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Force sense manipulator with mechanical arm

A technology for manipulators and robotic arms, applied in manipulators, claw arms, manufacturing tools, etc., can solve the problems that force-sensing manipulators cannot meet requirements and structural differences, and achieve flexible drive layout, large structural rigidity, error the effect of elimination

Active Publication Date: 2015-06-03
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Especially in terms of work space, feedback force, grip and versatility, traditional force-sensing manipulators cannot meet the requirements. At the same time, different attention indicators also lead to differences in structural forms.

Method used

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  • Force sense manipulator with mechanical arm
  • Force sense manipulator with mechanical arm
  • Force sense manipulator with mechanical arm

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0050] The force sense manipulator with the mechanical arm of the present invention has six joints, and the overall structure is a series link structure with parallel connecting rods, and each joint controls a degree of freedom of the end effector of the mechanical arm. Such as figure 1 As shown, among the six joints, the first joint 1, the second joint 2 and the third joint 3 are three joints at the bottom; the first joint 1 is used to control the horizontal rotation of the end effector of the controlled mechanical arm, and the second joint 2 is used for to control the end effector of the controlled mechanical arm to swing back and forth, and the third joint 3 is used to control the end effector of the controlled mechanical arm to swing up and down. The fourth joint 4, the fifth joint 5 and the sixth joint 6 are three terminal joints; the fourth joint 4 is ...

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Abstract

The invention discloses a force sense manipulator with a mechanical arm. The force sense manipulator comprises six rotation joints and has six freedom degrees. The rotation joints are arranged in way similar to the serial connecting rods of an industrial mechanical arm, the first joint is located at the bottommost part, and the sixth joint is located at the tail-most end. The second joint and the third joint adopt a parallel connecting rod mechanism arrangement manner, a third joint motor is placed on a rotary disc, an angle sensor is placed on a joint axis, and position precision and structure rigidity are guaranteed and structure rotation inertia is reduced. In the three lower joints, a rope transmission mechanism with a tensioning device is used, large force feedback capability is provided when gaps are avoided. The three upper joints are driven by direct transmission. The joint shaft of each of the fifth joint, the second joint, the third joint, the fourth joint and the fifth joint adopts a U-shaped shifting force connecting manner, and structural strength and precision are guaranteed.

Description

technical field [0001] The invention relates to a mechanical manipulator, in particular, a multi-degree-of-freedom general-purpose force-sense manipulator for a gripping mechanical arm with force feedback capability. Background technique [0002] With the full development of communication technology, computer technology and large-scale integrated electronic technology in the late 1970s, the demand for remote operation technology has been enhanced, and the development of master-slave equipment has gradually become a popular direction. With virtual reality With the rapid rise of technology, some substantive changes have taken place in the master-slave teleoperation. Today, remote operation technology and virtual interaction technology have been integrated and developed rapidly. The invention of this device is also the result of the development of master-slave teleoperation technology and virtual interaction technology. [0003] General force sense manipulators can be divided...

Claims

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Application Information

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IPC IPC(8): B25J18/00B25J19/02B25J19/00
Inventor 王巍李雪鹏叶婷雷朝
Owner BEIHANG UNIV
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