Humanoid redundant cooperative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution

Abstract

This invention proposes a humanoid redundant collaborative arm based on a closed-loop rope-driven parallel wrist and possessing analytical inverse kinematics, belonging to the field of robotics technology, and particularly relating to humanoid robotic arms. Specifically, it includes a shoulder joint, upper arm, elbow joint, forearm, wrist, gripper, four pairs of drive ropes, and a Bowden cable. The gripper and elbow joint are single-degree-of-freedom structures, while the wrist and shoulder joints are three-degree-of-freedom structures. The shoulder joint is driven by three robot joint modules, and the upper arm houses five motors. One end of each of the four pairs of drive ropes is connected to the output shaft of one of the four motors, and the other end is connected to the wrist and elbow joints, forming a closed-loop rope drive. One end of the Bowden cable is connected to the output shaft of one motor, and the other end is connected to the gripper. This invention offers multiple degrees of freedom, high flexibility, and low manufacturing cost. The inverse kinematics of this collaborative arm has an analytical solution, and the rope drive achieves complete passive decoupling, resulting in a simple mathematical model that is easy to control. Due to the special design of the wrist, the end effector cable can pass through the center of the wrist, improving the aesthetics and safety of the robotic arm.

Description

Technical Field

[0001] This invention proposes a humanoid redundant collaborative arm based on a closed-loop rope-driven parallel wrist and having an analytical inverse solution, which belongs to the field of robotics technology, and in particular relates to humanoid robotic arms. Background Technology

[0002] In recent years, with the rapid development of robotics technology, more and more industrial sectors have begun to adopt robots for automated production. Humanoid robotic arms are robotic arms that mimic the structure and movement of human arms. Compared to traditional robotic arms, humanoid robotic arms are lighter, more flexible, and offer better human-robot collaboration. They can help humans complete dangerous, repetitive, and high-precision tasks, improving work efficiency and quality, while also reducing injuries and enhancing workplace safety.

[0003] In the past decade or so, humanoid robotic arms have made significant progress in structural design, motion control, and application areas. However, some challenges remain in practical applications, including high cost, control accuracy, safety, and multi-task collaboration. Chinese patent (CN 210551219 U) proposes a lightweight bionic robotic arm for human-machine collaboration. This arm uses a cable-driven mechanism, with a three-degree-of-freedom hybrid wrist structure consisting of a two-degree-of-freedom parallel mechanism connected to a single-degree-of-freedom Hooke's hinge mechanism. The elbow joint is a single-degree-of-freedom rotational joint, and the shoulder joint is a three-degree-of-freedom parallel ball joint mechanism. This improves the arm's flexibility, reduces collision inertia, and enhances the safety of human-machine interaction. However, the inverse kinematics of this arm lacks an analytical solution, its mathematical model is complex, and it is difficult to control. Its shoulder structure is relatively large, limiting its scalability in relevant application areas. The parallel design of the shoulder also results in a small workspace. Furthermore, the cable for the end effector is inconvenient to route through the wrist. Chinese patent (CN 115107013)... A) A rope-driven humanoid robotic arm and industrial robot are proposed. It uses rope drive as the main power transmission method. By placing the main mass components at the rear, the moment of inertia of the robotic arm is greatly reduced, and the safety of operation is improved. The winding method of the drive rope achieves decoupling between the rope in the wrist part and the rope in the elbow joint part. However, the design of the robotic arm mechanism is relatively complex, the overall design size is large, the decoupling is not complete, the inverse kinematics of the robotic arm has no analytical solution, the mathematical model is complex, and it is not easy to control. The cable of the end effector is inconvenient to pass through its wrist for routing.

[0004] The existing rope-driven humanoid robotic arms have the following main problems: (1) There is no analytical solution for the inverse kinematics, which makes the mathematical model of control very complicated and the real-time control difficult to guarantee; (2) There is no space in the wrist of the rope-driven arm for the cable to pass through the end effector, or even if there is space, the length of the cable cannot be kept constant, resulting in the cable being exposed outside the wrist or tangled with the wrist rod, which poses a great safety hazard; (3) It cannot take into account the advantages of good flexibility, good decoupling, large working space, compact structure, and high safety of human-machine collaboration.

