Seven-degree-of-freedom bionic somatosensory mechanical arm

Abstract

The invention discloses a seven-degree-of-freedom bionic somatosensory mechanical arm comprising a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a sixth steering engine, a seventh steering engine, a mechanical paw, an inertial system somatosensory system and a controller. The first steering engine, the second steering engine, the third steering engine, the fourth steering engine, the fifth steering engine, the sixth steering engine and the seventh steering engine are connected sequentially through connecting parts, and the rotary axes of every two adjacent steering engines are perpendicular to each other. The mechanical paw is connected with the seventh steering engine, and rotation of the seventh steering engine drives the mechanical paw to be opened or be closed tightly. The inertial system somatosensory system is arranged on an arm of a human body so as to detect motion of the arm of the human body. The controller is connected with the inertial system somatosensory system, obtains the motion of the arm of the human body, outputs seven control signals, and controls the seven steering engines to move coordinately so as to simulate the motion of the arm of the human body. According to the seven-degree-of-freedom bionic somatosensory mechanical arm, the multiple steering engines are combined to simulate bone motion, the response speed is high, a user can set the relative positions of the steering engines according to actual conditions, and the flexibility is high. Change of bones of the arm of the human body can be tracked in real time, the space position of the arm of a person can be located accurately, and the arm of the person can remotely control the mechanical arm through Bluetooth communication.

Description

technical field [0001] The invention belongs to the technical field of mechanical arms, in particular to a seven-degree-of-freedom bionic somatosensory mechanical arm. Background technique [0002] At present, people have produced a variety of somatosensory robotic arms, among which video recognition is the most common. In terms of video recognition, the programming of this kind of robotic arm is complicated, the development is difficult, and it is difficult to accurately identify the spatial position information of the human arm movement; the closed-loop control method will cause the robotic arm to tremble; use DC motors or stepping motors as the execution The response speed is slow; the use of other mechanical parts such as reducers increases the complexity of the design, and the motion accuracy is low due to problems such as mechanical coordination. And the whole system equipment is more, is unfavorable for carrying, and application is very inconvenient, and is limited t...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the defects that the existing mechanical arm has complex structure, fewer joints, and it is difficult to effectively simulate the human arm, and provides a seven-degree-of-freedom bionic somatosensory mechanical arm

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