Unlock instant, AI-driven research and patent intelligence for your innovation.

A control method for a rope-driven flexible arm

A control method and rope-driven flexible technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problem of inability to remotely control flexible arms

Active Publication Date: 2021-08-03
HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the field of robotic arms, usually only rigid arms can be remotely controlled, and flexible arms cannot be remotely controlled

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A control method for a rope-driven flexible arm
  • A control method for a rope-driven flexible arm
  • A control method for a rope-driven flexible arm

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0027] refer to figure 1 and figure 2 , respectively show the flowchart of the control method of the rope-driven flexible arm and the schematic diagram of the control device of the rope-driven flexible arm in the first embodiment. In the schematic diagram of the device, only 4 drive ropes and pulleys connected to one joint are shown. Other joints are set in a similar way to this joint, and are omitted in the figure. Information transmission is performed between the flexible arm 100 at the operating end and the flexible arm 200 at the working end through a communication module, specifically, it may be a wired network, or a 4G network, or a 5G network. The shape of the flexible arm 100 at the operating end is the same as that of the flexible arm 200 at the working end, and the size ratio between the flexible arm at the working end and the flexible arm at the operating end is k. The relationship between the two is similar to a "similar triangle". If the movement direction and ...

no. 2 example

[0061] This embodiment is an alternative embodiment of the first embodiment. In this embodiment, unlike the first embodiment, there is no need to set a rope length encoder 150, and joint encoding is provided between every two operating end joints 110. The device 160 is used to obtain the angle between the two joints in the current configuration. And the variation of the rope length of the driving rope 130 at the operating end is obtained through the joint angle.

[0062] Firstly, the configuration angle value of the flexible arm 100 at the operating end is collected at equal time intervals Δt during the movement, and the angle value is the same as that of the flexible arm 100 at the working end;

[0063] The configuration of the flexible arm 200 at the working end is determined according to the joint angle values, and the length of the driving rope 230 at the working end of the flexible arm 200 is calculated. The existing calculation formula for calculating the variation of a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for controlling a rope-driven flexible arm, which is used for remote control of the flexible arm at the working end. The arms are the same, and the size ratio of the flexible arm at the working end to the flexible arm at the operating end is k; S20 obtains the rope length variation Δl of the driving rope of the flexible arm at the operating end; S30 calculates the length of the flexible arm at the operating end Rope length variation Δl of drive rope ′ , Δl ′ =k·Δl; S40 calculates the rope length-time function of the driving rope of the flexible arm at the working end according to the change in rope length; S50 drives the flexible arm at the working end to move according to the rope length-time function. The invention can remotely control the movement of the rope-driven flexible arm, and can improve safety when used in some harmful environments.

Description

technical field [0001] The invention relates to the field of rope-driven robots, in particular to a control method for a rope-driven flexible arm. Background technique [0002] At present, because remote operation can effectively protect the safety of operators and make the operation process more convenient, remote operation is widely used in toxic environment equipment repair, toxic chemical waste treatment, minimally invasive surgery and other environments. However, in the field of robotic arms, usually only rigid arms can be remotely controlled, and flexible arms cannot be remotely controlled. Contents of the invention [0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a method for controlling the rope-driven flexible arm, which can remotely control the movement of the rope-driven flexible arm, and can improve safety when used in some harmful environments. [0004] On...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/16B25J13/08B25J19/04
CPCB25J9/104B25J9/1635B25J13/085B25J19/04
Inventor 徐文福杨太玮黄曦袁晗梁斌
Owner HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)