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

A technology of elastic joints and variable stiffness, applied in the field of robotics, can solve the problems of application limitations of rigid manipulators and flexible manipulators, and achieve the effects of enhancing grasping ability and response speed, expanding the scope of application, and simple control

Pending Publication Date: 2018-11-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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

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Embodiment Construction

[0037] The technical solutions of the present invention will be further described below in conjunction with the drawings and embodiments.

[0038] see Figure 1 - Figure 1 An underactuated variable stiffness manipulator based on variable stiffness elastic joints, it includes three variable stiffness elastic joints G, it also includes a palm C, a motor D, a base E, a support column F and three fingers, each of which is a curved extension hand Finger A and two coupled rotator fingers B;

[0039]The palm C is placed above the base E and the two are connected by a support column F. The base E is equipped with an axial and vertical motor D and three elastic joints G with variable stiffness. The finger B is set on the palm C along the circumference of the palm C. The output shaft of the motor D drives two coupled rotating and extending fingers B through the steel wire rope, and the output shafts of the three variable stiffness elastic joints G correspond to each other through the w...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J15/00
CPCB25J15/0009B25J17/02
Inventor 徐威铭金弘哲刘玉斌乔凤斌杨斌堂胡佳成
Owner HARBIN INST OF TECH
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