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Ultra-redundant mechanical arm

A robotic arm and redundant technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc., to achieve the effect of increasing manipulation, increasing support, increasing flexibility and changing angles

Active Publication Date: 2016-02-03
HARBIN YUNKONG ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The control and angle transformation of the super-redundant manipulator's motion trajectory are the core research contents of the super-redundant manipulator, but the previous super-redundant manipulator can't better expand its motion track and transform angle, so that it has the advantages in application. certain limitations

Method used

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Embodiment Construction

[0008] see figure 1 , the mechanical arm of the present invention includes an upper arm, a middle arm, a lower arm and a mechanical claw, and one end of the upper arm is connected to the middle arm through a rotary joint, and the other end also has a rotary joint, which can be connected with a device (such as a machine tool) where the mechanical arm is installed One end of the middle arm is connected to the upper arm through a rotary joint, and the other end is connected to the lower arm through a rotary joint. The lower arm also has an interface for installing a mechanical claw, and any mechanical claw matching the interface can be installed. Each rotary joint is controlled by a corresponding motor, which can rotate in any angle and direction. Each motor is controlled by an electronic control module installed on the mechanical arm, so that the mechanical arm has at least three redundant degrees of freedom of movement. According to the control signal, the electronic control mo...

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PUM

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Abstract

The invention discloses an ultra-redundant mechanical arm. The mechanical arm comprises an upper arm, a middle arm, a lower arm and a mechanical jaw, and provides multiple degrees of freedom, so that the extensibility and the rotating angle range of the mechanical arm are promoted; an added electric control module enables the ultra-redundant mechanical arm to be controlled more easily; and meanwhile, the ultra-redundant mechanical arm can load other jaw machine modules, so that the applicability of the ultra-redundant mechanical arm is enhanced.

Description

technical field [0001] The present invention relates to the design of a hyper-redundant robotic arm capable of supporting at least three redundant degrees of freedom of motion. Background technique [0002] A hyper-redundant manipulator refers to a manipulator with redundant degrees of freedom of movement. Compared with ordinary manipulators, super-redundant manipulators have more flexible motion characteristics, and can complete additional tasks such as changing the rotation angle of the manipulator while completing the task of extending up and down. Its application range is very wide, ranging from the exploration of the deep sea and space, to product processing and home services. Due to the redundant degrees of freedom, it is guaranteed that the end of the manipulator can complete the required tasks and at the same time select different optimization indicators according to different task requirements and working environments. [0003] The control and angle transformation...

Claims

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Application Information

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IPC IPC(8): B25J18/00
Inventor 蒋再男
Owner HARBIN YUNKONG ROBOT TECH