Simulation mechanical arm and control system thereof

Abstract

The invention discloses a simulation mechanical arm which comprises a central control system of the simulation mechanical arm. The simulation mechanical arm comprises a fixed base arranged close to abed body, wherein an adjusting steering engine rotating in the horizontal direction is installed on the fixed base, and is connected with a waist steering engine swinging in the vertical direction; the waist steering engine is connected with a waist connecting rod; the end, away from the waist steering engine, of the waist connecting rod is connected with an arm assembly; the end, away from the waist connecting rod, of the arm assembly is connected with a simulated hand part; and the waist steering engine drives the arm assembly to swing and drives the arm assembly to be folded and bent so asto complete an action instruction sent by the central control system. The movement range of the arm assembly is effectively enlarged through the adjusting steering engine and the waist steering engine, so that the effective operation space of the simulation mechanical arm is enlarged, the simulation mechanical arm can operate in multiple postures, and the practicability of the simulation mechanical arm is improved.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a simulated mechanical arm and a control system thereof. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The manipulator is a complex system with uncertainties such as parameter perturbation, external interference and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. [0003] A robotic arm is a programmable robotic arm that functions similarly to a human arm. This robotic arm can be a complete mechanical device or part of a more comp...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a simulated mechanical arm and its control system. By adjusting the steering gear and the waist steering gear, the range of motion of the arm assembly is effectively increased, thereby increasing the effective operating space of the simulated mechanical arm, and the simulated mechanical arm It can operate in multiple postures, improving its practicability to solve the technical problems of single motion mode and poor practicability of the simulation manipulator in the prior art

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