Air joint type flexible mechanical arm based on rope drive

A flexible manipulator and rope-driven technology, applied in the field of manipulators, can solve problems such as the weight of the manipulator, affecting the flexibility of the manipulator, mobility, safety and carrying capacity of man-machine cooperation

Active Publication Date: 2017-03-15
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, in terms of load-carrying capacity, the drive method adopts the external drive method of rope, which has a higher load-bearing capacity, but the mechanical arm body of this type of mechanical arm i...

Method used

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  • Air joint type flexible mechanical arm based on rope drive
  • Air joint type flexible mechanical arm based on rope drive
  • Air joint type flexible mechanical arm based on rope drive

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0020] exist figure 1 In the shown schematic diagram of the air-joint flexible manipulator based on rope drive, the machine base 2 is the shell, and three motors 6, power supply 1 and control system 7 are arranged in the machine base; the arm-body mechanism 5 consists of several groups of The joint units are connected in series, two joint units constitute a two-stage robotic arm, three joint units constitute a three-stage robotic arm, and this embodiment is a four-stage robotic arm; one end of the arm body mechanism is connected to the machine base , the other end of which is connected to the end effector 4 to grab the target object; the driving rope 3 is three evenly distributed in the circumferential direction, one end of each rope is fixed at the end of the arm body mechanism, and the other end passes through each The wire holes of the joint unit are connected to the rollers of the three motors in the frame;

[0021] Such as figure 2 , 3 As shown in and 4, the joint uni...

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PUM

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Abstract

An air joint type flexible mechanical arm based on rope drive comprises a machine base, three motors, a power source, a control system, an arm body mechanism, a tail end actuator and a driving rope. The machine base is a shell body. The motors, the power source and the control system are arranged in the machine base. The arm body mechanism is formed by connecting a plurality of sets of joint units which are the same in structure in series. One end of the arm body mechanism is connected to the machine base, and the other end, that is, the tail end of the arm body mechanism is connected with the tail end actuator. Each joint unit comprises end covers, an air bag, sliding sleeves, clamping rings, a drawing wire and air nozzles. The arm body mechanism can be manually filled with gas through each joint unit and achieves connecting and supporting effects, and the arm body mechanism also can be manually compressed and folded by releasing gas of each joint unit, so that packaging and transportation are convenient. The air joint type flexible mechanical arm based on rope drive has the advantages of being good in flexibility, light in mass, large in bearing capacity, capable of being folded and convenient to package and transport.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a mechanical arm. Background technique [0002] The mechanical arm is a kind of robot. The traditional mechanical arm is composed of rigid links, and usually has three structures: series, parallel or series-parallel. This type of robotic arm is characterized by discrete joints and rigid connections, and there is also a type of continuum robotic arm based on biological organs such as octopus arms and elephant trunks. Since the continuum manipulator can produce flexible deformation at any position, it has a strong obstacle avoidance ability, can better adapt to non-structural environments, and can better grasp irregular objects. This type of robotic arm can either be equipped with a gripping device at the end to grab objects like a traditional robotic arm, or it can use the robotic arm itself to roll up objects. From the structural point of view of this type of robotic arm, it has powerful ...

Claims

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Application Information

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IPC IPC(8): B25J9/10
CPCB25J9/1045
Inventor 姚建涛李海利张弘蒋泽成许允斗赵永生
Owner YANSHAN UNIV
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