[0005] This invention proposes a humanoid redundant collaborative arm based on a closed-loop rope-driven parallel wrist and possessing analytical inverse kinematics. It features multiple degrees of freedom, high flexibility, compact structure, low manufacturing cost, ease of control, and high safety in human-machine collaboration. The wrist is designed as a three-degree-of-freedom parallel mechanism, significantly improving the overall rigidity and accuracy of the humanoid robotic arm. The wrist's rotating platform around a fixed point decouples the wrist from the end effector's drive rope. Simultaneously, the elbow joint's structural design and drive rope arrangement also decouple the elbow joint from the wrist and end effector's drive rope. The shoulder employs a series design, greatly increasing its workspace. The main mass components are placed near the shoulder, reducing collision inertia, improving human-machine interaction safety, and enhancing load capacity. The inverse kinematics of this robotic arm has an analytical solution, resulting in a simple kinematic model that is easy to control, improving the control accuracy and work efficiency. The wrist can be connected via a fixed-length cable from the end effector, greatly enhancing the overall aesthetics and safety of the robotic arm. Summary of the Invention

[0006] To address the shortcomings of existing technical solutions, the present invention provides a humanoid redundant collaborative arm based on a closed-loop rope-driven parallel wrist and possessing analytical inverse solution.

[0007] The technical solution of the present invention provides a humanoid redundant collaborative arm based on closed-loop rope drive and parallel wrist with analytical inverse solution, including a shoulder joint, upper arm, elbow joint, forearm, wrist, gripper, four pairs of drive ropes and a Bowden line. The shoulder joint includes robot joint module one, module connector one, robot joint module two, module connector two, robot joint module three, module connector three, and module connector four. Module connector one is fixedly connected to robot joint module one. Module connector two is connected to robot joint module one via revolute joint one. Robot joint module two is connected to module connector two via revolute joint two. Module connector three is fixedly connected to robot joint module two. Robot joint module three is connected to module connector three via revolute joint three. Module connector four is fixedly connected to robot joint module three. The axes of revolute joint one and revolute joint two are perpendicular, the axes of revolute joint two and revolute joint three are perpendicular, and the axes of revolute joint one, revolute joint two, and revolute joint three intersect. The boom includes connecting plate one, connecting plate two, connecting plate three, motor one to motor five, synchronous pulley sets one to four, winding pulleys one to five, guide wheel set one, and guide wheel set two. Connecting plate one and connecting plate two are fixedly connected to the module connector four of the shoulder joint on one side and to connecting plate three on the other side. Motors three and four are mounted on connecting plate one, motors one, two, and five are mounted on connecting plate two, synchronous pulley sets one and two are mounted on connecting plate one, and synchronous pulley sets three and four are mounted on connecting plate two. The first winding wheel is connected to the output shaft of motor five via synchronous belt pulley group one; the second winding wheel is connected to the output shaft of motor three via synchronous belt pulley group four; the third winding wheel is connected to the output shaft of motor four via synchronous belt pulley group three; the fourth winding wheel is connected to the output shaft of motor two via synchronous belt pulley group two; and the fifth winding wheel is directly connected to the output shaft of motor one. The first to fourth winding wheels are connected to the connecting plate one via rotating joints four to seven, respectively. The guide wheel groups one and two guide wheel groups are connected to the connecting plate one via rotating joints eight and nine, respectively. The axes of rotating joints four to nine are parallel to each other. The elbow joint includes connecting plate four, connecting plate five, connecting rod one, connecting rod two, and guide wheel groups three to eight. Connecting plate four is fixedly connected to connecting plate three of the upper arm. Connecting rod one and connecting rod two are connected to connecting plate four via revolute joint eleven. Connecting rod one and connecting rod two are connected to connecting plate five via revolute joint fourteen. Guide wheel groups three, four, and five are connected to connecting plate four via revolute joints ten, eleven, and twelve, respectively. Guide wheel groups six, seven, and eight are connected to connecting plate five via revolute joints thirteen, fourteen, and fifteen, respectively. The axes of revolute joints ten to fifteen are parallel to each other. The forearm includes connecting plate six, connecting plate seven, connecting plate eight, guide wheel assembly nine, guide wheel