Three-degree-of-freedom manipulator joint and working mode thereof

Abstract

The invention discloses a three-degree-of-freedom manipulator joint and a working mode thereof. The three-degree-of-freedom manipulator joint comprises at least two joint units, wherein each joint unit comprises an acting head, a metal mass block, a base, a longitudinal vibrating piezoelectric ceramic assembly, a first bending vibrating piezoelectric ceramic assembly, a second bending vibrating piezoelectric ceramic assembly, a pre-tensioning bolt, a spring chuck, a bottom cover, a spring and a contact block; the upper end joint unit is used for locking a driving head of the acting head of the lower end joint unit through the corresponding contact block and the corresponding spring chuck and can apply a certain pre-pressing force to the driving head of the lower end joint unit through the corresponding spring and the corresponding spring chuck; any two of the three groups of ceramic assemblies of the joint units can be correspondingly excited to generate two-phase vibration modes; the two-phase vibration modes are coupled through the driving heads of the acting heads so as to drive a material point to elliptically move, and thus the front end joint unit can rotate around X, Y and Z axes under the frictional effect. The three-degree-of-freedom manipulator joint is fast to respond, high in accuracy, simple in structure, and wide in prospect.

Description

technical field [0001] The invention relates to the field of ultrasonic actuation, in particular to a three-degree-of-freedom robot hand joint and its working method. Background technique [0002] With the rapid development of deep-sea exploration, aerospace technology, mechanical-assisted medical technology and automatic manufacturing technology, the demand for manipulators is increasingly urgent. Traditional manipulators use traditional servo motors and cable structures, which are easily affected by magnetic fields, complex structures, and wires. The cable is easy to be entangled and other shortcomings. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a three-degree-of-freedom robot hand joint and its working method for the defects involved in the background technology. [0004] The present invention adopts the following technical solutions to solve the above-mentioned technical problems [0005] A three-degre...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of deep-sea exploration, aerospace technology, mechanical-assisted medical technology and automatic manufacturing technology, the demand for manipulators is increasingly urgent. Traditional manipulators use traditional servo motors and cable structures, which are easily affected by magnetic fields, complex structures, and wires. Disadvantages such as easy entanglement of cables

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