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Continuum differential mechanism and manipulator

A differential mechanism and continuum technology, which is applied in the field of mechanical systems and differential transmission mechanisms, can solve problems such as large backlash and complex structures, and achieve the effects of reducing manufacturing costs, strong self-adaptability, and reducing the weight of the mechanism

Active Publication Date: 2017-02-01
BEIJING SURGERII TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, the main configurations of common differential mechanisms include movable pulley type, rack and pinion type, connecting rod type, etc., all of which have disadvantages such as relatively complex structure and large hysteresis.

Method used

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  • Continuum differential mechanism and manipulator
  • Continuum differential mechanism and manipulator
  • Continuum differential mechanism and manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] figure 1 A basic differential unit with two motion outputs is shown. In this embodiment, a basic differential unit itself constitutes a continuum differential mechanism. In other embodiments, a plurality of basic differential units can together form a continuous differential mechanism, which will be described in more detail below. Such as figure 1 As shown, the basic differential unit mainly includes a base 1, elastic alloy wires 2, 3, 4 and an end plate 5, wherein the elastic alloy wire 2 is an input wire, and the elastic alloy wires 3 and 4 are output wires. There are three holes on the base 1, one of which is an input hole 101, and the other two are output holes 102, 103, through which the elastic alloy wires 2, 3, 4 pass through respectively. The end plate 5 is fixedly connected with one end of the elastic alloy wires 2, 3, 4.

[0067] When the elastic alloy wire 2 is pulled or pushed, the elastic alloy wires 3 and 4 slide in the holes on the base 1 driven by th...

Embodiment 2

[0069] image 3 for the reason figure 1 Schematic diagram of the structure of the continuum differential mechanism formed by the series and parallel combination of basic differential units. Such as image 3 As shown, the continuum differential mechanism is composed of three basic differential units 100 , 200 , 300 , wherein the three basic differential units share a base 7 . In this combined continuum differential mechanism, series connection refers to the connection of the output terminal of a certain basic differential unit to the input terminal of another basic differential unit, and the relationship between the two basic differential units is series connection; parallel connection It means that the output terminal of one basic differential unit is connected to the input terminals of two or more basic differential units at the same time, and the two or more basic differential units are connected in parallel. In this embodiment, the basic differential unit 100 and the bas...

Embodiment 3

[0072] Figure 5 A basic differential unit with three motion outputs is shown. In this embodiment, a basic differential unit itself constitutes a continuum differential mechanism. In other embodiments, a plurality of basic differential units can together form a continuous differential mechanism, which will be described in more detail below. Such as Figure 5 As shown, the basic differential unit mainly includes a base 13, elastic alloy wires 14, 15, 16, 17 and an end plate 18, wherein the elastic alloy wire 14 is an input wire, and the elastic alloy wires 15, 16, 17 are output wires. There are four holes on the base 13, the middle hole is for the elastic alloy wire 14 to pass through, and the three outer holes are for the elastic alloy wire 15, 16, 17 to pass through respectively. The end plate 18 is fixedly connected with one end of the alloy wires 14, 15, 16, 17.

[0073] When pulling or pushing the elastic alloy wire 14, the elastic alloy wire 15, 16, 17 slides in the u...

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Abstract

Provided in the present invention are a continuum differential mechanism and mechanical arm. The continuum differential mechanism comprises a base, an end disk, an input wire and an output wire. An input through hole and an output hole are provided on the base. There is a preset distance between the end disk and the base. One end of the input wire is fixed on the end disk, and another end passes through the input through hole, and one end of the output wire is fixed on the end disk and another end passes through the output through hole. The continuum differential mechanism in the present invention eliminates backlash of a drive system, has a good self-adaptive capability and markedly reduces mechanism weight and manufacturing cost.

Description

technical field [0001] The invention relates to a differential mechanism, in particular to a differential transmission mechanism based on a flexible continuum mechanism, which can be applied to various under-actuated mechanical systems. [0002] technical background [0003] In order to realize the control of complex multi-degree-of-freedom mechanical systems, it is generally necessary to use driving sources equal to the number of degrees of freedom (such as motors, hydraulic cylinders, cylinders, etc.), and a corresponding number of controllers are required to achieve independent control of each degree of freedom. This typically results in higher cost, increased weight and reduced reliability of the mechanical system. [0004] The differential mechanism can adaptively distribute one motion input to multiple (usually two) motion outputs, so that the control of multiple degrees of freedom can be realized with only a small number of driving sources and controllers, which signif...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 不公告发明人
Owner BEIJING SURGERII TECH CO LTD