Multifunctional master manipulator device with low center of gravity

Abstract

The invention relates to a multifunctional master manipulator device with the low center of gravity. The multifunctional master manipulator device comprises a pedestal, a supporting rod, a connectingrod, a plurality of joint connecting rods, a plurality of transmission assemblies and a handle. The pedestal is in transmission connection with one end of the supporting rod, and the other end of thesupporting rod is in transmission connection with one end of the connecting rod. The multiple joint connecting rods are in transmission connection end to end to form a connecting arm. The connecting arm extends to the side deviating from the tilting direction of the connecting rod. The two ends of the connecting arm are in transmission connection with the other end of the connecting rod and the handle. The transmission assemblies comprise first drivers and steel wire wheel components. The first drivers are arranged on the connecting rod and get close to the supporting rod. The steel wire wheelcomponents are arranged on the joint connecting rods to be driven, and the first drivers drive the steel wire wheel components to drive the corresponding joint connecting rods to move. According to the multifunctional master manipulator device with the low center of gravity, the first drivers are arranged at the position, close to the supporting rod, of the connecting rod in a skewing mode, partof gravitational torque of the connecting arm can be compensated for, the center of gravity of the whole master manipulator device can get close to the pedestal, and thus the whole master manipulatordevice can be better stabilized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a low-center-of-gravity multifunctional main hand device. Background technique [0002] Master-slave operation is an ancient operation method, and robots have evolved from this method. The earliest master-slave operation robots are two sets of mechanisms with the same structure, which are placed in different places. The master robot is placed in a safe or convenient place, and the slave robot is placed in a place that is not suitable for people. If there is strong radiation, High temperature, underwater and other environments. The operator operates the master robot based on sensor information, such as vision, contact force sense, proximity sense, etc. There is a mechanical coupling between the master robot and the slave robot, and the movement of the master robot is transmitted to the slave robot, and the slave robot follows the movement of the master robot. sports. [0003] Th...

AI Technical Summary

Problems solved by technology

This type of machine is driven by a rope, and the mechanical arm is relatively light. However, all joints of the mechanical arm are driven by ropes. The transmission line of the rope is complicated, and the overall rigidity of the arm is poor. Moreover, there is no position feedback device at each joint, so it is not easy to be the main hand.

Images