Single drive source three-degree-of-freedom underactuated robot wrist device

A degree of freedom, single-drive technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as slow progress and high difficulty, and achieve the effects of low cost, few power sources, and good practical performance

Inactive Publication Date: 2015-11-18
SUZHOU DALIKE AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since Oriolo proved the non-integrity theorem of underactuated systems in 1991, underactuated robots have begun to receive attention, but progress has been slow due to their difficulty

Method used

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  • Single drive source three-degree-of-freedom underactuated robot wrist device

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Embodiment Construction

[0010] The following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0011] Embodiments of the present invention provide the following technical solutions.

[0012] In this embodiment, a single-drive source three-degree-of-freedom underactuated robot wrist device is provided, and the single-drive source three-degree-of-freedom underactuated robot wrist device includes: a box body 1 with an internal space, an end link 2, Rotating connecting rod 3, thumb 4, fixed guide wheel part 5, first rope 6 and second rope 7, one end of described end connecting rod 2 is connected with thumb 4 throu...

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PUM

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Abstract

The invention discloses a single drive source three-degree-of-freedom underactuated robot wrist device. The single drive source three-degree-of-freedom underactuated robot wrist device comprises a box body which is provided with inner space, a tail end connecting rod, a rotating connecting rod, a thumb, a fixed idler pulley part, a first rope and a second rope, one end of the tail end connecting rod is connected with the thumb through the rotating connecting rod, and the other end of the tail end connecting rod is fixedly connected with the fixed idler pulley part, the first rope and the second rope which are arranged on the tail end connecting rod in sequence. In this way, the invention can provide the single drive source three-degree-of-freedom underactuated robot wrist device, the ropes which are driven by a single drive source are taken as input ends, by means of transmission through an underactuated system, the tail end connecting rod which is taken as an output end is driven to do three-degree-of-freedom movement, a robot formed in this way is less in power source, the size of the wrist is smaller than that in the prior art, the weight is light, the cost is low, and the good practical performance is achieved.

Description

technical field [0001] The invention relates to an underactuated robot, in particular to an underactuated robot wrist device with a single driving source and three degrees of freedom. Background technique [0002] An underactuated system is a system that drives a mechanical device with a power source that has fewer than the number of degrees of freedom. Since Oriolo proved the non-integrity theorem of underactuated systems in 1991, underactuated robots began to receive attention, but progress was slow because of their difficulty. In 2003, Laliberte and Gosselin et al. developed a highly underactuated manipulator SARAH[14]. The manipulator is composed of three three-section fingers and is used as the end effector of the Canadian robotic arm in the International Space Station. In 2004, Carrozza et al. developed another highly underactuated manipulator, SPRING Hand, which consists of three three-jointed fingers and is driven by tendons. Contents of the invention [0003] Th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/08
Inventor 丁慎平朱祎
Owner SUZHOU DALIKE AUTOMATION TECH
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