Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master manipulator

Abstract

The invention relates to an eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master manipulator, which is characterized in that a free force feedback hand component is mounted on a palmar flexion and dorsal flexion joint component, and a ulnar flexion and flexion joint component is connected with a one-degree-of-freedom forearm convolution component; one end of the one-degree-of-freedom elbow joint assembly is connected with the one-degree-of-freedom forearm convolution component; the other end is connected with one end of a one-degree-of-freedom shoulder flexion andextension assembly, the other end of the one-degree-of-freedom shoulder flexion and extension assembly is connected with one end of a one-degree-of-freedom shoulder convolution assembly through a shoulder adjusting plate A; the other end of the one-degree-of-freedom shoulder rotating assembly is connected with one end of a one-degree-of-freedom shoulder abduction and adduction assembly through a shoulder adjusting plate B, and the other end of the one-degree-of-freedom shoulder abduction and adduction assembly is installed on a back adjusting plate; and an upper arm bandage assembly is mountedat the joint of a one-degree-of-freedom elbow joint assembly and the one-degree-of-freedom shoulder flexion and extension assembly. The manipulator has the characteristics of compact structure, lightweight, high flexibility, high adaptability and the like.

Description

technical field [0001] The invention belongs to the field of exoskeleton robot technology and master-slave teleoperation, in particular to an eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand. Background technique [0002] With the rapid development of industrial technology, the seven-degree-of-freedom serial robot has high flexibility, reliability and adaptability, and can avoid the structural singularity and joint limitation problems that often occur in the six-degree-of-freedom serial robot. It can successfully complete complex tasks under some special requirements and environments, such as assembly, welding and other industries, and has been widely used in industries such as assembly and welding, and has realized automatic control. However, in unstructured environments such as nuclear radiation, fire, and anti-terrorism operations, it is still difficult to realize the automatic operation of robots, and personnel are still required to ...

AI Technical Summary

Problems solved by technology

However, in the existing master-slave teleoperation system, on the one hand, the master-end manipulator mostly uses a six-degree-of-freedom force feedback controller that is heterogeneous with the human arm to realize the Cartesian space pose control of the master-slave end tool, which cannot control the slave-end manipulator. The effective control and path planning of each joint reduces the flexibility, adaptability and obstacle avoidance ability of the seven-degree-of-freedom serial robot; on the one hand, control buttons are often used to trigger control commands at the hand of the master end, and it is impossible to perceive the real operation of the tool at the end of the slave hand On the other hand, the existing global force feedback master hand adds motors, reducers, torque sensors and encoders to each joint, and most of the weight is concentrated on the arm wearing part, which has large structural size, The heavy weight causes too much burden on the human body, so it can only be used fixedly, which affects the operator's perspective during operation, and even has blind spots

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