Modular rope driving humanoid arm

Abstract

The invention discloses a modular rope driving humanoid arm. The modular rope driving humanoid arm comprises a shoulder module, an elbow module, a wrist module and connecting modules, wherein the connecting modules are arranged between the shoulder module and the elbow module and between the elbow module and the wrist module to realize connection, the shoulder module, the elbow module and the wrist module are connected in sequence, a motor driving system and a rope transmission system are independently arranged inside each of the shoulder module, the elbow module and the wrist module, and thetail end of the wrist module is connected with a plurality of fingers to form the seven-degree-of-freedom humanoid arm; and a three-degree-of-freedom rope driving joint module based on a parallel mechanism is arranged inside each of the shoulder module and the wrist module, the elbow module is a swing joint module which is driven by a single degree of freedom rope, the connection positions among the modules are provided with unified interfaces, and the adjacent modules can be arbitrarily installed. Compared with the prior art, the modular rope driving humanoid arm is convenient to assemble, simple to disassemble, light in weight, convenient to carry and maintain, and capable of forming left and right arms by adopting identical modules, and the length dimensions can be adjusted through different connecting modules; and the modular rope driving humanoid arm is very suitable for large-scale production, and facilitates production and use cost control.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a modular rope-driven humanoid arm. Background technique [0002] At present, most of the arms of humanoid robots are manufactured using traditional design schemes, that is, driven by motors, harmonic reducers or synchronous toothed belts, and the joints are connected in series. The above-mentioned traditional methods are quite mature, and the designed and manufactured humanoid arm can basically meet the functional requirements, but there are also defects such as poor system flexibility, stiff movements, large mass and moment of inertia, low load-to-weight ratio, and loud noises. , thereby limiting its application in life services and other aspects. [0003] In order to overcome the shortcomings of the traditional driving method and improve the safety performance of the system, the existing technology also uses a rope-driven method to develop a humanoid arm. Three ropes...

AI Technical Summary

Problems solved by technology

The above-mentioned traditional methods are quite mature, and the designed and manufactured humanoid arm can basically meet the functional requirements, but there are also defects such as poor system flexibility, stiff movements, large mass and moment of inertia, low load-to-weight ratio, and loud noises. , thereby limiting its application in life services, etc.

[0003] In order to overcome the shortcomings of the traditional driving method and improve the safety performance of the system, the existing technology also uses a rope-driven method to develop a humanoid arm. Three ropes run through the whole mechanism, each rope is driven by a motor, and the spoke configuration is composed of pull bars, but the driving device of this technical solution is too large, the rope connection is too complicated, and the overall structure is not suitable for use as a humanoid arm , with limited applications

[0004] In addition, robots designed by traditional methods are fixed in terms of configuration, size, and degree of freedom, so they have poor fault tolerance and inconvenient maintenance, and they need to be designed differently for specific requirements such as different sizes and loads, so there is a lack of system The flexibility, expansion and scalability of the construction, for example, the left and right arms of the humanoid robot need to be designed and produced separately, and the humanoid robot arms that imitate people of different age groups also need to be designed and manufactured one by one, which makes the manufacturing cycle long and costly

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