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Reconfigurable rope-actuated series decoupled robotic arm joint and its working method

A rope-driven, robotic arm technology, applied in the field of robotics, can solve problems such as motion coupling, and achieve the effect of reducing complexity, ensuring reliability, and large working space

Active Publication Date: 2017-12-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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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  • Reconfigurable rope-actuated series decoupled robotic arm joint and its working method
  • Reconfigurable rope-actuated series decoupled robotic arm joint and its working method
  • Reconfigurable rope-actuated series decoupled robotic arm joint and its working method

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Embodiment Construction

[0055] 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.

[0056] 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 comprises a fixed wheel 31, a follower wheel 32, a planetary gear train, and a driving wheel 33 from front to back; the fixed wheel 31 is fixed and cannot rotate, and the driving wheel 33 can rotate around its central axis; Fixed wheel 31 is connected, and driving gear 34-2 is connected with driving wheel 33; The fixed gear 34-1 is meshed to limit the axial movement and axial rotation of the follower wheel 32;

[0057] The mechanism also includes a rear-end joint left driving rope 35-1, a rear-end jo...

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Abstract

The invention discloses a reconfigurable rope-driven tandem decoupling mechanical arm joint and a working method thereof, and solves the kinematic coupling problem of joints of a multi-joint tandem rope-driven mechanical arm. The reconfigurable rope-driven tandem decoupling mechanical arm joint has the characteristics that based on a decoupling mechanism, modularized rope-driven joints of two different types are designed; the rotation types of the joints are changed and the number of mechanical arm joints is increased and decreased according to the requirement of a target task, so that the assembly of mechanical arms with various structures is achieved; the application manner is wide in application range, and the cost is low; a mechanical arm driving unit is positioned at a base, the rope remote driving is adopted, and the rotational inertia of the joints is reduced, so that the driving response characteristic is improved; besides, the flexibility of the ropes greatly improve the safety of interaction of the mechanical arm and the environment; and a rope-driven modularized joint is compact in structure, low in rotational inertia, quick in driving response, and good in flexibility and security interaction.

Description

technical field [0001] The invention relates to the field of robots, in particular to a reconfigurable rope-driven series 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/025
Inventor 印亮蒋素荣张超白东明吴洪涛陈柏吴志恒张磊殷杰华达人
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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