assembly ten, and guide wheel assembly eleven; connecting plate seven and connecting plate eight are both fixedly connected to connecting plate six, and guide wheel assembly nine, guide wheel assembly ten, and guide wheel assembly eleven are respectively connected to connecting plate seven through revolute joint sixteen, revolute joint seventeen, and revolute joint eighteen; the axes of revolute joint sixteen, revolute joint seventeen, and revolute joint eighteen are parallel to each other; The wrist includes connecting plate nine, connecting plate ten, connecting rods three to eight, guide wheel assembly twelve, guide wheel assembly thirteen, and guide wheel assembly fourteen. Connecting plate nine is fixedly connected to connecting plates seven and eight of the forearm. Connecting rods three, four, and five are connected to connecting plate nine via revolute joint nineteen, revolute joint twenty, and revolute joint twenty-one, respectively. Connecting rod three is connected to connecting rod six via revolute joint twenty-two. Connecting rod four is connected to connecting rod seven via revolute joint twenty-three. Connecting rod five is connected to connecting rod eight via revolute joint twenty-four. Connecting rod six, seven, and eight are connected to connecting plate ten via revolute joint twenty-five, revolute joint twenty-six, and revolute joint twenty-seven, respectively. Guide wheel assembly twelve, guide wheel assembly thirteen, and guide wheel assembly fourteen are mounted on connecting plate nine. The axes of revolute joint nineteen to revolute joint twenty-seven intersect at a point, which is the geometric center of connecting plate ten. The gripper is a clamp-type gripper, including a connecting plate eleven, a return spring, a slider, finger one, and finger two; the connecting plate eleven is fixedly connected to the connecting plate ten of the wrist, the return spring is installed between the slider and the connecting plate eleven, the slider is connected to the connecting plate eleven through a sliding joint, and the slider is connected to finger one and finger two; when the gripper is fully open, the return spring is in a natural state, and when the gripper is closed, the return spring is in a compressed state; The Bowden line includes a tube and a core; one end of the tube is fixedly connected to the connecting plate eleven of the gripper, and the other end passes through the fixing holes on the wrist, forearm, and elbow joints and is fixedly connected to the connecting plate one of the upper arm; one end of the core is fixedly connected to the slider of the gripper, and the other end is fixedly connected to the winding wheel five of the upper arm and then wound on the winding wheel five. The four pairs of drive ropes, each pair being a closed-loop drive of the same joint, are divided into the first, second, third, and fourth drive ropes; one end of the first drive rope is fixedly connected to the wrist connecting rod three, the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine on the opposite side, passes through the guide hole of the connecting plate nine, wraps around the guide wheel group twelve, passes through the wrist, and is wrapped in a figure-eight shape through the guide wheel group ten, guide wheel group nine, guide wheel group seven, guide wheel group four, and guide wheel group two, and the other end is fixedly connected to the winding wheel two of the upper arm and then wrapped around the winding wheel two; One end of the second drive rope is fixedly connected to the wrist connecting rod four, and the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine on the opposite side. It passes through the guide hole of the connecting plate nine, wraps around the guide wheel group thirteen, passes through the wrist, passes through the guide wheel group eleven, and wraps around the guide wheel group nine, guide wheel group seven, guide wheel group four, guide wheel group two, and guide wheel group one in a figure "8". The other end is fixedly connected to the winding wheel four of the upper arm and then wrapped around the winding wheel four. One end of the third drive rope is fixedly connected to the wrist connecting rod five, and the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine on the opposite side. It passes through the guide hole of the connecting plate nine, wraps around the guide wheel group fourteen, passes through the wrist, passes through the guide wheel group eleven, and wraps around the guide wheel group nine, guide wheel group seven, guide wheel group four, guide wheel group two, and guide wheel group one in a figure "8". The other end is fixedly connected to the winding wheel three of the upper arm and then wrapped around the winding wheel three. One end of the fourth drive rope is fixedly connected to the connecting plate three of the upper arm. The middle part is wrapped three times in parallel on the guide wheel group three, guide wheel group eight, guide wheel group five, and guide wheel group six, passes through the elbow joint, and is wrapped in a figure-eight shape through the guide wheel group two. The other end is fixedly connected to the winding wheel one of the upper arm and then wrapped around the winding wheel one.

