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Reversible impact-resistant mechanical arm and driving method thereof

A mechanical arm and impact-resistant technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., to achieve the effect of reducing injuries

Active Publication Date: 2021-04-30
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In particular, when robots work alongside humans, these inherent accident possibilities become a serious problem

Method used

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  • Reversible impact-resistant mechanical arm and driving method thereof
  • Reversible impact-resistant mechanical arm and driving method thereof
  • Reversible impact-resistant mechanical arm and driving method thereof

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0027] The present invention will be further described below in conjunction with accompanying drawing.

[0028] Such as Figure 1-5 As shown, a reversible impact-resistant mechanical arm includes a humerus imitation module 1 , an ulna imitation module 2 , a radius imitation module 3 , an actuator mounting block 7 , a manipulator module 4 and a manipulator driving module 5 . The manipulator module 4 is installed on the actuator mounting block 7 and has a grabbing function; one end of the imitation ulna module 2 and the imitation radius module 3 are connected with the imitation humerus module 1, and the other ends are connected with the actuator mounting block 7, respectively. To drive the actuator mounting block 7 to swing and turn over.

[0029] The imitation humerus module 1 includes a humerus rod 1-1, a humerus joint ball 1-2, a radial ball joint seat 1-3 and a pivot pin 1-4; the humerus joint ball 1-2 is fixed on the humerus rod 1-1 The lower end; the humerus joint ball 1...

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PUM

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Abstract

The invention discloses a reversible impact-resistant mechanical arm and a driving method thereof. The reversible impact-resistant mechanical arm comprises a humerus-imitating module, an ulna-imitating module, a radius-imitating module, an actuator mounting block and a mechanical arm driving module, wherein one end of each of the ulna-imitating module and the radius-imitating module is connected with the humerus-imitating module, and the other end of each of the ulna-imitating module and the radius-imitating module is connected with the actuator mounting block and used for driving the actuator mounting block to swing and turn over, the humerus-imitating module comprises a humerus rod, the ulna-imitating module comprises an ulna rod, the radius-imitating module comprises a radius rod, the inner ends of the ulna rod and the radius rod and different positions of one end of the humerus rod respectively form spherical pairs, the outer end of the radius rod is hinged with the actuator mounting block, and the outer end of the ulna rod and the actuator mounting block form a spherical pair. By adopting the humerus-imitating module, the ulna-imitating module and the radius-imitating module, the reversible impact-resistant mechanical arm not only can realize buckling and stretching movement, but also can realize inward rotation and outward rotation movement.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a reversible impact-resistant mechanical arm and a driving method thereof. Background technique [0002] In order to naturally cooperate with and assist people, humanoid robots are developed to be about the size of an average human being, which is expected to produce human-like movements. Robotic joints usually consist of revolute joints that provide simple rotational motion with 1 degree of freedom. Multiple revolving joints combine to achieve complex movements. To actuate the robotic manipulator, a rotary actuator such as an electric motor or a harmonic drive is directly connected to each rotary joint. Additionally, hydraulic cylinders can be connected to linkages to provide linear actuated motion like a muscle, or tendon-driven actuators can be used to mimic human tendon motion. However, all these joint actuation mechanisms arise from the articulation struct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J15/00
CPCB25J15/0009B25J9/10B25J9/1075
Inventor 许明张帝
Owner HANGZHOU DIANZI UNIV
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