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Linear motion joint flexible mechanical arm based on series connected flexible drivers

A technology of flexible manipulators and series elasticity, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited spring size, small stiffness change range, and limited deformation range, etc., to improve the stiffness change rate and structure Simple and compact, compact effect

Pending Publication Date: 2020-05-08
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the spring of this device is limited by the size, the deformation range is limited, and the stiffness variation range is small

Method used

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  • Linear motion joint flexible mechanical arm based on series connected flexible drivers
  • Linear motion joint flexible mechanical arm based on series connected flexible drivers
  • Linear motion joint flexible mechanical arm based on series connected flexible drivers

Examples

Experimental program
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Effect test

Embodiment Construction

[0027] like figure 1 As shown, the flexible robot arm of linear motion joints based on serial elastic actuators of the present invention includes an articulated arm and two serial elastic actuators. The whole articulated arm is connected on the base 1 . The articulated arm includes a shoulder arm, an upper arm and a lower arm 6 hinged together in turn, and two joints are formed between the shoulder arm and the upper arm and between the upper arm and the lower arm 6 .

[0028] Shoulder arm is made of left shoulder connecting rod 2 and right shoulder connecting rod 3, and one end of left shoulder connecting rod 2 and right shoulder connecting rod 3 is connected together and fixed on the base 1 by bolts. A first series elastic driver 8 is installed between the left shoulder link 2 and the right shoulder link 3, and the spring spacer 20 on the first series elastic driver 8 is fixedly connected on the left shoulder link 2 and the right shoulder link 3 (see image 3 ). The output...

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PUM

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Abstract

The invention provides a linear motion joint flexible mechanical arm based on series connected flexible drivers. The linear motion joint flexible mechanical arm comprises an articulated arm and the two series connected flexible drivers. The articulated arm comprises a shoulder arm, an upper arm and a lower arm which are articulated in sequence. The first series connected flexible driver is mountedin the shoulder arm. The output end of the first series connected flexible driver is connected with the upper arm through a first slider-crank mechanism. The second series connected flexible driver is mounted in the upper arm. The output end of the second series connected flexible driver is hinged to the lower arm through a second slider-crank mechanism. The linear motion joint flexible mechanical arm is compact in structure, good in flexibility, large in stiffness change rate and capable of ensuring the motion flexibility and human-computer interaction safety. The slider-crank structures arearranged at joints. Through the slider-crank structures, motion of a lead screw and rotation changes of the joints are realized.

Description

technical field [0001] The invention relates to a straight motion joint flexible mechanical arm, which belongs to the technical field of robotic mechanical arms. Background technique [0002] With the development of science and technology, the aging of the population and the increase of human costs in various countries in the world, there is an urgent need for robots to replace humans in more fields to complete work. The most widely used industrial robots can no longer meet the increasing needs of human society. Therefore, the development of a new generation of more friendly robots has become a key demand in the field of robotics. [0003] In order to meet the new social needs, the new generation of robots must first face more and more human-computer interactions. Robots are no longer limited to the closed environment of the factory, but to cooperate with humans and gradually integrate into human society, assisting or even replacing humans to complete daily activities. In ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J17/00
CPCB25J9/12B25J17/00B25J19/068B25J17/025B25J9/04B25J9/106
Inventor 周乐来宋召鹏李贻斌荣学文李健华刘大宇
Owner SHANDONG UNIV