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Modular rope-driven decoupling mechanical arm joint and working method thereof

A rope-driven, modular technology used in robotics to solve problems such as kinematic coupling

Active Publication Date: 2016-07-27
南京若希自动化科技有限公司
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Problems solved by technology

[0007] In order to improve the load-to-weight ratio of the robot and solve the kinematic coupling problem between the joints of the series rope-driven manipulator, the present invention provides two modularized rope-driven rotary joints and methods based on the rope motion decoupling mechanism

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  • Modular rope-driven decoupling mechanical arm joint and working method thereof
  • Modular rope-driven decoupling mechanical arm joint and working method thereof
  • Modular rope-driven decoupling mechanical arm joint and working method thereof

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Embodiment Construction

[0057] The accompanying drawings disclose non-restrictive structural schematic diagrams of preferred implementations involved in the present invention, and the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0058] see figure 1 , 4 As shown in , 5, a mechanism for passive decoupling of the driving rope movement of the rope-driven serial manipulator is provided. The rope motion decoupling mechanism 3 includes a fixed wheel 31, a follower wheel 32, and a driving wheel 33 from front to back; wherein the fixed wheel 31 includes a fixed wheel disc and a fixed wheel axle, and the fixed wheel disc and the fixed wheel axle are fixedly connected to each other. It is fixed and cannot rotate; the follower wheel 32 is installed on the fixed wheel axle, it is driven by the decoupling rope, and the axial displacement is limited; the rope motion decoupling mechanism 3 also includes a left decoupling rope 34-1, a...

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Abstract

The invention discloses a modular rope-driven decoupling mechanical arm joint and a working method thereof and relates to the field of robots. According to the decoupling mechanism, two different types of modular rope-driven joints are designed, so the problem of motion coupling among all joints of a rope-driven mechanical arm provided with a plurality of joints connected in series is solved. According to the demands of a target task, the rotation type of each joint is changed, and the quantity of the joints of the mechanical aim is increased or reduced, so that assembly of the mechanical arm of a plurality of types of construction can be realized; the application mode and the application range are wide, and the implementation cost is low. A mechanical arm driving unit is arranged at a base, and a rope is used for remote driving, so the rotational inertia of each joint is reduced and the response characteristics of driving are improved. In addition, the interaction safety of the mechanical arm and the environment can be greatly improved due to the flexibility of the rope. The rope-driven modular joint disclosed by the invention is compact in structure, low in rotational inertia, quick in driving response, good in joint flexibility and good in interaction safety.

Description

technical field [0001] The invention relates to the field of robots, in particular to a modular rope-driven decoupling mechanical arm joint and a working method thereof. Background technique [0002] At present, the widely used robotic arms are large in volume and mass, complex in structure, high in rigidity, poor in joint compliance, and low in safety in interacting with the environment. Moreover, the load-to-weight ratio of the robot is low, and the grabbing load consumes a lot of energy and has low efficiency. In order to reduce the weight and moment of inertia of the manipulator and increase the load-to-weight ratio of the manipulator, many researchers have proposed new rope drive technology in recent years. [0003] Rope-actuated technology uses a cord to transmit motion and force. It mainly installs all the motors and driving devices on the base, and transmits motion and force to the joints through the ropes to realize the motion of the joints. Because the drive uni...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J17/02
CPCB25J9/104B25J9/1045B25J17/025
Inventor 陈柏印亮白东明徐伟华达人赵鹏张磊蒋素荣蒋萌
Owner 南京若希自动化科技有限公司
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