High-redundancy flexible mechanical arm device capable of detecting joint posture

Abstract

The invention discloses a high-redundancy flexible mechanical arm device capable of detecting joint posture. A horizontal sliding table is installed on a hydraulically driven lifting platform, a driving module is installed on the horizontal sliding table which is driven by a servo motor, and a mechanical arm module is installed and is connected with the end face of the driving module; the mechanical arm module comprises a plurality of joint arms and end joints, wherein the joint arms are in series connection; connecting between the joint arms and the driving module, the adjacent joint arms, and the joint arms and the end joints is achieved through connecting hinges; each joint arm is driven by three steel wire ropes which are evenly distributed in the circumferential direction at intervals; and one ends of the steel wire ropes are installed on the joint arms in a penetrating arrangement mode, and the other ends of the steel wire ropes are connected with the driving module. According to the high-redundancy flexible mechanical arm device capable of detecting joint posture, the posture of a mechanical arm can be obtained in real time, so that the mechanical arm is precisely controlled through closed loop feedback, the posture of the current joint can only be determined by detecting the opposite corners of two vertical rotating shafts in the connecting hinges, and error caused by the pulling force, load and friction of a driving rope can be eliminated.

Description

technical field [0001] The invention relates to the field of robot manipulators, in particular to a highly redundant flexible manipulator device capable of detecting joint attitudes. Background technique [0002] The high-redundancy flexible manipulator is mainly designed to solve the problem that the traditional rigid joint manipulator cannot work in a narrow space, and can enter a narrow space to complete equipment maintenance, mechanical assembly, rescue and disaster relief and other tasks. At present, in the field of redundant robotic arms, there are mainly two forms of built-in drive and external drive. The built-in drive mainly uses pneumatic servo muscles, and the external drive mainly uses wire rope drive. The built-in drive has low load and control precision due to the characteristics of the pneumatic servo muscle. [0003] The external drive is easy to affect its positioning accuracy due to external load, driving rope tension, friction and other reasons. The above...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problem of low precision of the redundant manipulator and the inability to detect the attitude, the present invention relates to a highly redundant flexible manipulator device capable of detecting the joint attitude, which can work in a narrow space, has multiple degrees of freedom, and has attitude detection Function

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