[0008] The beneficial effects of the technical solution provided by this invention are as follows: the kinematics of the collaborative arm has an analytical inverse solution, and the rope drive achieves decoupling, making the mathematical model simple to solve and easy to control in real time; the rotation range of each joint is large, and the workspace is large, which is conducive to completing more complex operation tasks; the wrist center can be connected to the fixed-length cable of the end effector, which greatly improves the aesthetics and safety of the collaborative arm; the elbow joint and wrist are driven by rope, and the mass components such as the motor are close to the base, resulting in a compact structure, low motion inertia, good flexibility, large workspace, and high safety of human-machine collaboration. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the overall structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrists and having analytical inverse solution. Figure 2 This is a schematic diagram of the shoulder joint structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution. Figure 3 This is a first-view schematic diagram of the upper arm structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution according to the present invention. Figure 4 This is a second-view schematic diagram of the upper arm structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution of the present invention. Figure 5 This is a third-view schematic diagram of the upper arm structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution of the present invention. Figure 6 This is a schematic diagram of the elbow joint structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution. Figure 7 This is a schematic diagram of the forearm structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution according to the present invention. Figure 8This is a first-view schematic diagram of the wrist structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution according to the present invention. Figure 9 This is a second-view schematic diagram of the wrist structure of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution according to the present invention. Figure 10 This is a schematic diagram of the gripper structure of the humanoid redundant collaborative arm based on closed-loop rope driving parallel wrists and having analytical inverse solution. Figure 11 This is a schematic diagram of the Bowden line arrangement of the humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrists and having analytical inverse solution according to the present invention. Figure 12 This is a schematic diagram of the first drive rope arrangement of the humanoid redundant collaborative arm based on closed-loop rope driving parallel wrists and having analytical inverse solution.

[0010] Figure 13 This is a schematic diagram of the second drive rope arrangement of the humanoid redundant collaborative arm based on closed-loop rope driving parallel wrists and having analytical inverse solution.

[0011] Figure 14 This is a schematic diagram of the third drive rope arrangement of the humanoid redundant collaborative arm based on closed-loop rope driving parallel wrists and having analytical inverse solution.

[0012] Figure 15 This is a schematic diagram of the fourth drive rope arrangement of the humanoid redundant collaborative arm based on closed-loop rope driving parallel wrist and having analytical inverse solution.

