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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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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a motion actuator and robot based on the principle of motion amplification, at least to solve the complex structure of the multi-degree-of-freedom motion mechanism existing in the prior art technical issues

Method used

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  • Motion execution mechanism based on motion amplification principle and robot
  • Motion execution mechanism based on motion amplification principle and robot
  • Motion execution mechanism based on motion amplification principle and robot

Examples

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Effect test

Embodiment 1

[0030] The present invention provides a motion actuator based on the principle of motion amplification, which includes a plurality of parallel branch chains 1, and each branch chain 1 includes:

[0031] Bridge-type amplification mechanism for translational movement;

[0032] The lever magnifying mechanism is used to realize the rotary motion, and the lever magnifying mechanism is connected in series with the bridge type magnifying mechanism.

[0033] Multiple branch chains 1 connected in parallel shorten the kinematic chain, reduce assembly errors, and improve precision; and each branch chain 1 includes a bridge-type amplification mechanism and a lever amplification mechanism connected in series, which realizes multi-degree-of-freedom movement while simultaneously The structure is simplified, and the processing difficulty and cost are reduced.

[0034] Specifically, the number of branch chains 1 is three, and the three branch chains 1 are associated with each other at an angl...

Embodiment 2

[0045] Such as figure 2 As shown, the present invention provides a 2R3T motion actuator based on the principle of motion amplification.

[0046]The 2R3T motion actuator includes a branch chain 1, a voice coil motor 2, a voice coil motor fixing bracket 3, piezoelectric ceramics 4 and an operating platform. Among them, the voice coil motor 2 is fixed on the voice coil motor fixing bracket 3 by M2 screws at an angle of 120° between each other; the bottom of the single branch chain 1 is connected with the voice coil motor 2 to form a bridge-type amplification mechanism, and the surface of the control mechanism Internal movement; a piezoelectric ceramic 4 is arranged above to form a lever amplification mechanism to control the out-of-plane movement of the mechanism; three branch chains 1 are connected in parallel at an angle of 120° between each other, and are fixed on the operating platform by M2 screws; a single branch chain 1 The bottom is fixed with the bottom of the voice co...

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Abstract

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.

Description

technical field [0001] The invention relates to the technical field of mechanisms, in particular to a motion actuator and a robot based on the principle of motion amplification. Background technique [0002] In recent years, the research on the mechanism of micro-manipulation robots has become one of the research hotspots in the field of mechanism science. The micro-manipulation robot system has the characteristics of macro-body and micro-object, and is widely used in the fields of cell and gene manipulation, fine surgical technology, microelectronic assembly, microfabrication, and optical fiber docking in the biomedical field. The core of the micro-manipulation robot system is the micro-manipulation mechanism. [0003] The applicant finds that the prior art has at least the following technical problems: [0004] The existing non-flexible multi-degree-of-freedom motion mechanism (rigid mechanism) on the market that realizes high-precision motion has the problems of complex...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 常佳杨尚郑浩赵正陈伟海
Owner HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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