Two-rotation parallel connection type anthropomorphic wrist with full low pair and compact structure

Through the two-turn parallel anthropomorphic wrist joint with a fully low secondary structure, the combination of arm bracket, active branch, passive branch and palm platform components is used to solve the problems of complex structure, large wear and insufficient compactness of the existing anthropomorphic wrist joint, and achieve compact, high stiffness, low cost and high precision motion control.

CN119858185AActive Publication Date: 2025-04-22YANSHAN UNIV
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Patent Information

Application Number
CN202510186763.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-20
Publication Date
2025-04-22
Estimated Expiration
2045-02-20

AI Technical Summary

Technical Problem

The structure of the existing anthropomorphic wrist joint is relatively complex, the ball hinge connection leads to wear and cost increase, and the three-branch dual-platform structure leads to the overall incompleteness and the motion accuracy is affected.

Method used

The two-turn parallel-type anthropomorphic wrist with a fully low secondary structure is used to achieve the movement functions of wrist flexion, wrist extension, wrist adduction and wrist abduction through the combination of arm bracket assembly, active branch, passive branch and palm platform assembly. The active branch is driven by an electric cylinder and is connected by a universal hinge to achieve precise control.

Benefits of technology

The anthropomorphic wrist joints are achieved with compact structure, high stiffness, low cost, complete decoupling of motion and easy control, reducing wear and improving motion accuracy and convenience of manufacturing and maintenance.

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Abstract

The invention discloses a full-low-pair compact-structure two-rotation parallel-connection type anthropomorphic wrist, and relates to the technical field of parallel-connection type anthropomorphic joints, the full-low-pair compact-structure two-rotation parallel-connection type anthropomorphic wrist comprises an arm support assembly, two active branches, two passive branches and a palm moving platform assembly, the two driving branches are arranged on the two sides of the arm support assembly respectively, the driven branches are arranged at the end of the arm support assembly, the palm moving platform assembly is used for achieving the motion function of simulating the human wrist, and one end of the arm support assembly is connected with the palm moving platform assembly through the driving branches on the two sides; the other end of the arm support assembly is connected with the palm platform assembly through a passive branch. The mechanical arm has the advantages of being simple in structure, convenient to machine and maintain, small in abrasion, high in precision and the like, and the functions of wrist bending, wrist stretching, wrist adduction and wrist abduction movement of the wrist can be achieved.
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