[0013] The components are as follows: 1-Shoulder joint, 2-Upper arm, 3-Elbow joint, 4-Forearm, 5-Wrist, 6-Grass, a-Robot joint module one, b-Robot joint module two, c-Robot joint module three, d-Motor one, e-Motor two, f-Motor three, g-Motor four, h-Motor five, J1-Module connector one, J2-Module connector two, J3-Module connector three, J4-Module connector four, X1-Wound reel one, X2-Wound reel two, X3-Wound reel three, X4-Wound reel four, X5-Wound reel five, D1-Pulley one, D2-Pulley two, D3-Pulley three, D4-Pulley four, D5-Pulley five, D6-Pulley six, D7-Pulley seven, D8-Pulley eight. Z1 - Tensioner 1, Z2 - Tensioner 2, Z3 - Tensioner 3, Z4 - Tensioner 4, B1 - Synchronous Belt 1, B2 - Synchronous Belt 2, B3 - Synchronous Belt 3, B4 - Synchronous Belt 4, F1 - Connecting Plate 1, F2 - Connecting Plate 2, F3 - Connecting Plate 3, F4 - Connecting Plate 4, F5 - Connecting Plate 5, F6 - Connecting Plate 6, F7 - Connecting Plate 7, F8 - Connecting Plate 8, F9 - Connecting Plate 9, F10 - Connecting Plate 10, F11 - Connecting Plate 11, C1 - Guide Pulley Group 1, C2 - Guide Pulley Group 2, C3 - Guide Pulley Group 3, C4 - Guide Pulley Group 4, C5 - Guide Pulley Group 5, C6 - Guide Pulley Group 6, C7 - Guide Pulley Group 7, C8 - Guide Pulley Group 8, C9 - Guide Pulley Group 9, C10-Guide Wheel Group 10, C11-Guide Wheel Group 11, C12-Guide Wheel Group 12, C13-Guide Wheel Group 3, C14-Guide Wheel Group 14, R1-Revolute Pair 1, R2-Revolute Pair 2, R3-Revolute Pair 3, R4-Revolute Pair 4, R5-Revolute Pair 5, R6-Revolute Pair 6, R7-Revolute Pair 7, R8-Revolute Pair 8, R9-Revolute Pair 9, R10-Revolute Pair 10, R11-Revolute Pair 11, R12-Revolute Pair 12, R13-Revolute Pair 13, R14-Revolute Pair 14, R15-Revolute Pair 15, R16-Revolute Pair 16, R17-Revolute Pair 17, R18-Revolute Pair 18, R19-Revolute Pair 19, R20-Revolute Pair Part 20, R21-Revolute Part 21, R22-Revolute Part 22, R23-Revolute Part 23, R24-Revolute Part 24, R25-Revolute Part 25, R26-Revolute Part 26, R27-Revolute Part 27, L1-Connecting Rod 1, L2-Connecting Rod 2, L3-Connecting Rod 3, L4-Connecting Rod 4, L5-Connecting Rod 5, L6-Connecting Rod 6, L7-Connecting Rod 7, L8-Connecting Rod 8, K1-Guide Hole 1, K2-Guide Hole 2, K3-Guide Hole 3, G1-Finger 1, G2-Finger 2, H-Slider, K-Reset Spring, M-Wire Core, N-Wire Tube, S1-First Drive Rope, S2-Second Drive Rope, S3-Third Drive Rope, S4-Fourth Drive Rope. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0015] In this document, the directional terms such as front, back, top, bottom, inside, and outside are defined according to the positions of the components in the accompanying drawings and the positions between the components, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0016] In this document, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixed connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0017] Please refer to Figures 1 to 14 The embodiments of the present invention provide a humanoid redundant collaborative arm based on closed-loop rope-driven parallel wrist and having analytical inverse solution, including a shoulder joint 1, upper arm 2, elbow joint 3, forearm 4, wrist 5, gripper 6, four pairs of drive ropes and a Bowden line. The shoulder joint includes robot joint module a, module connector J1, robot joint module b, module connector J2, robot joint module c, module connector J3, and module connector J4. Module connector J1 is fixedly connected to robot joint module a. Module connector J2 is connected to robot joint module a via revolute joint R1. Robot joint module b is connected to module connector J2 via revolute joint R2. Module connector J3 is fixedly connected to robot joint module b. Robot joint module c is connected to module connector J3 via revolute joint R3. Module connector J4 is fixedly connected to robot joint module c. The axes of revolute joint R1 and revolute joint R2 are perpendicular, the axes of revolute joint R2 and revolute joint R3 are perpendicular, and the axes of revolute joint R1, revolute joint R2, and revolute joint R3 intersect. The upper arm includes connecting plate F1, connecting plate F2, connecting plate F3, motors 1d to 5h, synchronous pulley sets 1 to 4, winding