Six degrees of freedom intelligent prosthetic arm based on line-driven differential joint

A degree of freedom and line-driven technology, applied in prosthetics, artificial arms, medical science, etc., can solve the problems that the transmission accuracy of the bionic arm cannot be fully guaranteed, it is not suitable for subjects to carry, and the rigidity of the transmission device is low, so as to achieve light weight , reduce the overall mass, increase the effect of rigidity

Active Publication Date: 2018-01-16
SHENYANG POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing line-driven bionic arm realizes predetermined sampling and transfer actions by controlling the change of the effective length of the wire rope, and is equipped with a positioning device, which cannot fully guarantee the transmission accuracy of the bionic arm, and the bionic arm in th

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  • Six degrees of freedom intelligent prosthetic arm based on line-driven differential joint
  • Six degrees of freedom intelligent prosthetic arm based on line-driven differential joint
  • Six degrees of freedom intelligent prosthetic arm based on line-driven differential joint

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specific Embodiment approach

[0026] The specific embodiment: the present invention will be further described below in conjunction with accompanying drawing:

[0027] The present invention relates to a six-degree-of-freedom intelligent artificial arm based on a line-driven differential joint. The artificial arm includes a shoulder joint tensioning device 1, a shoulder joint 2 with two degrees of freedom, a large arm 3, an elbow joint 4, and a forearm 5. And the wrist joint 6 with two degrees of freedom; the tensioning device 1 of the shoulder joint is connected to the shoulder joint 2, the shoulder joint 2 is connected to the upper arm 3, the upper arm 3 is connected to the forearm 5 through the elbow joint 4, and the forearm 5 is connected to the wrist joint 6.

[0028] Shoulder joint structure 2 is a wire-driven differential mechanism, which includes two drive motors 205, a first wire-winding disk 204, a second wire-winding disk 207, a shoulder joint U-shaped base 208, a third wire-winding circle The dis...

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Abstract

A six-degree-of-freedom intelligent prosthetic arm based on line-driven differential joints, the prosthetic arm includes a shoulder joint tensioning device, a shoulder joint with two degrees of freedom, a large arm, an elbow joint, a forearm, and a wrist joint with two degrees of freedom The tensioning device of the shoulder joint is connected with the shoulder joint, the shoulder joint is connected with the big arm, the big arm is connected with the forearm through the elbow joint, and the small arm is connected with the wrist joint. The present invention shortens the distance between the motor and the joint, reduces the telescoping degree of the steel wire rope, and improves the position accuracy of the arm end; adopts the rope driving mode, and uses aluminum materials to reduce the overall mass; The characteristic of large moment.

Description

technical field [0001] The invention belongs to the field of intelligent artificial limbs, and relates to a six-degree-of-freedom intelligent artificial arm based on a line-driven differential joint. Background technique [0002] In recent years, due to the gradual increase in the proportion of disabled people, more and more researchers have paid more and more attention to different types of bionic arms used in rehabilitation robots. At present, most of the bionic arm joints use the transmission mechanism directly connected by the motor, the gear reducer, and the joint shaft. Large, limited design space and low work efficiency. [0003] Due to the limitations of the general bionic arm transmission mode, a new type of wire drive technology has emerged, and wire drive has evolved into a new type of transmission mechanism. The wire-driven bionic arm usually installs the motor and the deceleration device on the base, and transmits the power of the motor to each joint through a...

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Application Information

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IPC IPC(8): A61F2/56A61F2/68
CPCA61F2/54A61F2/581A61F2/582A61F2002/6836
Inventor 杨俊友横井浩史白殿春姜银来苏笑滢杨光张守先孙柏青
Owner SHENYANG POLYTECHNIC UNIV
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