Rope-driven multi-degree-of-freedom series manipulator and driving method thereof

Abstract

The invention discloses a rope-driven multi-degree-of-freedom series manipulator and a driving method thereof, and belongs to the field of manipulators. The rope-driven manipulator comprises a base, a waist joint unit, a waist platform, a large arm unit, a small arm unit, a tail end platform unit and the like. One ends of steel wire ropes are fixed to driven wheels at joints, the other ends of the steel wire ropes are fixed to a driving unit winch at the waist platform, so that the driving force is transferred from the winch at the waist platform to the driven wheels at the joints at the rear end by means of the ropes and accordingly drives the joint units to conduct rotation movement around joint shafts correspondingly. The joint driving ropes are guided by guide pulleys and bypass the joint shafts at the front end sequentially, by arranging the specified diameters of shaft guide wheels, a driving method is built, thus any joint at the front end of the manipulator rotates while the posture of the tail end of the manipulator remains unchanged relative to the world coordinate system. The buffer effect of making contact of the manipulator with the environment is increased through the flexibility of the ropes, and the rope-driven multi-degree-of-freedom series manipulator is especially suitable for occasions with the high requirements for the interaction safety of the manipulator, people and the environment.

Description

technical field [0001] The invention relates to the technical field of a multi-joint manipulator, in particular to a rope-driven, joint-coupled rope-driven multi-degree-of-freedom serial manipulator and a driving method thereof. Background technique [0002] At present, traditional multi-degree-of-freedom series manipulators are mostly driven by hydraulic pressure and motors, and the drive system is installed at the joints of the manipulator. Disadvantages such as large size, poor system flexibility, and low load-to-weight ratio limit the load-bearing capacity, high-speed movement, and quick response capabilities of the robotic arm. The high rigidity and large inertia of traditional robotic arms make it necessary to consider the safety of human-machine, environment-machine interactions. In addition, in order to overcome the shortcomings of traditional manipulators, improve the load-to-weight ratio of the system, and improve the safety performance of the system, a rope-drive...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art above, the present invention provides a rope-driven multi-degree-of-freedom serial manipulator and its driving method, which solves the problems of rope transmission, arrangement, and tension in the multi-joint manipulator, and provides joint-driven rope Coupling problems provide simple, beneficial solutions

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