Space multi-degree-of-freedom parallel-connection flexible device

A technology with a degree of freedom and compliance, applied in the field of robots, can solve problems such as not being able to fully protect the safety of robots, and achieve the effect of avoiding assembly jamming and avoiding damage

Active Publication Date: 2018-08-24
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Many of the existing robot compliance devices only have compliance characteristics in a single-degree-of-freedom direction, wh

Method used

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  • Space multi-degree-of-freedom parallel-connection flexible device
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  • Space multi-degree-of-freedom parallel-connection flexible device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0018] Such as Figure 4 As shown, this embodiment includes: a robot, a space parallel compliance device 6 arranged on the end flange 5 of the robot, a shaft part 7 fixed on the moving platform 1 of the parallel compliance device through a clamp, and holes as parts to be assembled Class Part 8.

[0019] Such as figure 1 As shown, the space parallel compliance device, the device consists of a 3UPU-3SPS parallel compliance device structure through a moving platform 1, a base 2, three SPS spring branch chains 3 and three UPU type spring branch chains 4. The axes of all spring branches converge at a point O, which is the terminal operating point of the compliance device.

[0020] Such as figure 2 As shown, the space parallel compliance device is a center-symmetrical structure, the moving platform and the base are coaxial in the initial state, and all the hinges on the moving platform and the base are circularly distributed. UPU type spring branch chains and SPS type spring br...

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Abstract

A space multi-degree-of-freedom parallel-connection flexible device comprises a base, a mobile platform for providing support for a performing mechanism, three UPU-shaped branch chains and at least three SPS-shaped branch chains. The two ends of the UPU-shaped branch chains are connected with the base and the mobile platform correspondingly. The UPU-shaped branch chains and the SPS-shaped branch chains are arranged between the mobile platform and the base alternately. All the branch chains intersect at one point on the space extension line, namely at the tail end operation point of the flexible device, and the flexible device only has the flexible characteristic of space pure translation at the tail end operation point. The space multi-degree-of-freedom parallel-connection flexible devicecan generate natural adaptation to acting force of any direction of the space, safety of a robot system during working in a complex environment can be improved, and smooth implementation of operationtasks with robot-environment physical contact is ensured.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to a parallel compliance device with multiple degrees of freedom in space. Background technique [0002] Many of the existing robot compliance devices only have compliance characteristics in a single-degree-of-freedom direction, which cannot fully protect the safety of the robot when it may be accidentally hit during the interactive operation of the environment. From the perspective of force control, the flexibility of the compliance device with multiple degrees of freedom in space can also enhance the flexibility of the compliance device for force control in any direction to a certain extent. Contents of the invention [0003] Aiming at some deficiencies in the existing single-degree-of-freedom robot flexible compliance device, the present invention proposes a parallel compliance device with multiple degrees of freedom in space. The active force produces natural compliance,...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0057B25J9/0069
Inventor 赵勇章平余觉王皓王力黄顺舟
Owner SHANGHAI JIAO TONG UNIV
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