Human-simulated mechanical arm

Abstract

The invention provides a human-simulated mechanical arm. The human-simulated mechanical arm comprises six arm freedom degrees and one paw opening and closing freedom degree. The six arm freedom degrees include the three front end arm freedom degrees and the three tail end wrist freedom degrees, and each freedom degree is controlled through one motor. The three front end arm freedom degrees include a waist rotation motion, large arm swinging and small arm swinging. The three tail end wrist freedom degrees include the two wrist rotation motions and one wrist pitching motion. The three front end arm freedom degrees are driven by brushless direct current motors, the brushless direct current motors perform output to harmonic speed reducers, the motions are output through flanges of the harmonic speed reducers, and a closed loop system is formed by feeding back signals through encoders. The motions of the three tail end wrist freedom degrees are output through steering discs via steering engines. Under the situation that the grabbing function of the human-simulated mechanical arm is met, the few freedom degrees are adopted, and cost is reduced; a joint transmission mechanism is simple and reliable; the light-weight design is adopted, and power consumption is low; the flexibility of the mechanical arm is improved through a self-adaptation paw.

Description

technical field [0001] The invention belongs to the field of electromechanical technology, and in particular relates to a humanoid mechanical arm used for robots such as home service. Background technique [0002] With the development of robot technology, various intelligent household service robots will enter daily life and complete some auxiliary tasks. Especially for some elderly families with walking difficulties, household service robots can provide services such as cleaning, home appliance control, serving tea, pouring water, switching lights and security, and the market prospect is broad. [0003] Most of the service robot arms have the function of grabbing and transporting, which requires the robotic arm to be flexible enough to stably grab objects of different shapes and postures. The humanoid robot ASIMO developed by Japan's Honda Technical Research Co., Ltd. has as many as 10 degrees of freedom in its arms, and the second-generation ASIMO has 12 degrees of freedo...

AI Technical Summary

Problems solved by technology

The humanoid robot ASIMO developed by Japan's Honda Technical Research Co., Ltd. has as many as 10 degrees of freedom in its arms, and the second-generation ASIMO has 12 degrees of freedom in its arms, although more degrees of freedom in the arms will make the arms have better performance. flexibility, but it also leads to its complex structure and high cost, which makes it difficult to promote in the family

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