Robot arm

Abstract

A robot arm includes a second coupling rod fixedly coupled to a second intermediate base at an end of the second coupling rod located closer to the second intermediate base and coupled to a tip base via a second joint at an end of the second coupling rod located closer to the tip base so as to enable the second coupling rod to turn with respect to the tip base, and the first intermediate base and the second intermediate base are coupled together via an intermediate joint so as to be able to turn. The robot arm also includes a turning actuator that turns the second intermediate base with respect to the first intermediate base.

Description

technical field [0001] The present invention relates to a robot arm that performs the same functions as a human arm. Background technique [0002] There is a robot arm as shown in Japanese Patent Laid-Open No. 2003-172418, based on Figure 9 Be explained. The robot arm is configured with a plurality of seats in the order of the base 201, the first intermediate base 202, the second intermediate base 203, and the front end base 204. The base 201 and the first intermediate base 202 are connected via the first connecting rod 210, and the Two connecting rods 215 connect the second intermediate seat 203 and the front end seat 204, connect the root seat 201 and the first intermediate seat 202 via three first telescopic actuators 220 arranged around the first connecting rod 210, and The three second telescopic actuators 225 around the second connecting rod 215 are connected to the second middle seat 203 and the front end seat 204, and the three first telescopic actuators 220 are st...

AI Technical Summary

Problems solved by technology

[0006] The robot arm shown in Japanese Patent Application Laid-Open No. 2003-172418 cannot perform the human action of bending the wrist, that is, it cannot rotate the front end seat relative to the second connecting rod, and it cannot perform the human action of bending the elbow, that is, it cannot perform the action of the second connecting rod. The second intermediate seat rotates relative to the first intermediate seat

[0007] The robot arm shown in Japanese Patent Application Laid-Open No. 2003-311667 can perform the action of bending the human wrist, that is, the action of rotating the front end seat around the imaginary axis through the expansion and contraction of six second telescopic actuators, but because it is only The virtual axis is not a mechanical shaft, so the shaft is easy to vibrate due to the mechanical vibration of the second telescopic actuator and the mechanical vibration of the joints connected to both ends of the second telescopic actuator

In addition, although the action of bending the elbow of a human being can be performed, that is, the action of making the second middle seat rotate around a hypothetical axis relative to the first middle seat through the expansion and contraction of the six first telescopic actuators, but because it is only a hypothetical The shaft is not a mechanical shaft, so the shaft is easy to vibrate due to the mechanical vibration of the first telescopic actuator and the mechanical vibration of the joints connected to the two ends of the first telescopic actuator

Also, it is impossible to perform the human action of turning the shoulders, that is, the action of rotating the base

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