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Novel under-actuated robot wrist device based on nonholonomic constraint

A non-holonomic constraint and constraint device technology, applied in the field of new underactuated robot wrist devices, can solve the problems of complex mechanical structure, high cost, and high quality, and achieve the effect of small size, low cost, and light weight

Inactive Publication Date: 2016-05-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Since a degree of freedom needs to be supported by a power source (such as a motor, etc.), and the mass of the power source often accounts for most of the total mass of the joint, the obvious disadvantage of this type of device is that the device adopts a fully driven method, As a result, the mechanical structure is more complicated, the volume is larger, the quality is larger, and the cost is higher

Method used

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  • Novel under-actuated robot wrist device based on nonholonomic constraint
  • Novel under-actuated robot wrist device based on nonholonomic constraint
  • Novel under-actuated robot wrist device based on nonholonomic constraint

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Embodiment Construction

[0020] Preferred embodiments of the present invention are described in detail as follows in conjunction with accompanying drawings:

[0021] see figure 1 , figure 2 , image 3 , a novel underactuated robotic wrist device based on nonholonomic constraints, including a static platform, a dynamic platform, two branch mechanism chains, two driving power sources and an intermediate constraint device, the static platform passes through the two The branch mechanism chain is connected to the moving platform, and the two branch mechanism chains are respectively driven by two driving power sources, and are driven by the two branch mechanism chains, and the intermediate restraint device forms a non-holonomic constraint, thereby realizing the dynamic platform. Three degrees of freedom movement.

[0022] The structure of the intermediate restraint device is: one end of a connecting rod 10 is fixed on the lower surface of the circular plate 7, and the other end is fixedly connected with...

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Abstract

The invention relates to a novel under-actuated robot wrist device based on nonholonomic constraint. The novel under-actuated robot wrist device based on nonholonomic constraint comprises a fixed platform, a movable platform, two branch mechanism chains, two drive power sources and a middle constraint device. The fixed platform is connected with the movable platform through the two branch mechanism chains. The two branch mechanism chains are driven by the two drive power sources for transmission through two branch mechanisms, the nonholonomic constraint is formed by the middle constraint device, and then three-freedom-degree motion of the movable platform is achieved. A three-freedom-degree parallel mechanism driven by the two power sources is adopted for three-freedom-degree motion, power sources are fewer, a wrist is small in size, low in weight and low in cost, and only a low control system is needed. The device is simple in structure and reliable in work, can serve as a joint of a robot, and is used for driving more arm joint freedom degrees through a few power sources.

Description

technical field [0001] The invention relates to a robot wrist device, in particular to a novel underactuated robot wrist device based on nonholonomic constraints. Background technique [0002] The underactuated mechanism refers to the mechanism whose control access is smaller than the degree of freedom of the system. An underactuated robot is a robot containing an underactuated mechanism. The extensive attention of scholars has become a new hot spot in the field of robotics research. Underactuated robots appear in various forms such as space robots, underwater robots, mobile robots, walking robots, parallel robots, servo robots and flexible robots. [0003] The parallel mechanism can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. The parallel mechanism has no cumulative error and high precision; ...

Claims

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Application Information

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IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 何斌潘祺俊张鹏昌杨日升华易成梁海罗婷
Owner SHANGHAI UNIV
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