Planar hyper-redundancy mechanical arm and using method thereof

Abstract

The invention discloses a planar hyper-redundancy mechanical arm and a using method thereof. The mechanical arm comprises a mechanical arm body mechanism, a sliding mechanism and a piezoelectric motormechanism, wherein the mechanical arm body mechanism comprises a plurality of rod pieces which are connected in sequence; a rotating shaft and a joint locking mechanism are arranged at the joint of every two adjacent rod pieces; the rod pieces are of a hollow structure; sliding grooves are formed in the length direction of the rod pieces; and the piezoelectric motor mechanism comprises a motor fixing seat, a piezoelectric motor and a pre-pressure adjusting mechanism. The using method comprises the following steps of 1, assembling the mechanical arm body mechanism; 2, assembling the piezoelectric motor mechanism; and 3, adjusting the planar hyper-redundancy mechanical arm. According to the mechanical arm and the using method thereof, only a single set of piezoelectric motor is used for driving, no complex driving and deceleration system is needed, the problem that a set of motor and a set of deceleration system need to be introduced to one degree of freedom of a traditional hyper-redundancy mechanical arm is avoided, the weight is light, the size is small, and the robustness is good.

Description

technical field [0001] The invention belongs to the technical field of planar super-redundant manipulators, and in particular relates to a planar super-redundant manipulator and a method for using the same. Background technique [0002] Piezoelectric motor (also known as piezoelectric driver) is a new type of motor that uses the inverse piezoelectric effect of piezoelectric materials to convert electrical energy into mechanical energy. Piezoelectric ceramics excite micro-amplitude mechanical vibrations in the stator elastic body. A trajectory with a driving effect is formed inside, and then the macroscopic motion output of the rotor is realized through the friction between the stator and the rotor. Compared with the traditional electromagnetic motor, the piezoelectric motor has the advantages of no need for lubrication and reduction gear, high thrust density, no electromagnetic interference, flexible structural design and easy to realize multi-degree-of-freedom drive. [00...

AI Technical Summary

Problems solved by technology

However, while the super-redundant manipulator introduces a large number of degrees of freedom, it also introduces a large number of drive motors and complex deceleration systems, etc., which leads to the complex structure, large volume, increased mass and robustness of the super-redundant manipulator. Sexual deterioration

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