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Seven-degree-of-freedom human-simulated mechanical arm system based on human engineering

A technology with ergonomics and degrees of freedom, applied in the field of humanoid robots, can solve the problems that the human arms are far apart in the working space and cannot simulate the movement of human arms, and achieve strong motion flexibility and fault tolerance, high rigidity and precision Effect

Inactive Publication Date: 2015-05-13
胡宁
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current robotic arm is far from the human arm in terms of working space, flexibility, and structural configuration, and cannot achieve the effect of simulating the movement of the human arm

Method used

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  • Seven-degree-of-freedom human-simulated mechanical arm system based on human engineering
  • Seven-degree-of-freedom human-simulated mechanical arm system based on human engineering
  • Seven-degree-of-freedom human-simulated mechanical arm system based on human engineering

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Embodiment Construction

[0042] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0043] Such as figure 1 , described in the present invention figure 1 The middle mechanical structure includes a shoulder joint and a support 1 , a large arm and a mounting plate 2 , and a forearm 3 . Wherein the shoulder joint and the bearing 1 have a total length of 600mm, the upper arm 2 has a total length of 340mm, and the forearm has a total length of 270mm. Its position connection relationship is: the big arm and the mounting plate 2 are fixed on the shoulder joint and the moving platform of the bearing 1, and connected by screws;

[0044] Such as figure 2 , the shoulder joint and support 1 of the present invention, hydraulic swing cylinder 1-401, swing cylinder output shaft seat 1-402, eccentric installation base plate 1-403, installation center base plate 1-101, shoulder joint dynamic platform support 1-102 , long slider 1-103, shoulder j...

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Abstract

A seven-degree-of-freedom human-simulated mechanical arm system based on human engineering is characterized in that the system comprises a shoulder joint and support, a big arm and mounting plate and a front arm; the big arm and mounting plate is fixed on a mobile platform of the shoulder joint and support, and the big arm and mounting plate and the mobile platform are connected through screws; the front arm is fixedly connected to an elbow joint movable plate of the big arm and mounting plate. According to the seven-degree-of-freedom human-simulated mechanical arm system, the structure and size are similar to the structural size of a human body, a human-simulated arm with the structural feature being similar to that of a human arm can better simulate the action of the human arm, a series-parallel connection mixing structure is adopted, on the basis that the requirement for motion space similar to the human arm is met, the rigidity and accuracy are high, and high action flexibility and fault tolerance are achieved.

Description

technical field [0001] The invention relates to the field of humanoid robots, in particular to a humanoid robot arm system with seven degrees of freedom based on ergonomics. Background technique [0002] The manipulator is an important tool to realize the connection between the main body of the robot system and the end effector. The range of motion and load capacity of the manipulator directly affect the working ability of the robot end. The rapid development of service robots and space robots has put forward higher requirements for the performance of the manipulator. Humanoid robot is one of the most active research directions in the field of robot research today, and the humanoid robot arm, which is an important part of humanoid robot, is a research hotspot. In the structure of the human body, the upper limbs can easily, accurately, and flexibly realize various actions such as touching, grasping, pushing and pulling. The current robotic arm is far from the human arm in t...

Claims

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Application Information

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IPC IPC(8): B25J18/00B25J9/04
Inventor 胡宁
Owner 胡宁
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