A multi-degree-of-freedom manipulator based on a single cell robot

Abstract

The invention discloses a multi-degree-of-freedom mechanical arm based on a single cell robot, which includes a base of the mechanical arm, a main body of the mechanical arm, and an end actuator; The body is composed of two halves of the shell, with a degree of freedom of rotation between the two halves of the shell, and four connection positions are evenly distributed on the walls of the two halves of the shell, and the two cellular robot cells are fixed at the connection positions. In the mechanical arm of the above structure, the cellular robot unit at the beginning is installed on the base of the robotic arm; the end unit of the cellular robot is installed with an end effector. The advantages of the present invention are that each cell robot has the same size and function, which is convenient for disassembly, replacement and assembly, and can form mechanical arms of various forms, which can be applied to different occasions. Assembling a plurality of cell robot monomers according to needs can form different forms of robotic arms with multiple degrees of freedom and redundant degrees.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and specifically relates to a multi-degree-of-freedom mechanical arm based on a single cell robot. Background technique [0002] With the refinement of social division of labor, people engaged in simple and repetitive work strongly desire to have some kind of mechanical arm that can replace their work. Since the advent of the first digital electronic computer in 1946, computers have made amazing progress, developing in the direction of high speed, large capacity, and low price. At the same time, the urgent need for mass production has promoted the progress of automation technology and laid the foundation for the development of robotic arms. On the other hand, the research of nuclear energy technology requires certain operating machinery to replace human beings in handling radioactive substances. In the context of this demand, the United States developed a remote-controlled manipulato...

AI Technical Summary

Problems solved by technology

The mechanical arm has few degrees of freedom and a single movement mode, and the failure of a single arm will cause the function of the entire mechanical arm to fail. Disassembly, replacement, and assembly are more troublesome.

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