Multi-degree-of-freedom simple mechanical arm based on artificial muscle (IPMC) driving

Abstract

The invention belongs to the technical of robots and particularly relates to a multi-degree-of-freedom simple mechanical arm based on artificial muscle (IPMC) driving. The multi-degree-of-freedom simple mechanical arm comprises a rotating part, an extending-retracting part and a grabbing part. The rotating part comprises a fixed shaft, a fixed disc, a rotating disc and rotating driving units. IPMC rotating assemblies in the rotating driving unit provide power for rotating driving of the arm. The extending-retracting part comprises a connecting shaft, a supporting disc and extending-retracting driving units. IPMC extending-retracting assemblies in the extending-retracting driving unit provide power for extending-retracting driving of the arm. The grabbing part comprises a palm plate, finger mechanisms and a thumb mechanism. IPMC rotating assemblies and IPMC bending assemblies of the finger mechanisms and the thumb mechanism provide power for rotating driving and bending driving of fingers correspondingly. The multi-degree-of-freedom simple mechanical arm has the beneficial effects that the IPMC-driven arm can make actions of rotating, extending-retracting, grabbing and the like of the arm, and has characteristics of simple structure, flexible operation, less energy consumption, low weight and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a simple multi-degree-of-freedom mechanical arm driven by IPMC. Background technique [0002] For a long time, the robotic arm has been able to complete tasks with high efficiency and high quality in the fields of industry and medical treatment to reduce manual labor and improve work efficiency; moreover, it has important use value in some special application fields such as dangerous environments. Therefore, domestic and foreign Relevant scholars are very concerned about the research of robotic arms. But at present, no matter whether it is the application of industrial robotic arms or micro robotic arms, it has not been separated from the motor drive and complex mechanical structure. This kind of robotic arm has shortcomings such as excessive weight and excessive energy consumption, and it will also increase manufacturing costs. , which makes it very important to stud...

AI Technical Summary

Problems solved by technology

At present, there are many studies on the use of intelligent materials to make mechanical arms. For example, the patent publication No. CN104589310A provides an adaptive multi-degree-of-freedom humanoid manipulator based on pneumatic artificial muscles, including a mechanical arm, a mechanical forearm, a hand And five fingers, which are driven by multiple pneumatic artificial muscle groups, have a complex structure, many mechanisms and a large volume; Myung-Joon Lee et al. have produced a humanoid hand driven by IPMC, which includes four single Sheet IPMC imitates the four fingers of people, but there are deficiencies such as small driving force and small bending range (Myung-Joon Lee, Sung-Hee Jung, et al, Control of IPMC-based Artificial Muscle for Myoelectric Hand Prosthesis.In: The First IEEE / RAS-EMBS InternationalConference on Biomedical Robotics and Biomechatronics.Pisa, Italy.20-22Feb.2006); Srijan Bhattacharya et al. designed a micro gripper driven by IPMC, which consists of four fingers, each The finger has three parts, but it cannot meet the requirements of multi-dimensional movement and flexible opening and closing similar to human hands (Srijan Bhattacharya, Bikash Bepari, et al, Design of an IPMC ActuatedCompliant Mechanism Based Microgripper.In: 10th National Conference on Industrial Problem on Machinics and Mechanisms.Jaipur, Rajsthan.December 17-18,2010); the patent publication number is CN104842345A, which discloses a humanoid robot arm driven by a variety of artificial muscles, which includes a motor-driven platform, pneumatic muscles (PAM) bionic elbow joint, shape memory alloy (SMA) bionic wrist joint, and IPMC bionic hand, because they require complex mechanical mechanisms and use a large number of mechanisms, resulting in a large amount of energy consumed to overcome the friction between the mechanisms during the transmission process , resulting in low drive efficiency; the patent publication number is CN103963066A, which provides a multi-degree-of-freedom mechanical gripper based on IPMC electric actuation material simplified structure, which includes a rotating disk drive unit and a drive grabbing unit, although the patent structure Simple, but its rotation is unidirectional and the angle is small, which cannot meet functions such as the expansion and contraction of human arms and the flexible opening and closing of human hands; Hanmin et al. have produced a three-finger miniature gripper driven by IPMC. The miniature gripper includes three IPMC and plexiglass clamping bodies. Although the miniature gripper increases the clamping angle, it cannot be controlled and grasped independently. Small force (Peng Hanmin, Li Huafeng, etc. Design of three-finger miniature flexible gripper using artificial muscle IPMC material[J]. Vibration, Testing and Diagnosis, 2010,30(4):347-352

[0004] The purpose of the present invention is to overcome the existing problems of complex structure, few driving degrees of freedom, and inability to satisfy the basic functions similar to human arms at the same time, and to provide a simple structure and multi-function based Multi-DOF Simple Robotic Arm Driven by IPMC

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