint, complex device structure, etc., and achieve the effect of compact structure, good mobility and small volume

Inactive Publication Date: 2014-07-02
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In summary, there have been some achievements in imitating elephant trunk manipulators, which are mainly realized by pneumatic means. Due to the large volume of the air compressor, the entire system occupies a large area; in addition, the structure of the device is complex and expensive; Sexuality and other issues, energy consumption is also high

Method used

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  • Trunk-simulating mechanical arm unit device
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  • Trunk-simulating mechanical arm unit device

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Embodiment Construction

[0037] The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0038] The embodiment of a kind of artificial elephant trunk mechanical arm unit device designed by the present invention is as follows: figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 shown. The artificial elephant trunk mechanical arm unit device includes a base 1, at least 2 artificial muscle assemblies, at least 2 intermediate pieces 6 and an end piece 8; the artificial muscle assembly includes a driver 2, a transmission mechanism 3 and a flexible screw assembly; the The flexible screw assembly includes a flexible rod 51 and a screw 52; the driver 2 is fixed to the base 1, the output shaft of the driver 2 is connected to the input shaft of the transmission mechanism 3, and the output shaft of the transmission mechanism 3 is connected to the flexible...

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Abstract

The invention discloses a trunk-simulating mechanical arm unit device and belongs to the technical field of robots. The trunk-simulating mechanical arm unit device comprises a base, a plurality of artificial muscle assemblies, a plurality of middle parts, a plurality of springs, an end part and a flexible cover, wherein each artificial muscle assembly comprises a driver, a transmission mechanism and a flexible screw rod assembly. The trunk-simulating mechanical arm unit device has multiple degrees of freedom, can bend, stretch out and draw back in multiple directions, can form various bending spatial shapes, enables a tool connected with the tail end of the trunk-simulating mechanical arm unit device to reach any spatial position, is good in maneuverability, is good in flexibility, is high in safety in the interaction process with people, and meanwhile is light in self-weight, small in size, compact in structure and low in cost. The trunk-simulating mechanical arm unit device can be widely applied to various automatic systems needing mechanical arms.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of a mechanical arm unit device imitating an elephant trunk. Background technique [0002] Robots are designed to perform tasks in place of humans and usually require a pair of arms. The human arm has seven degrees of freedom, belongs to the series cantilever structure, has well-developed muscles, can generate a lot of force and move at a high speed, all of which make the development of the mechanical arm very difficult. Whether it is the CMU / Sarcos robot developed by Carnegie Mellon University in the United States, the HUBO robot developed by the Korean High Technology Research Institute, and the ASIMO robot developed by Japan's Honda Corporation...these have a common feature: these traditional robot arms are all A plurality of rigid connecting rods are composed of joints in series or in parallel, which have the disadvantages of complex structur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J18/00B25J19/00
Inventor 杨韵芳张文增
Owner TSINGHUA UNIV
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