Motion execution mechanism based on motion amplification principle and robot
A motion amplification and actuator technology, applied in the field of mechanics, can solve the problems of complex structure of multi-degree-of-freedom motion mechanisms, and achieve the effects of easy processing, reducing assembly errors, and reducing processing difficulty and cost.
Pending Publication Date: 2022-01-14
HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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The invention provides a motion execution mechanism based on a motion amplification principle and a robot, relates to the technical field of mechanism science, and solves the technical problem that an existing multi-degree-of-freedom motion mechanism is relatively complex in structure. The motion execution mechanism based on the motion amplification principle comprises a plurality of branched chains which are connected in parallel, a kinematic chain is shortened, assembly errors are reduced, and precision is improved; and each branch chain comprises a bridge type amplification mechanism and a lever amplification mechanism which are connected in series, so that the structure is simplified while multi-degree-of-freedom movement is realized, and the machining difficulty and cost are reduced. After the micro-operation robot adopts the executing mechanism, the structure is also simplified, the machining difficulty and cost are reduced, and the control precision is improved.
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Kinematic chainMotor execution +3
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