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Multi-joint combined motion flexible manipulator driving device

A flexible manipulator and joint motion technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as underactuated stability, and achieve the effects of improving stability, good practicability, and increasing controllability and stiffness.

Active Publication Date: 2020-02-07
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of under-actuation and poor stability of the existing rope-driven multi-joint flexible robotic arm, the present invention provides a flexible robotic arm driven by multi-joint joint motion device

Method used

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  • Multi-joint combined motion flexible manipulator driving device
  • Multi-joint combined motion flexible manipulator driving device
  • Multi-joint combined motion flexible manipulator driving device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as figure 1 As shown, a multi-joint joint motion flexible manipulator driving device is applied to a flexible manipulator including multiple joints, including N groups of drive modules 1; N groups of ropes 2, and each group of ropes 2 includes n ropes 2 N groups of winding modules 3, each group of winding modules 3 is provided with at least n winding mechanisms; in the same group of ropes 2, different ropes 2 are driven by the same group of winding modules 3 and drive modules 1, and Different ropes 2 are used to drive different joints of the flexible robotic arm. One end of the rope 2 is fixedly connected to different winding mechanisms in the same group of winding modules 3, and the other end of the rope 2 is respectively wound behind the corresponding winding mechanism. , passing through the first threading hole of each joint from the end in turn until reaching the corresponding joint driven by the rope 2 and then connected to it; the output end of each group of ...

Embodiment 2

[0042] Embodiment 2 provides a multi-joint joint motion flexible mechanical arm driving device, such as figure 2 with 3As shown, it is applied to a flexible robot arm including 6 joints, wherein each joint has 3 groups of first threading holes, each group of first threading holes has at least 6 first threading holes, and the first threading holes of the same group One threading hole is centrally set around the same center point, and three sets of first threading holes are evenly distributed along the circumference of the joint; the flexible manipulator driving device for multi-joint joint motion includes three sets of drive modules 1; three sets of ropes 2, each set of ropes 2 Each includes 6 ropes 2; 3 groups of winding modules 3, each group of winding modules 3 is equipped with at least 6 winding mechanisms; in the same group of ropes 2, different ropes 2 are formed by the same group of winding modules 3 and Driven by the drive module 1, and different ropes 2 are used to d...

Embodiment 3

[0057] This embodiment 3 is a modification of the above embodiment 2. The difference lies in the six through holes 343 provided on the fixed bracket 34. These through holes 343 are matched with the wire slots 33 one by one, and the ropes 2 are inserted through these through holes. 343 more turns, such as Figure 10 shown.

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Abstract

The invention discloses a multi-joint combined motion flexible manipulator driving device. The multi-joint combined motion flexible manipulator driving device comprises N sets of driving modules, N sets of ropes and N sets of winding modules. Each set of ropes comprise n ropes. At least n winding mechanisms are arranged on each set of winding modules. In terms of the same set of ropes, different ropes are driven by the same set of winding modules and driving modules. The different ropes are used for driving different joints of a flexible manipulator. One ends of the ropes are fixedly connectedwith different winding mechanisms in the same set of winding modules respectively. The other ends of the ropes are wound on the corresponding winding mechanisms, then sequentially penetrate through afirst threading hole of each joint from the end portion until reaching the corresponding joint driven by the ropes, and are then connected with the corresponding joint. The output end of each set ofdriving modules is connected with the input end of the corresponding winding module. According to the multi-joint combined motion flexible manipulator driving device, different joints are driven by the same set of combined moving ropes, so that the bending angle of each joint rod is the same, an operation arm is bent in a same-curvature mode, and finally the bending deformation of the joints is realized through cooperative length changing of three sets of ropes.

Description

technical field [0001] The invention relates to the technical field of a driving device for a mechanical arm, in particular to a driving device for a flexible mechanical arm with multi-joint joint motion. Background technique [0002] Traditional industrial robots usually integrate motors, reducers, controllers, etc. at the joints, resulting in large volume and high mass of the robot's operating parts, making it difficult to apply in a small space to meet the working needs of special environments. The operating arm of a rope-driven multi-joint flexible robot usually does not include a motor, a reduction mechanism, etc., but controls the bending angle of each joint by driving the rope at the bottom to expand and contract, thereby realizing the movement of the entire operating arm. This type of robot has good bending characteristics , small size, flexible deformation, suitable for unstructured environments, such as narrow space detection, entanglement capture of non-cooperativ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12
CPCB25J9/104B25J9/12
Inventor 徐小明冯晓港罗嘉辉蒋建平王晓明吴志刚
Owner SUN YAT SEN UNIV
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