Compact and firm single-degree-of-freedom bionic joint and manufacturing method thereof

Abstract

The invention discloses a compact and firm single-degree-of-freedom bionic joint and a manufacturing and driving method thereof. The compact and firm single-degree-of-freedom bionic joint comprises atleast one first joint part, a second joint part and a connecting fiber, wherein the end of the first joint part is a convex curved surface, and the end of the second joint part is a concave curved surface matched with the convex curved surface. The compact and firm single-degree-of-freedom bionic joint has the beneficial effects that firstly, the compact and firm single-degree-of-freedom bionic joint is simple in joint structure, small in size, light in weight, high in strength and the like, the impact resistance is high, and the stress of a connecting piece is reduced when the joint is bent;and secondly, the compact and firm single-degree-of-freedom bionic joint is small in gap and high in motion precision under the stress condition, meanwhile, the whole bionic joint is convenient to manufacture through an automatic process, the manufacturing efficiency is improved, and the manufacturing cost is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a compact and firm single-degree-of-freedom bionic joint and its manufacturing and driving methods. Background technique [0002] A joint is a common part in a mechanical structure. Its basic functions include: bearing radial and tangential forces, including tensile, compressive and torsional forces; limiting the degree of freedom of mechanical motion, that is, limiting the direction and range of motion. [0003] The existing sleeve-type joint adopts a rigid shaft and a sleeve as a design scheme, and the joint has good stability and high motion precision. For example: [0004] Patentee DISNEY ENTERPRISES, INC.'s invention "ROBOT HAND WITH HUMAN-LIKEFINGERS" (US20100259057A1); [0005] Patentee GM Global Technology Operations LLC's invention "robotic thumbassembly" (US8424941); [0006] The patentee SQUSE Inc.'s invention "finger mechanism, robot hand and robot hand controlling ...

AI Technical Summary

Problems solved by technology

[0009] First, the shaft and bushing bear pressure and tension at the same time. In order to ensure the structural strength, the joint volume is large and the manufacturing cost is high

[0010] Second, for mechanical structures containing multiple joints, such as in robot hands, shoulders, and hip joints, the structure of the joints itself takes up too much space, and the space utilization rate is low. difficulty

[0011] Third, the joints are made of hard materials, and when subjected to external impacts, the local load is large, which easily causes material fatigue and deformation, which in turn causes component failure

[0020] First, some adopt deep ball-socket schemes, which lead to interference between the ball head and the edge of the ball-socket, and the range of joint motion is limited; others adopt shallow ball-socket schemes, and the shape of the connecting parts is sleeve-shaped or sheet-shaped, and the joints are not smooth. Stable, weak tensile strength, large displacement of the joint head, easy to fall out of the joint socket

[0021] Second, soft braided materials or other elastic materials are used to make joint connectors, resulting in poor joint stability and weak joint tensile capacity. There is a large gap in the joint under the condition of bearing tangential force, torsional force and tensile force. poor precision

[0022] Third, use a hard and flexible sheet material, such as a rubber sheet, to make the connector. When the joint rotates, the sheet material bends. This deformation produces a resistive moment, consumes energy, and leads to poor mobility

[0023] Fourth, screws, surface bonding, ring clips, etc. are used to connect and fix the connectors and structural parts, which have low strength, poor tear-off resistance, and poor impact resistance

[0024] Fifth, the large number of parts and many assembly and adjustment steps are not conducive to the adoption of standardized manufacturing processes, resulting in high manufacturing costs and low manufacturing efficiency

[0025] Sixth, the FLLEX Hand bionic manipulator uses rolling joints, which are less resistant to tension and torsion

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