Multi-degree-of-freedom mechanical arm based on steel wire transmission

Abstract

The invention belongs to the technical field of mechanical arms and particularly relates to a multi-degree-of-freedom mechanical arm based on steel wire transmission. The multi-degree-of-freedom mechanical arm comprises a first auxiliary finger, a second auxiliary finger, a main finger, a finger supporting plate, finger bending motors, steel wires and the like. The first auxiliary finger and the second auxiliary finger are installed on the finger supporting plate. The main finger is also installed on the finger supporting plate. Each mechanical finger is provided with one bending motor. Each mechanical finger is controlled to bend by pulling the corresponding steel wire through the corresponding bending motor. In addition, the mechanical fingers can swing towards one another manually and be fixed to certain positions to be used. A steel wire adjusting structure is additionally arranged. The steel wire adjusting structure can control the transverse movement amplitudes of the steel wires when the mechanical fingers are controlled by pulling the steel wires through the bending motors, so that the movement stability and the positioning accuracy of the mechanical fingers are further improved, and the steel wire adjusting structure has a good practical effect. In addition, due to the fact that the mechanical fingers are manually controlled to swing, a good finger movement simulating effect is achieved, and the structure is simpler.

Description

Technical field [0001] The invention belongs to the technical field of manipulators, in particular to a multi-degree-of-freedom manipulator based on steel wire transmission. Background technique [0002] At present, the driving methods of manipulators mostly use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part of them use artificial muscle drive; among them, artificial muscle drive, although the drive method is advanced, but the manufacturing cost is currently very high, and hydraulic drive requires powerful power. For hydraulic oil pressurized drive, it will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the simulation manipulator drive, and the servo motor drive is used in each Install a servo motor on the joint, which will make the mechanism on the manipulator very unsightly. The size and shape of the servo motor will determine the...

AI Technical Summary

Problems solved by technology

[0002] At present, the drive methods of manipulators mostly use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part of them use artificial muscle drive; among them, artificial muscle drive, although the drive method is advanced, but the manufacturing cost is currently very high, and hydraulic drive requires powerful power. For hydraulic oil pressurized drive, it will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the simulation manipulator drive, and the servo motor drive is used in each Installing a servo motor on the joint will make the mechanism on the manipulator very unsightly. The size and shape of the servo motor will determine the shape and function of the manipulator; currently the most used and the lowest cost is to use steel wire drive to centrally install the servo motors At the arm, the mechanism of the manipulator is relatively simple, and the control is relatively easy, but it is easy to cause inaccurate positioning of the mechanical designation and swinging of the fingers in the wire drive.

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