pulleys X1 to X5, guide wheel set 1 C1, and guide wheel set 2 C2. Connecting plate F1 and connecting plate F2 are fixedly connected to the module connector J4 of shoulder joint 1 on one side and to connecting plate F3 on the other side. Motors F3 and G4 are mounted on connecting plate F1. On top, motor 1 (d), motor 2 (e), and motor 5 (h) are mounted on connecting plate 2 (F2). Synchronous pulley group 1 consists of pulley 1 (D1), pulley 2 (D2), tensioner 1 (Z1), and synchronous belt 1 (B1). Synchronous pulley group 2 consists of pulley 3 (D3), pulley 4 (D4), tensioner 2 (Z2), and synchronous belt 2 (B2). Synchronous pulley group 3 consists of pulley 5 (D5), pulley 6 (D6), tensioner 3 (Z3), and synchronous belt 3 (B3). Synchronous pulley group 4 consists of pulley 7 (D7), belt 6 (D6), tensioner 3 (Z3), and synchronous belt 3 (B3). The system consists of pulley D8, tension pulley Z4, and synchronous belt B4. Synchronous belt pulley group one and group two are mounted on connecting plate F1, while synchronous belt pulley group three and group four are mounted on connecting plate F2. Winding pulley X1 is connected to the output shaft of motor H via synchronous belt pulley group one; winding pulley X2 is connected to the output shaft of motor F via synchronous belt pulley group four; winding pulley X3 is connected to the output shaft of motor G via synchronous belt pulley group three; winding pulley X4 is connected to the output shaft of motor E via synchronous belt pulley group two; and winding pulley X5 is directly connected to the output shaft of motor D. Winding pulleys X1 to X4 are connected to connecting plate F1 via rotating joints R4 to R7, respectively. Guide pulley group C1 and group C2 are connected to connecting plate F1 via rotating joints R8 and R9, respectively. The axes of rotating joints R4 to R9 are parallel to each other. The elbow joint 3 includes a connecting plate 4F4, a connecting plate 5F5, a connecting rod 1L1, a connecting rod 2L2, and guide wheel sets 3C3 to 8C8. The connecting plate 4F4 is fixedly connected to the connecting plate 3F3 of the upper arm 2. The connecting rods 1L1 and 2L2 are connected to the connecting plate 4F4 via a revolute joint 11R11. The connecting rods 1L1 and 2L2 are connected to the connecting plate 5F5 via a revolute joint 14R14. The guide wheel sets 3C3, 4C4, and 5C5 are connected to the connecting plate 4F4 via revolute joints 10R10, 11R11, and 12R12, respectively. The guide wheel sets 6C6, 7C7, and 8C8 are connected to the connecting plate 5F5 via revolute joints 13R13, 14R14, and 15R15, respectively. The axes of revolute joints 10R10 to 15R15 are parallel to each other. The forearm 4 includes connecting plate 6F6, connecting plate 7F7, connecting plate 8F8, guide wheel assembly 9C9, guide wheel assembly 10C10, and guide wheel assembly 11C11. Connecting plate 7F7 and connecting plate 8F8 are fixedly connected to connecting plate 6F6. Guide wheel assembly 9C9, guide wheel assembly 10C10, and guide wheel assembly 11C11 are respectively connected to connecting plate 7F7 through revolute joint 16R16, revolute joint 17R17, and revolute joint 18R18. The axes of revolute joint 16R16, revolute joint 17R17, and revolute joint 18R18 are parallel to each other. The wrist 5 includes connecting plate nine F9, connecting plate ten F10, connecting rods three L3 to eight L8, guide wheel assembly twelve C12, guide wheel assembly thirteen C13, and guide wheel assembly fourteen C14. Connecting plate nine F9 is fixedly connected to connecting plate seven F7 and connecting plate eight F8 of the forearm 4. Connecting rods three L3, four L4, and five L5 are connected to connecting plate nine F9 via revolute joint nineteen R19, revolute joint twentieth R20, and revolute joint twenty-one R21, respectively. Connecting rod three L3 is connected to connecting rod six L6 via revolute joint twenty-two R22. Connecting rod four L4 is connected via revolute joint twenty-two R22. Revolute 23 R23 is connected to connecting rod 7 L7. Connecting rod 5 L5 is connected to connecting rod 8 L8 via revolute 24 R24. Connecting rod 6 L6, connecting rod 7 L7, and connecting rod 8 L8 are connected