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Six-freedom remote control arm with gravity compensation and length regulation

A technology of gravity compensation and remote operation, applied in the field of robots, can solve the problems of gravity affecting the adaptability of different operators, and achieve the effects of light weight, convenient operation and strong adaptability

Inactive Publication Date: 2007-06-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem that the gravity of the teleoperation arm mechanism affects the operation and the adaptability to different operators, and make the teleoperation arm easy to operate and adapt to operators with different arm lengths, the present invention provides a gravity compensation and length adjustable Tuned 6-DOF Teleoperation Data Arm Mechanism

Method used

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  • Six-freedom remote control arm with gravity compensation and length regulation
  • Six-freedom remote control arm with gravity compensation and length regulation
  • Six-freedom remote control arm with gravity compensation and length regulation

Examples

Experimental program
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Embodiment Construction

[0031] The working process of the whole data arm controller is as follows:

[0032] 1. Before the operation starts, the shoulder 1 of the data arm mechanism will be fixed on the operation platform, and the friction discs 17 of each rotary joint will be rotated to adjust the friction force to an appropriate level.

[0033] 2. Adjust the length of the big arm and small arm of the data arm mechanism according to the operator's arm length.

[0034] 3. Keep the upper arm of the operator's right arm straight, the forearm extended flat, and the palm extended flat to the left. The angle between the upper arm and the lower arm is 90 degrees. Place the operator's shoulders under shoulder 1 of the data arm mechanism. The big arm of the data arm mechanism is on the right side of the operator's big arm; and the operator's wrist joint is above the wrist joint of the data arm mechanism.

[0035] 4. Use adhesive hooks to fix the operator's shoulder, arm, hand, and fingers to the correspond...

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Abstract

The present invention relates to data arm mechanism for remote operation job of robot. The data arm mechanism is one mechanical arm with six rotating joints, and each of rotating joints is provided with one potentiometer as angle sensor. The data arm has gravitational compensation mechanism and may be worn by operator for leading motion or may be drawn to required state without being worn, and it may stop in any position without need of auxiliary outside force. The data arm has length regulating mechanism for person of different arm length to wear. The present invention can detect the rotation angles of total six freedoms of the shoulder joint, elbow joint and wrist joint of the operator, and is suitable for control platform of remote operated robot and for being worn onto arm of the operator.

Description

Technical field: [0001] The invention belongs to the field of robots and is mainly used for teleoperation control of the arms of the robot. It is suitable for teleoperating robot control platforms, and can be worn on human arms for motion extraction to obtain the operator's motion information. Background technique: [0002] Teleoperation is an important technology for robot applications. Through the teleoperation platform, operators can monitor and control remote robots to complete various tasks, so that robots can replace humans in some unreachable, even some endangering human health or life safety. environment to complete various tasks. [0003] In various operations of human beings, the arms and hands are generally relied on to complete complex operation tasks. At present, a common method for teleoperation of the arm is to design an arm mechanism that is isomorphic to the robot arm, and the arm mechanism is placed beside or set on the operator's arm. The operator wears...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/02B25J13/06B25J19/02
Inventor 黄强张雷刘秋生王兴毅
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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