Decoupling variable-rigidity joint suitable for super-redundant mechanical arm

A technology of robotic arms and joints, applied in the field of robotics, can solve problems such as difficult decoupling and insufficient rigidity

Active Publication Date: 2021-09-14
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to overcome the defects of the prior art, the present invention aims at the problems that the motion decoupling of the existing super-redundant manipulator is difficult and the rigidity is insufficient, and a variable stiffness joint suitable for the decoupling of the super-redundant manipulator is invented. The movement of each joint is controlled by three independent hollow organ type variable stiffness actuators

Method used

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  • Decoupling variable-rigidity joint suitable for super-redundant mechanical arm
  • Decoupling variable-rigidity joint suitable for super-redundant mechanical arm
  • Decoupling variable-rigidity joint suitable for super-redundant mechanical arm

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Embodiment Construction

[0018] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0019] attached figure 1 It is a schematic diagram of the structure of a decoupled variable stiffness joint suitable for super-redundant manipulators in the present invention. The joint is composed of a hollow connecting rod 1, upper and lower fixed plates 2, 2 ， , three hollow organ type variable stiffness drivers 3, a sleeve 4, and a universal joint mechanism 5. Lower fixed plate 2 ， Installed to the lower end of the hollow connecting rod 1 through screws, the lower end of the upper fixed plate 2 is installed on the upper end of the hollow connecting rod 1 through screws; the lower end of the sleeve 4 is installed outside the central control connecting rod 1 and stuck on the lower fixed plate 2 ， On the boss, the upper end of the sleeve 4 is installed and stuck on the lower boss of the upper fixed disk 2; the upper and lower fixed disks 2 and 2 ， ...

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Abstract

The invention discloses a decoupling variable-rigidity joint suitable for a super-redundant mechanical arm, belongs to the field of mechanical arms, and relates to a decoupling variable-rigidity joint suitable for the super-redundant mechanical arm. The joint is composed of a hollow connecting rod, a fixing disc, a hollow organ type variable rigidity driver, a sleeve and a universal joint mechanism. Liquid metal is arranged inside a driver body of the hollow organ type variable rigidity driver, and a quick plug connector is installed at the bottom of the driver body. Movement of each joint is controlled by three independent hollow organ type variable rigidity driver bodies, movement of the joints is not coupled, and decoupling of movement of a mechanical arm is achieved. The flow of the liquid metal in the driver body is controlled, the deformation of the driver body is controlled, and control over pitching and yawing of the joint is achieved. The temperature of the liquid metal inside the hollow organ type variable-rigidity driver body is controlled, so that the liquid metal is changed into a solid state, corresponding control joints are fixed, and the rigidity of the snakelike mechanical arm is improved.

Description

technical field [0001] The invention belongs to the field of robots and relates to a decoupling variable stiffness joint of a super-redundant mechanical arm. Background technique [0002] In the fields of high-end equipment manufacturing such as aerospace, energy power, and ships, some manufacturing processes such as assembly, spraying, grinding and polishing, and welding must be carried out in extremely harsh special-shaped deep cavity operating spaces, which is extremely difficult to operate. [0003] The ultra-redundant manipulator is a kind of robot with a large number of redundant joints, and the dimension of the joint space is much larger than that of the operation space. Due to its large length-to-diameter ratio structure and flexible movement ability, it is an alternative to manual operations to solve the above-mentioned special-shaped deep cavity operations. feasible path to the task. [0004] In recent years, many institutions have conducted research on ultra-redu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J19/00
CPCB25J17/00B25J19/0054
Inventor 王永青李特庹桂本闫庆梓陈一同刘海波贾振元郭东明
Owner DALIAN UNIV OF TECH
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