to connecting plate 10 F10 via revolute 25 R25, revolute 26 R26, and revolute 27 R27, respectively. Guide wheel set 12 C12, guide wheel set 13 C13, and guide wheel set 14 C14 are mounted on connecting plate 9 F9. The axes of revolute 19 R19 to revolute 27 R27 intersect at one point, and this point is the geometric center of connecting plate 10 F10. The gripper 6 is a clamp-type gripper, including a connecting plate 11F11, a return spring K, a slider H, finger 1 G1, and finger 2 G2; the connecting plate 11F11 is fixedly connected to the connecting plate 10F10 of the wrist 5, the return spring K is installed between the slider H and the connecting plate 11F11, the slider H is connected to the connecting plate 11F11 through a sliding joint, and the slider H is connected to finger 1 G1 and finger 2 G2; when the gripper 6 is fully open, the return spring K is in a free state, and when the gripper 6 is closed, the return spring K is in a compressed state; The Bowden cable includes a tube N and a core M; one end of the tube N is fixedly connected to the connecting plate F11 of the gripper 6, and the other end passes through the fixing holes on the wrist 5, forearm 4, and elbow joint 3 and is fixedly connected to the connecting plate F1 of the upper arm 2; one end of the core M is fixedly connected to the slider H of the gripper 6, and the other end is fixedly connected to the winding wheel X5 of the upper arm 2 and then wound on the winding wheel X5; The four pairs of drive ropes, each pair being a closed-loop drive of the same joint, are divided into the first S1, the second S2, the third S3, and the fourth S4 drive ropes; one end of the first drive rope S1 is fixedly connected to the connecting rod three L3 of the wrist 5, the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine F9 on the opposite side, passes through the guide hole one K1 of the connecting plate nine F9, wraps around the guide wheel group twelve C12, passes through the wrist 5, and is wrapped in a figure-eight shape through the guide wheel group ten C10, the guide wheel group nine C9, the guide wheel group seven C7, the guide wheel group four C4, and the guide wheel group two C2, and the other end is fixedly connected to the winding wheel two X2 of the upper arm 2 and then wrapped around the winding wheel two X2; One end of the second drive rope S2 is fixedly connected to the connecting rod L4 of the wrist 5. The middle part is wrapped around the outer cylindrical winding groove of the connecting plate F9 on the opposite side, passes through the guide hole K2 of the connecting plate F9, wraps around the guide wheel group C13, passes through the wrist 5, passes through the guide wheel group C11, and wraps around the guide wheel group C9, guide wheel group C7, guide wheel group C4, guide wheel group C2, and guide wheel group C1 in a figure-eight pattern. The other end is fixedly connected to the winding wheel X4 of the upper arm 2 and then wrapped around the winding wheel X4. One end of the third drive rope S3 is fixedly connected to the connecting rod L5 of the wrist 5. The middle part is wrapped around the outer cylindrical winding groove of the connecting plate F9 on the opposite side, passes through the guide hole K3 of the connecting plate F9, wraps around the guide wheel group C14, passes through the wrist 5, passes through the guide wheel group C11, and wraps around the guide wheel group C9, guide wheel group C7, guide wheel group C4, guide wheel group C2, and guide wheel group C1 in a figure-eight pattern. The other end is fixedly connected to the winding wheel X3 of the upper arm 2 and then wrapped around the winding wheel X3. One end of the fourth drive rope S4 is fixedly connected to the connecting plate three F3 of the boom 2. The middle part is wrapped three times in parallel on the guide wheel group three C3, guide wheel group eight C8, guide wheel group five C5, and guide wheel group six C6, passes through the elbow joint 3, and is wrapped in a figure-eight shape through the guide wheel group two C2. The other end is fixedly connected to the winding wheel one X1 of the boom 2 and then wrapped around the winding wheel one X1.

