Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade
A degree of freedom, hybrid technology, applied in manipulators, manufacturing tools, joints, etc., can solve problems such as structural form, low bionic level of motion characteristics, gap in functional characteristics of human shoulder joints, and inability to achieve
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[0023] in figure 1 In the shown schematic diagram of a hybrid five-degree-of-freedom bionic shoulder joint with scapula linkage, the present invention is mainly composed of four parts: RPRS+U two-degree-of-freedom series mechanism, 3-RRR three-degree-of-freedom spherical parallel mechanism, and a large working space A spherical hinge and a bias output unit; one end of the S-shaped link 3 in the RPRS+U two-degree-of-freedom tandem mechanism is connected to the bionic frame 1 through the Hooke hinge 2, and the other end of the S-shaped link is connected to the middle moving Platform 4 fixed connection, such as figure 2 As shown, one end of the output shaft 6 in the RPRS motion branch chain is connected to the bionic frame through the active rotating pair 5, and the other end of the output shaft is fixedly connected to the linear guide 7, and the motor driving the active rotating pair is fixedly connected to the bionic frame; The active sliding block 8 is arranged on the lead scre...
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