Three-freedom-degree flexible mechanical arm based on series-connection elastic driver

Abstract

The invention discloses a three-freedom-degree flexible mechanical arm based on a series-connection elastic driver. The three-freedom-degree flexible mechanical arm comprises steering engines, driving conversion modules and a connecting arm; the steering engines and the driving conversion modules are arranged in the joints, and the connecting arm is arranged between the joints; an upper shoulder driving arm (2) is connected with a shoulder auxiliary connecting arm (4) to form a shoulder portion; the shoulder portion is connected with an elbow driving module through an upper driven arm (7) and an upper driving arm (8) to form a large arm; a small driven arm (10) and a small driving arm (11) are connected with an elbow portion and a tail end hand to form a small arm; in the driving conversion module, torque of the steering engines is output through a middle axis (22a) and a disc (15a) and is transmitted to a triangular check block (19a) on the disc; the triangular check block transmits the power to a spring (25), and the spring buffers rigid drive and then transmits the rigid drive to an inner blowing arm (13a); and the blowing arm drives an output arm connected with the blowing arm to rotate to output power, and conversion of the flexible drive is completed. The three-freedom-degree flexible mechanical arm is arranged in a manner of imitating the freedom degree of a human body, and the driving conversion module can convert the rigid drive into the elastic drive; and flexibility of the motion and safety of man-machine interaction are ensured, assembly is simple, and arrangement is easy.

Description

technical field [0001] The invention relates to a three-degree-of-freedom manipulator, in particular to a three-degree-of-freedom compliant manipulator based on a serial elastic driver. Background technique [0002] The compliant robotic arm is a mechanical arm with a compliant output effect at the end that imitates the function of the human arm, which can improve the safety of human-computer interaction. It is receiving more and more attention in the field of service robots, medical robots and even industrial robots that require human-computer cooperation. focus on. In the field of compliant robotic arms, research in the United States is relatively advanced and mature. The Luke arm, a bionic robotic arm used in the field of medical devices that has been approved by the Food and Drug Administration, represents the highest level in this field and is comparable in size to a human arm. , can complete very complex and fine movements such as picking up grapes and coins; Meka, a ...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the invention: the mechanical arm needs to achieve better compliance performance, and its appearance and joint proportions conform to the characteristics of the human body. The traditional rigid driver does not have good compliance and cannot guarantee the safety of human-computer interaction. Therefore, a A new driving method is used to drive the joints; the mechanical arm is driven by joints, but the elastic element of the series elastic driver is a wire spring, so a mechanical structure is needed to make the wire springs applied to the rotating joints; the compliant robotic arm must output power from the joints , but also have the ability to bear the load feedback force, it is necessary to realize the two-way elastic cushioning of this kind of power; to achieve the softness of the mechanical arm, its joint parts should not be too complicated and bulky, and at the same time to reduce the end load, it is necessary to combine the driver and the elastic element The structure is compact and light enough

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