[0018] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0019] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A humanoid redundant collaborative arm based on closed-loop cable-driven parallel wrist with analytical inverse solution, characterized in that: Includes the shoulder joint, upper arm, elbow joint, forearm, wrist, gripper, four pairs of drive ropes, and a Bowden line; The shoulder joint includes robot joint module one, module connector one, robot joint module two, module connector two, robot joint module three, module connector three, and module connector four. Module connector one is fixedly connected to robot joint module one. Module connector two is connected to robot joint module one via revolute joint one. Robot joint module two is connected to module connector two via revolute joint two. Module connector three is fixedly connected to robot joint module two. Robot joint module three is connected to module connector three via revolute joint three. Module connector four is fixedly connected to robot joint module three. The axes of revolute joint one and revolute joint two are perpendicular, the axes of revolute joint two and revolute joint three are perpendicular, and the axes of revolute joint one, revolute joint two, and revolute joint three intersect. The boom includes connecting plate one, connecting plate two, connecting plate three, motor one to motor five, synchronous pulley sets one to four, winding pulleys one to five, guide wheel set one, and guide wheel set two. Connecting plate one and connecting plate two are fixedly connected to the module connector four of the shoulder joint on one side and to connecting plate three on the other side. Motors three and four are mounted on connecting plate one, motors one, two, and five are mounted on connecting plate two, synchronous pulley sets one and two are mounted on connecting plate one, and synchronous pulley sets three and four are mounted on connecting plate two. The first winding wheel is connected to the output shaft of motor five via synchronous belt pulley group one; the second winding wheel is connected to the output shaft of motor three via synchronous belt pulley group four; the third winding wheel is connected to the output shaft of motor four via synchronous belt pulley group three; the fourth winding wheel is connected to the output shaft of motor two via synchronous belt pulley group two; and the fifth winding wheel is directly connected to the output shaft of motor one. The first to fourth winding wheels are connected to the connecting plate one via rotating joints four to seven, respectively. The guide wheel groups one and two guide wheel groups are connected to the connecting plate one via rotating joints eight and nine, respectively. The axes of rotating joints four to nine are parallel to each other. The elbow joint includes connecting plate four, connecting plate five, connecting rod one, connecting rod two, and guide wheel groups three to eight. Connecting plate four is fixedly connected to connecting plate three of the upper arm. Connecting rod one and connecting rod two are connected to connecting plate four via revolute joint eleven. Connecting rod one and connecting rod two are connected to connecting plate five via revolute joint fourteen. Guide wheel groups three, four, and five are connected to connecting plate four via revolute joints ten, eleven, and twelve, respectively. Guide wheel groups six, seven, and eight are connected to connecting plate five via revolute joints thirteen, fourteen, and fifteen, respectively. The axes of revolute joints ten to fifteen are parallel to each other. The forearm includes connecting plate six, connecting plate seven, connecting plate eight, guide wheel assembly nine, guide wheel assembly ten, and guide wheel assembly eleven; connecting plate seven and connecting plate eight are both fixedly connected to connecting plate six, and guide wheel assembly nine, guide wheel assembly ten, and guide wheel assembly eleven are respectively connected to connecting plate seven through revolute joint sixteen, revolute joint seventeen, and revolute joint eighteen; the axes of revolute joint sixteen, revolute joint seventeen, and revolute joint eighteen are parallel to each other; The wrist includes connecting plate nine, connecting plate ten, connecting rods three to eight, guide wheel assembly twelve, guide wheel assembly thirteen, and guide wheel assembly fourteen. Connecting plate nine is fixedly connected to connecting plates seven and eight of the forearm. Connecting rods three, four, and five are connected to connecting plate nine via revolute joint nineteen, revolute joint twenty, and revolute joint twenty-one, respectively. Connecting rod three is connected to connecting rod six via revolute joint twenty-two. Connecting rod four is connected to connecting rod seven via revolute joint twenty-three. Connecting rod five is connected to connecting rod eight via revolute joint twenty-four. Connecting rod six, seven, and eight are connected to connecting plate ten via revolute joint twenty-five, revolute joint twenty-six, and revolute joint twenty-seven, respectively. Guide wheel assembly twelve, guide wheel assembly thirteen, and guide wheel assembly fourteen are mounted on connecting plate nine. The axes of revolute joint nineteen to revolute joint twenty-seven intersect at a point, which is the geometric center of connecting plate ten. The gripper is a clamp-type gripper, including a connecting plate eleven, a return spring, a slider, finger one, and finger two; the connecting plate eleven is fixedly connected to the connecting plate ten of the wrist, the return spring is installed between the slider and the connecting plate eleven, the slider is connected to the connecting plate eleven through a sliding joint, and the slider is connected to finger one and finger two; when the gripper is fully open, the return spring is in a natural state, and when the gripper is closed, the return spring is in a compressed state; The Bowden line includes a tube and a core; one end of the tube is fixedly connected to the connecting plate eleven of the gripper, and the other end passes through the fixing holes on the wrist, forearm, and elbow joints and is fixedly connected to the connecting plate one of the upper arm; one end of the core is fixedly connected to the slider of the gripper, and the other end is fixedly connected to the winding wheel five of the upper arm and then wound on the winding wheel five. The four pairs of drive ropes, each pair being a closed-loop drive of the same joint, are divided into the first, second, third, and fourth drive ropes; one end of the first drive rope is fixedly connected to the wrist connecting rod three, the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine on the opposite side, passes through the guide hole of the connecting plate nine, wraps around the guide wheel group twelve, passes through the wrist, and wraps in an "8" shape through the guide wheel group ten, guide wheel group nine, guide wheel group seven, guide wheel group four, and guide wheel group two, and the other end is fixedly connected to the winding wheel two of the upper arm and then wrapped around the winding wheel two; One end of the second drive rope is fixedly connected to the wrist linkage four, and the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine on the opposite side. It passes through the guide hole of the connecting plate nine, wraps around the guide wheel group thirteen, passes through the wrist, passes through the guide wheel group eleven, and wraps around the guide wheel group nine, guide wheel group seven, guide wheel group four, guide wheel group two, and guide wheel group one in a figure "8". The other end is fixedly connected to the winding wheel four of the upper arm and then wrapped around the winding wheel four. One end of the third drive rope is fixedly connected to the wrist connecting rod five, and the middle part is wrapped around the outer cylindrical winding groove of the connecting plate nine on the opposite side. It passes through the guide hole of the connecting plate nine, wraps around the guide wheel group fourteen, passes through the wrist, passes through the guide wheel group eleven, and wraps around the guide wheel group nine, guide wheel group seven, guide wheel group four, guide wheel group two, and guide wheel group one in a figure "8" shape. The other end is fixedly connected to the winding wheel three of the upper arm and then wrapped around the winding wheel three. One end of the fourth drive rope is fixedly connected to the connecting plate three of the upper arm. The middle part is wrapped three times in parallel on the guide wheel group three, guide wheel group eight, guide wheel group five, and guide wheel group six, passes through the elbow joint, and is wrapped in a figure-eight shape through the guide wheel group two. The other end is fixedly connected to the winding wheel one of the upper arm and then wrapped around the winding wheel one.

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