Human-machine cooperation oriented bionic lightweight mechanical arm

Abstract

The invention discloses a human-machine cooperation oriented bionic lightweight mechanical arm comprising a first machine arm, a second machine arm, a wrist joint, an elbow joint and a shoulder joint.The first machine arm is arranged between the shoulder joint and the elbow joint, the second machine arm is arranged between the elbow joint and the wrist joint, the wrist joint is a three-degree-of-freedom motion pair, the wrist joint includes a two-degree-of-freedom parallel mechanism connected with a single-degree-of-freedom Hook hinge mechanism in series, the elbow joint is a single-degree-of-freedom rotational joint, and the shoulder joint is a three-degree-of-freedom parallel ball joint mechanism; and the mechanical arm further comprises an elbow joint drive motor and three wrist jointdrive motors, and the elbow joint drive motor arranged at the end, close to the shoulder joint, of the second machine arm and the wrist joint drive motors control the elbow joint and the wrist joint through rope drive transmission. By means of the mechanical arm, the collision inertia is reduced, and therefore the safety of human-computer interaction is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic lightweight mechanical arm oriented to human-machine cooperation. Background technique [0002] With the development of robot technology, more and more robots have entered the unstructured environment of human production and life. The integration of robots and humans will become the essential feature of the new generation of robots, so human-machine collaborative robots are one of the main research and development directions of current robots. With the development of robot technology and the vigorous promotion of robot manufacturers, collaborative robots have begun to enter human production and life. Collaborative robots have broad application prospects in manufacturing, medical, service and other fields. Especially for the flexible assembly of the consumer electronics industry and the furniture industry, the human-machine collaboration system that combines human skills...

AI Technical Summary

Problems solved by technology

One is through the method of flexible joints, usually consisting of rigid rods and flexible joints or rigid rods and rigid-flexible joints. Rigid-flexible joints are composed of partly rigid joints and partly flexible joints. Flexible joints interact with people It is more compliant and can avoid rigid collisions, but this method will reduce the overall rigidity of the robot and reduce the control accuracy.

The other is to obtain external interaction information by adding joint force sensors, and adopt corresponding adjustment strategies when in contact with people or during the interaction process, but this method will be limited by the control response speed and sensor reliability

[0004] The human arm has seven degrees of freedom, of which the shoulder joint is three degrees of freedom in parallel, the elbow joint is one degree of freedom, and the wrist joint is three degrees of freedom in parallel. Traditional industrial robots are generally six degrees of freedom in series, interacting with people It needs to be matched with the similarity of the working posture of the human arm, and the reachable range and flexible working range are small

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