Seven-degree-of-freedom external skeleton type teleoperation main hand

An exoskeleton and degree of freedom technology, which is applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of complex robot motion mapping, heavy human burden, and large inertia, and achieve the effect of compact structure, less fatigue, and adjustable size

Inactive Publication Date: 2015-03-04
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Most of its weight is concentrated on the wearing part of the arm, which is large in size and high in inertia, causing an excessive burden on the human body
The Chinese utility model patent with the authorized publication number CN2710848 Y is a wearable exoskeleton manipulator developed by

Method used

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  • Seven-degree-of-freedom external skeleton type teleoperation main hand
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  • Seven-degree-of-freedom external skeleton type teleoperation main hand

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[0024] The present invention will be further described in detail below in conjunction with the drawings:

[0025] The invention is an exoskeleton type teleoperation main hand device, and the arm wear part has seven degrees of freedom. figure 1 Shown is the overall structure of the device. The exoskeleton type teleoperation main hand device of the present invention consists of a bracket (2), a driving unit (3), and an exoskeleton main hand ( Figure 4 ) Three parts. Among them, the main hand part of the exoskeleton is divided into an odd heterogeneous adjustment unit (4) and an arm wear part. According to the anthropomorphic design principle, the arm wear part adopts a tandem structure and is worn on the operator's upper arm, including shoulders, elbows, and wrists, with a total of seven rotational degrees of freedom, and each rotational degree of freedom is sequentially distributed. Among them, the shoulder has three degrees of freedom of rotation to achieve shoulder joint adduc...

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PUM

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Abstract

The invention relates to a seven-degree-of-freedom external skeleton type teleoperation main hand. The seven-degree-of-freedom external skeleton type teleoperation main hand is composed of an external skeleton main hand portion, a driving unit and a support. The external skeleton main hand portion comprises an arm wearing portion and a singular configuration adjusting unit. The arm wearing portion is worn on the upper limb of an operator; the singular configuration adjusting unit provides rotation in two directions; the singular configuration of the adjustable external skeleton main hand can be carried out on the edge of working space; the driving unit is composed of motors, harmonic reducers, encoders, torque transducers, transmission wheels and the like; power is transmitted through steel wire ropes; and the weight of the arm part is greatly reduced. The support is used for fixing the external skeleton main hand portion and the driving unit and can achieve height adjustment and gravity balance of the arm. The seven-degree-of-freedom external skeleton type teleoperation main hand is flexible in operation and good in applicability; the arm part is compact in structure, low in inertia and not prone to fatiguing after long-time operation. By means of the seven-degree-of-freedom external skeleton type teleoperation main hand, the operator can remotely control a multi-degree-of-freedom robot through the external skeleton type main operation hand.

Description

technical field [0001] The invention relates to an exoskeleton-type main hand device, in particular to a seven-degree-of-freedom exoskeleton-type remote-operated main hand device applied in the field of space robots, which can measure the rotation angle and reproduce the contact between the slave-end multi-degree-of-freedom robot and the environment moment. Background technique [0002] With the rapid development of the aerospace industry and the continuous deepening of space exploration, space operations tasks have become more and more arduous and complex, such as the construction and maintenance of satellites in orbit or large space stations, the maintenance of space equipment, and the care of scientific experiment loads Wait. Extravehicular service robots can well adapt to the space operation environment, and use robots to replace or assist astronauts to participate in space activities. [0003] A robot with multiple degrees of freedom in space needs control parameters ...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J17/02B25J19/02B25J18/00B25J19/00
Inventor 宋荆洲郝雄波孙汉旭贾庆轩
Owner BEIJING UNIV OF POSTS & TELECOMM
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