Servo system of robot with multi-joint super-redundant flexible mechanical arm structure

Abstract

The invention discloses a servo system of a robot with a multi-joint super-redundant flexible mechanical arm structure. The servo system comprises a driving base, driving motor sets, a driving lead screw, a sliding block and a rope guide piece, wherein the driving motor set is fixed to a motor installation base, the driving motor sets adopt the arrangement mode of an inner ring and an outer ring,twelve driving motors are installed on the inner ring, twenty-four driving motors are installed on the outer ring, every three motors form a set, the two ends of the driving lead screw are fixedly provided with a first nut base and a second nut base, one end of the driving lead screw is in transmission connection with an output shaft of the driving motor, the sliding block is installed outside thedriving lead screw and is in sliding connection with the driving lead screw. The servo system is simple in working principle, compact in structure, small in occupied area and good in driving stability, the control efficiency of the robot can be improved.

Description

technical field [0001] The invention relates to the technical field of robot servo control systems, in particular to a robot servo system with a multi-joint super-redundant flexible manipulator structure. Background technique [0002] According to the rapid support requirements of the aircraft carrier-based aircraft in the future, it is particularly necessary to study high-end equipment robot systems for fast and intelligent refueling, charging and other operations. The focus of this research is to propose a principle prototype of a flexible robot with automatic charging function. The prototype requires functions such as lifting movement, visual capture of the charging socket, and a multi-joint flexible robotic arm that inserts the charging plug into the socket. [0003] The high-end equipment manufacturing strategy is speeding up, and new demands are placed on robots for special tasks. The pre-developed light-duty intelligent actuator platform has the characteristics of sm...

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