Two-degree-of-freedom large-rotation-angle flexible robot joint based on rope driving and robot

A robot joint and rope-driven technology, applied in the field of robotics, can solve problems such as low flexibility and small joint rotation range

A robot joint and rope-driven technology, applied in the field of robotics, can solve problems such as low flexibility and small joint rotation range

CN109955281AInactive Publication Date: 2019-07-02HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Two-degree-of-freedom large-rotation-angle flexible robot joint based on rope driving and robot
  • Two-degree-of-freedom large-rotation-angle flexible robot joint based on rope driving and robot
  • Two-degree-of-freedom large-rotation-angle flexible robot joint based on rope driving and robot

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[0024] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0025] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, right, front, and back used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.

[0026] Also, unless defined otherwise, all technical and scientific ter...

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Abstract

The invention discloses a two-degree-of-freedom large-rotation-angle flexible robot joint based on rope driving and a robot, and belongs to the technical field of robots. The two-degree-of-freedom large-rotation-angle flexible robot joint based on the rope driving comprises a first joint rod, a second joint rod and rotating connecting pieces, wherein first hinged pieces are connected to one ends of the rotating connecting pieces in a hinged mode, the first hinged pieces are connected with the first joint rod in a hinged mode, second hinged pieces are connected to the other ends of the rotatingconnecting pieces in a hinged mode, and the second hinged pieces are connected with the second joint rod in a hinged mode. The two-degree-of-freedom large-rotation-angle flexible robot joint based onthe rope driving has the advantages of large-angle rotation and more flexibility.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rope-driven two-degree-of-freedom large-angle flexible robot joint and a robot. Background technique [0002] The ultra-redundant manipulator based on the rope drive is usually equipped with multiple joint rods, and the multiple joints are connected to each other. The driving device drives the rope to drive the joint rods to move around the joints to realize the mutual movement between the joint rods, thereby increasing the number of super-redundant machines. The overall flexibility of the arm enables it to have a strong obstacle avoidance capability and can be used in aerospace, military reconnaissance and other fields. [0003] In the existing ultra-redundant manipulator technology, cross universal joints are often used as the rotating joints of the rotatable part in the joint part. However, in actual use, the joint has a small rotation range and low flexibility. Contents o...

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Application Information

Patent Timeline
02 Jul 2019
Publication
CN109955281A
IPC
B25J17/02; B25J9/10
CPC
B25J9/104; B25J17/0258
Inventors
徐文福; 刘天亮