Multi-joint mechanical arm applicable to unstructured environment for physical interaction
A multi-joint manipulator, unstructured technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of small space, high cost, complex structure, etc., and achieve the effect of reducing damage
Active Publication Date: 2019-09-13
SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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Problems solved by technology
This type of design often has many difficulties such as complex structure, high cost, many parts, narrow space, complicated control, and difficult protection in special environments. However, it is still a challenge to propose a general adaptive robot design method. A major challenge in the field of robot design for special application requirements in structured environments
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[0101] The present invention takes the first basic unit as an example to illustrate the self-adaptation process, and the principle of the self-adaptation process of the second basic unit is consistent with that of the first basic unit.
[0102] The adaptive process of the first basic unit of the present invention is:
[0103] The present invention takes figure 2 Taking Aabc as an example, when subjected to external environmental force from an object X with a certain three-dimensional geometric size, the edges in contact with the object X will produce different degrees of elastic deformation to form a spatial envelope for the three-dimensional geometric size of the object X, realizing the geometric shape adaptability.
[0104] Such as Figure 7 As shown, the external environment item X with a certain spatial geometry is in the blank area in the middle of a triangle Abc in [tetrahedral style];
[0105] Before the contact, the relative movement direction of the object X and t...
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The invention discloses a multi-joint mechanical arm applicable to an unstructured environment for physical interaction. The mechanical arm comprises a multi-joint mechanical arm body and joint connection structures. Each joint connection structure comprises a first basic unit and second basic units according to the network structure, and in other words, each joint connection structure is formed by one first basic unit and a plurality of second basic units in an overlaying manner, or formed by a plurality of second basic units in an overlaying manner. According to each first basic unit, a first upper layer structure comprises a first anode, a first lower layer structure comprises at least three non-linear second nodes, and a three-dimensional network structure is formed by the first node and all the second nodes through connecting rods. According to each second basic unit, a second upper layer structure comprises at least two third nodes, a second lower layer structure comprises at least two fourth nodes, the at least two fourth nodes and the at least two third nodes are not located on the same plane, and all the third nodes and all the fourth nodes are connected through connectingrods to form a three-dimensional network structure. When collision happens, damage caused to the external environment is reduced because of the adaptivity of the joint connection structures.
Description
technical field [0001] The invention relates to the technical field of robot design, in particular to a multi-joint mechanical arm suitable for physical interaction in an unstructured environment, and suitable for a horizontal working environment. Background technique [0002] Existing robots often use rigid materials for structural design, and a relatively mature design method has been formed in dealing with structured environmental problems, such as industrial robots. Large limitations often require the use of more complex mechanical structures, transmission components, drive components, etc. to achieve complex motion functions. In this process, the adaptability of the robot structure has become an important design issue. [0003] Usually, robots with high environmental adaptability can realize various complex functions in a wider range of application scenarios, especially in unstructured environments, with the help of a single structure or only a small amount of modificat...
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IPC IPC(8): B25J9/00B25J9/06B25J9/16
CPCB25J9/06B25J9/0009B25J9/163
Inventor 宋超阳万芳
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA