A reconfigurable rope-driven hybrid variable stiffness household service manipulator

A variable stiffness and rope-driven technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult real-time adjustment of variable stiffness, bulky arms, and inflexible movements, etc., to achieve increased work space and variable stiffness adjustment range, extend the workspace, and avoid the effects of kinematic coupling

Active Publication Date: 2021-11-05
ZAOZHUANG UNIV
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Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a reconfigurable rope-driven hybrid variable-stiffness household service robot arm, which solves the problem of bulky arms, inflexible movements, and kinematic coupling between ropes in the prior art. , Difficulty in real-time adjustment of variable stiffness, etc.

Method used

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  • A reconfigurable rope-driven hybrid variable stiffness household service manipulator
  • A reconfigurable rope-driven hybrid variable stiffness household service manipulator
  • A reconfigurable rope-driven hybrid variable stiffness household service manipulator

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Embodiment Construction

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0021] The invention proposes a reconfigurable rope-driven hybrid variable-stiffness household service robot arm.

[0022] Such as figure 1 As shown, the reconfigurable rope-driven hybrid variable stiffness home service robot arm of the embodiment of the present invention includes a shoulder joint S, an elbow joint E, and a wrist joint W, wherein the elbow joint E of this embodiment is a joint with 2 degrees of freedom, and The shoulder joint S and t...

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Abstract

A reconfigurable rope-driven mixed-connected variable-stiffness household service robot arm is composed of a shoulder joint, an elbow joint, and a wrist joint in series. The wrist joint is connected to the end claw. The rod drives the moving pulley block, and the length of each rope is a fixed value; the shoulder joint and wrist joint realize the reconstruction of the rope drive through the coordinated adjustment of the linear push rod; each joint is a hybrid mechanism, and the rope and the middle helical compression spring form a parallel part , the two intermediate shafts are connected by hinges or Hooke hinges, and pass through the upper platform and are supported by linear bearings to form a series part; the mechanical arm of the present invention is light in weight, small in inertia, low in cost, short in ropes, avoids kinematic coupling, and has the advantages of kinematic redundancy. The rest and the drive are redundant, and each joint uses translational motion to realize variable stiffness adjustment, which ensures the flexibility, safety and practicability of the robotic arm.

Description

technical field [0001] The invention relates to the technical field of rope-driven manipulators, in particular to a reconfigurable rope-driven mixed-connection variable-stiffness household service manipulator. To be precise, the robotic arm can be installed on desktops, smart wheelchairs, and self-guided vehicles to assist the elderly or disabled to perform activities of daily living, thereby realizing self-care. The robotic arm has the characteristics of light weight and intrinsic safety, which can improve the safety and practicability of the domestic service robotic arm. Background technique [0002] Facing the current situation of rapid aging in Chinese society and the huge number of disabled people, long-term care for the elderly and disabled has become a social problem restricting the development of our country. Household service manipulators can help the elderly and the disabled to improve their activities of daily living. Therefore, it is imminent to study the home s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10
CPCB25J9/104B25J9/1045
Inventor 张姗时全
Owner ZAOZHUANG UNIV
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