A cable-driven elastic mechanism for gravity moment compensation of manipulator
A technology of flexible cable drive and elastic mechanism, which is applied in the field of mechanical arms of robots, can solve the problems of increasing the mass and inertia of the device, and achieve the effects of small mechanical wear, simple structure and long service life
Active Publication Date: 2022-02-01
SOUTHEAST UNIV
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Problems solved by technology
Structural compensation depends on the reasonable layout of the mechanical structure, which is not suitable for complex robot systems; counterweight compensation relies on adding extra mass to coincide the center of mass and axis of the mechanism, which is easy to implement, but increases the mass and inertia of the device
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Embodiment Construction
[0021] Such as figure 1 and figure 2 , a cable-driven elastic mechanism for gravity moment compensation of a mechanical arm, the mechanical arm includes a large arm 1 and a small arm 2 connected end-to-end through an elbow joint shaft, and the small arm 2 can be connected between the large arm 1 and the small arm 2 Rotate around the rotating elbow joint in the plane.
[0022] The cable driving elastic mechanism includes a central pulley 4 and an eccentric pulley 5 arranged on the boom 1, and the central rotation axis 3 of the central pulley 4 is on the same line as the rotation axis of the elbow joint.
[0023] The cable-driven elastic mechanism also includes an elastic telescopic mechanism and a fixed pulley 7 arranged on the small arm 2 . The elastic telescopic mechanism includes a slider 8 and a plurality of guide rods 9 passing through the slider 8 in parallel, and the slider 8 slides along the guide rod 9 ; a spring 10 is sheathed on each guide rod 9 . One end of the ...
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The present invention proposes a cable-driven elastic mechanism for gravity moment compensation of a mechanical arm. The mechanical arm includes a big arm and a small arm connected end-to-end through an elbow joint shaft; the flexible cable-driven elastic mechanism includes a center pulley and eccentric pulley, and the center shaft of the center pulley is on the same line as the elbow joint shaft; it also includes an elastic telescopic mechanism arranged on the forearm; the elastic telescopic mechanism includes a The fixed end and the movable end that can be freely retracted; the flexible cable driving elastic mechanism also includes a flexible cable; the flexible cable is wound on the central pulley and the eccentric pulley, and one end of the flexible cable is connected to the movable end of the elastic telescopic mechanism , and the other end is connected to the forearm. The invention can eliminate the influence of the rotation of the big arm on the change of the gravity moment of the forearm, compensate the gravity moment produced by the forearm on the elbow joint, has high compensation precision, small mechanical wear and long service life.
Description
technical field [0001] The invention belongs to the field of mechanical arms of robots, and relates to a cable-driven elastic mechanism used for gravity moment compensation of a mechanical arm. Background technique [0002] The mechanical arm of the mobile robot is an executive device loaded on the chassis of the mobile robot. It can move to any position with the robot and complete its work tasks. Most of the mechanical arms adopt a joint structure. In addition to overcoming the external load during operation, the joint drive torque, It is also necessary to overcome the torque generated by the gravity of the robot arm on the joints, which not only limits the load capacity of the robot arm to a certain extent, but also causes the robot arm to fall due to the gravity of the robot arm when the motor brake fails, threatening personnel. and robot safety. [0003] The existing gravitational moment compensation methods of the manipulator can be divided into two categories accordin...
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IPC IPC(8): B25J19/00B25J9/10
Inventor 柯建军许映秋钱瑞明
Owner SOUTHEAST UNIV