Macro-micro-mechanical arm used for underwater robot

Abstract

The invention provides a macro-micro-mechanical arm used for an underwater robot. The macro-micro-mechanical arm mainly aims at optimizing a light underwater mechanical arm, improving the work accuracy of the light underwater mechanical arm and enlarging the work space of the light underwater mechanical arm. The macro-micro-mechanical arm is characterized in that the macro-micro-mechanical arm isformed by series connection of a macro-mechanical arm body and a micro-mechanical arm body; a five-freedom-degree series mechanical arm is adopted as the macro-mechanical arm body, and the freedom degree of the macro-mechanical arm body is one left-right swing freedom degree of the waist, two up-down swing freedom degrees of a large arm, one rotation freedom degree of a wrist and one expanding andclosing freedom degree of a paw; and the micro-mechanical arm body is of a rhombus parallel robot structure, the large extension ratio is obtained through a method that a solid shaft of a delivery chain is replaced with a virtual shaft of a rhombus mechanism, the micro-mechanical arm body has three freedom degrees which are two rotation freedom degrees and one movement freedom degree. The macro-micro-mechanical arm can improve the working performance of the underwater robot, the structure is compact, under the condition that the same space is occupied, the work space of the macro-micro-mechanical arm is much larger than that of a conventional mechanical arm, and the work accuracy of the macro-micro-mechanical arm is higher than that of the conventional mechanical arm.

Description

technical field [0001] The invention relates to a macro-micro dual-drive mechanical arm applied in the field of underwater robots. Background technique [0002] Although the current underwater robot can complete some basic operations, the working space of the underwater robot is completely determined by the size of the submersible, and often the working space of a small underwater robot is not enough to meet some operating requirements. The macro-micro dual-drive manipulator has now become an important research topic in the field of robotics, but the macro-micro dual-drive manipulator has not yet entered the field of underwater robots. If a micro-manipulator for pose compensation is added to the light-weight underwater manipulator to form a macro-micro-manipulator system, then the light-weight underwater manipulator will inevitably be optimized to improve its working accuracy and increase its working space. Contents of the invention [0003] In order to solve the technica...

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Problems solved by technology

The macro-micro dual-drive manipulator has now become an important research topic in the field of ro

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