Underactuated variable-stiffness manipulator based on variable-stiffness elastic joints

Abstract

The invention provides an underactuated variable-stiffness manipulator based on variable-stiffness elastic joints, relates to a variable-stiffness manipulator, and aims to solve the problem about application limitations of a stiff manipulator and a flexible manipulator in the prior art. The underactuated variable-stiffness manipulator comprises the three variable-stiffness elastic joints, and further comprises a palm, a motor, a base, supporting columns and three fingers, wherein the three fingers comprise one flexion-extension finger and two coupling rotary flexion-extension fingers; the palmis arranged above the base; the palm and the base are connected through the supporting columns; the vertically-arranged motor and the three variable-stiffness elastic joints are mounted on the base;the flexion-extension finger and the two coupling rotary flexion-extension fingers are arranged on the palm along the circumferential direction of the palm; through a steel wire rope, the two couplingrotary flexion-extension fingers are driven by an output shaft of the motor to perform rotary motion; output shafts of the three variable-stiffness elastic joints are arranged in a one-to-one correspondence manner; and the flexion-extension motion of the flexion-extension finger and that of the two coupling rotary flexion-extension fingers are driven through the steel wire rope. The underactuatedvariable-stiffness manipulator provided by the invention belongs to the field of robots.

Description

technical field [0001] The invention relates to a variable stiffness manipulator, in particular to an underactuated variable stiffness manipulator based on variable stiffness elastic joints. In the field of robotics. Background technique [0002] In the field of batch measurement, manipulators are often used for positioning, installation and adjustment of parts. The grasping accuracy of the manipulator greatly affects the accuracy of the final measurement results, and for some delicate and fragile parts, the manipulator is also prone to damage. Therefore, a manipulator with high precision, strong safety and wide application range is very necessary. [0003] According to the stiffness of the system itself, traditional manipulators are mainly divided into two categories: rigid manipulators and flexible manipulators. Among them, the rigid manipulator is rigidly connected, the overall stiffness is high, and it has a high response speed, which can realize precise position cont...

AI Technical Summary

Problems solved by technology

[0005] The present invention proposes an underactuated variable-stiffness manipulator based on variable-stiffness elastic joints in order to solve the respective application limitations of existing rigid manipulators and flexible manipulators.

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