Rope-driven wrist module based on three-degree-of-freedom series-parallel hybrid mechanism and use method of rope-driven wrist module

Abstract

The invention discloses a rope-driven wrist module based on a three-degree-of-freedom series-parallel hybrid mechanism. The wrist module is composed of a three-degree-of-freedom series-parallel module and a drive-control integrated module. The three-degree-of-freedom series-parallel module comprises a spherical pure rolling parallel mechanism and a tension amplification mechanism, the spherical pure rolling parallel mechanism realizes two-degree-of-freedom spherical motion of a wrist, a lower platform of the parallel mechanism is designed to have a rotational degree of freedom, so that the series-parallel hybrid mechanism is formed, and the tension amplification mechanism ensures that the mechanism is light in weight and does not lose rigidity at the same time; and the drive-control integrated module is used for integrating a motor, a driver and a controller to form an independent electromechanical system. The rope-driven wrist module is designed by combining the advantages of rope driving and modularization and has the advantages of being light in weight, reconfigurable, good in flexibility and the like, the degree-of-freedom configuration of the series-parallel hybrid mechanism is consistent with that of a real wrist, high-fidelity humanoid wrist movement can be achieved, and a new design thought is provided for humanoid service robot wrist design.

Description

technical field [0001] The invention relates to the technical field of humanoid service robot joints, in particular to a rope-driven wrist module based on a three-degree-of-freedom serial-parallel hybrid mechanism and a method for using the same. Background technique [0002] The humanoid arm is an important execution system for humanoid service robots. With the increasingly complex application scenarios of humanoid service, the design of humanoid arm joints needs to meet higher requirements such as flexibility, light weight, and reconfigurability. At present, the traditional rigid mechanism is used to realize the multi-degree-of-freedom humanoid arm joint, which has the disadvantages of large mass, poor flexibility and complex structure, and it is difficult to meet the requirements of the humanoid arm working in an unstructured environment. [0003] The rope drive mechanism refers to the mechanism that transmits motion and power through the rope. It belongs to the rigid-fle...

AI Technical Summary

Problems solved by technology

Although both the rope-driven mechanism and the idea of ​​modularization have been applied to the design of humanoid arms, few have fully integrated the advantages of the two and made up for the shortcomings of the two.

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