Reconfigurable redundant mechanical arm based on rope driving

Abstract

The invention discloses a reconfigurable redundant mechanical arm based on rope driving, and belongs to the field of robot research and engineering. The redundant mechanical arm is composed of a plurality of joint units. The joint unit mainly comprises a first joint, a second joint, a third joint, a telescopic trunnion, a bidirectional electric push rod, an external thread type bearing and a silica gel corrugated pipe with an embedded spring. The bidirectional electric push rod arranged in each joint is connected with the telescopic trunnion, the trunnion is fixed between the two joints through the external thread type bearing to form a single-degree-of-freedom rotating joint, and the silica gel corrugated pipe is wrapped on the single-degree-of-freedom rotating joint. According to the invention, the electric push rod is used for providing drive force to change the position of the trunnion and the equivalent trunnion height, and therefore reconstruction of a joint mechanism is achieved. When the trunnion is contracted, the gap between joints is reduced, and the rigidity and control precision of the whole redundant mechanical arm are improved; when the trunnion extends, the joint gap is increased, the rotation angle range of the redundant arm is enlarged, and a larger tail end operation space is achieved.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a reconfigurable redundant mechanical arm driven by a rope. Background technique [0002] With the rapid development of industry and technology, many fields such as intelligent manufacturing, nuclear power equipment maintenance, and post-disaster exploration are faced with unstructured and complex working environments. They need to overcome difficulties such as multiple obstacles and small spaces. Traditional articulated manipulators are often difficult to meet the requirements Due to the work requirements in limited space, redundant robotic arms with multiple degrees of freedom and flexible movement have become the research object of many scholars. [0003] Compared with redundant robotic arms driven by other driving methods, the rope-driven redundant robotic arm separates the transmission part from the arm body mechanism to realize remote power transmission, and ha...

AI Technical Summary

Problems solved by technology

The joints of the existing rope-driven redundant arms are mainly connected by cross-axis universal joints, and on this basis, elastic elements, variable stiffness mechanisms, and wire tension sensors are added to improve control accuracy, but the joints are ignored. Due to the limited rotation angle, compact joint connection is used to improve the end load capacity, which lacks adaptability to actual complex working conditions

Images