A multi-degree-of-freedom variable-stiffness joint manipulator

Abstract

A multi-degree-of-freedom variable-stiffness articulated manipulator, which includes a mounting base, a base joint, three end joints and four connecting rods; the input end of the base joint is connected to the mounting base, and the output end of the base joint is connected to the first Link connection, the first link is connected to the input end of the first end joint, the output end of the first end joint is connected to the second link, the third link is connected to the input end of the fourth end joint, and the third link is connected to the input end of the fourth end joint. The output ends of the four end joints are connected to the fourth connecting rod; the base joint includes the first joint housing, the main drive module, the elastic module and the stiffness adjustment module; the first joint housing is connected to the first connecting rod, and each end joint includes The second joint casing, the main driving mechanism, the elastic mechanism and the stiffness adjustment mechanism; the second connecting rod, the third connecting rod and the fourth connecting rod are respectively connected with the second joint casing corresponding to the end joint, and the rigidity adjustment range of the mechanical arm of the present invention is large , which can meet the requirements of safe interaction of collaborative manipulators.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a multi-degree-of-freedom variable stiffness joint mechanical arm. The invention belongs to the technical field of robot joints. Background technique [0002] Traditional industrial robots are designed with rigid joint manipulators, which have high position control accuracy, but poor safety, and generally work in a closed environment. Robot systems such as service robots and field special operation robots generally work in an open environment, not only need to deal with flexible and complex operation tasks, but also have the requirements for human-computer safety interaction and interaction between robots and unstructured environments. Therefore, the traditional Rigid articulated manipulators cannot well meet the manipulation requirements of collaborative robots. Contents of the invention [0003] The invention provides a multi-degree-of-freedom variable-stiffness joint mechanical arm to o...

AI Technical Summary

Problems solved by technology

[0002] Traditional industrial robots are designed with rigid joint manipulators, which have high position control accuracy, but poor safety, and generally work in a closed environment

Robot systems such as service robots and field special operation robots generally work in an open environment, not only need to deal with flexible and complex operation tasks, but also have requirements for human-computer safety interaction, robot and unstructured environment interaction, therefore, the traditional Rigid articulated manipulators cannot well meet the operational needs of collaborative robots

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