Linkage wearable sixteen-degree-of-freedom driving end mechanical arm

Abstract

The invention relates to the field of robots, in particular to a linkage wearable sixteen-degree-of-freedom driving end mechanical arm which comprises a support, a waist assembly, a trunk base, shoulder assemblies and arm assemblies. The waist assembly can achieve two degrees of freedom of rotation and pitching, and the shoulder assemblies can achieve three degrees of freedom of abduction and adduction, outward rotation and inward rotation and forward bending and backward stretching. The left shoulder assembly and the right shoulder assembly achieve six degrees of freedom in total, the arm assemblies can achieve four degrees of freedom of forward bending and backward stretching of elbows, inward rotation and outward rotation of forearms, flexor bending and contortion of wrists, and palm bending and opisthenar bending of wrists and eight degrees of freedom of the left arm and the right arm, and action information sensing assemblies are arranged in all rotating joints. According to the linkage wearable sixteen-degree-of-freedom driving end mechanical arm, the degree of freedom of operation is greatly increased, different positions of the waist, shoulders, wrists, forearms and wristsof an operator can be sensed according to the rotating angle of each joint, and then position information is sent to the bionic robot auxiliary arm, so that the bionic robot auxiliary arm makes corresponding actions, and control is more accurate.

Description

technical field [0001] The invention relates to the field of robots, in particular to a linked and wearable sixteen-degree-of-freedom active end mechanical arm. Background technique [0002] When people manipulate a series robot to engage in a task, they usually use the controller to control the robot to complete a series of actions and tasks according to the sensor information of the robot. In the prior art, the controllers used for bionic manipulators are mostly controlled by handles, which can be applied to some single actions with edited settings, but cannot be controlled according to environmental requirements, resulting in complicated operation and control, which needs to be improved. In addition, the currently used human-assisted manipulator is an incremental design for the human arm, which has defects such as low degree of freedom, limited working space of the manipulator, difficulty in completing complex movements, and high overall quality of the equipment. Conten...

AI Technical Summary

Problems solved by technology

In the prior art, the controllers used for bionic manipulators are mostly controlled by handles, which can be applied to some single actions that have been edited, but they cannot be controlled according to environmental requirements, resulting in complicated operation and control, and it is necessary to improve

In addition, the currently used human-assisted manipulator is an incremental design for the human arm, which has defects such as low degree of freedom, limited working space of the manipulator, difficulty in completing complex movements, and high overall quality of the equipment.

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