Multi-degree-of-freedom palm based on rod type ultrasonic motor and operation method thereof

A technology of ultrasonic motors and degrees of freedom, applied in the field of machinery, can solve problems such as joints not being completely independent, coupling phenomena, large redundant structures, etc.

Pending Publication Date: 2018-03-02
NORTHWEST A & F UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The problem often caused by this design is that the sensitivity of the joints is not as high as the direct drive, and at the same time, each joint is not completely independent, and there is a coupling phenomenon, that is, when a joint moves, other joints coupled with it will have linkage
If each joint uses an independent electromagnetic motor, it will result in a large and redundant structure

Method used

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  • Multi-degree-of-freedom palm based on rod type ultrasonic motor and operation method thereof
  • Multi-degree-of-freedom palm based on rod type ultrasonic motor and operation method thereof
  • Multi-degree-of-freedom palm based on rod type ultrasonic motor and operation method thereof

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Embodiment Construction

[0020] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] refer to figure 1 , a multi-degree-of-freedom palm based on a rod-type ultrasonic motor, including a palm 1, a 10mm ultrasonic motor 2, a proximal end of the index finger 3, a middle finger end of the index finger 4, a distal end of the index finger 5, a proximal end of the middle finger 6, and a middle finger end of the middle finger 7 , Middle finger distal end 8, ring finger proximal end 9, ring finger middle finger end 10, ring finger distal end 11, little finger distal end 12, little finger middle finger end 13, little finger proximal end 14, thumb distal finger end 15, thumb middle finger end 16. The proximal end of the thumb 17 and the spherical hinge 18; the first joints of the palm 1 thumb, index finger, middle finger, ring finger and little finger are all connected to the spherical hinge 18, ...

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Abstract

The invention discloses a multi-degree-of-freedom palm based on a rod type ultrasonic motor and an operation method thereof. The multi-degree-of-freedom palm based on the rod type ultrasonic motor comprises a palm, a 10 mm ultrasonic motor, a forefinger near finger end, a forefinger middle finger end, a forefinger far finger end, a middle finger near finger end, a middle finger middle finger end,a middle finger far finger end, a ring finger near finger end, a ring finger middle finger end, a ring finger far finger end, a little finger far finger end, a little finger middle finger end, a little finger near finger end, a thumb far finger end, a thumb middle finger end, a thumb near finger end and a spherical hinge. The invention further provides an operation method of the multi-degree-of-freedom palm based on the rod type ultrasonic motor. The multi-degree-of-freedom palm is reasonably arranged at each joint part of a bionic manipulator by using the miniaturization characteristic of therod type ultrasonic motor, so that independence of each joint is guaranteed, and common functions of the bionic manipulator can be realized.

Description

technical field [0001] The invention belongs to the technical field of machinery, and relates to a multi-degree-of-freedom palm based on a rod-type ultrasonic motor and an operation method thereof. Background technique [0002] At present, the design of bionic manipulator mostly adopts the form of electromagnetic motor combined with rope drive and spring drive as finger joints. The problem often caused by this design is that the sensitivity of the joints is not as high as that of the direct drive, and at the same time, each joint is not completely independent, and there is a coupling phenomenon, that is, when a joint moves, other joints coupled with it will have linkage. If each joint adopts an independent electromagnetic motor, it will result in a large redundant structure. Contents of the invention [0003] The object of the present invention is to provide a multi-degree-of-freedom palm based on a rod-type ultrasonic motor and its operating method. This product takes a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/00B25J15/10
CPCB25J15/0009B25J15/10B25J17/00
Inventor 牛子杰史颖刚崔永杰闫锋欣盛鑫家赵予同
Owner NORTHWEST A & F UNIV
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