TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor

Abstract

The invention discloses a TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to a ball motor. The ball motor consists of a stator assembly, a rotor assembly, a passive ball joint and a base. The passive ball joint assembly consists of an upper turntable, a lower turntable, a spider, a hanger plate A, a hanger plate B, a support plate, a double-shaft tilt sensor, an encoder and a Z-direction shaft, wherein the support plate is connected with the upper turntable through the hanger plates A and B, the spider is respectively connected with the upper turntable and the lower turntable through four ball bearings, the double-shaft tilt sensor is installed on the support plate, and the encoder is installed at the other end of the Z-direction shaft. When the passive ball joint with attitude detection is applied to the ball motor and the ball motor with the passive ball joint is applied to shoulder joints and wrist joints of robot arms, the quantity of joints on the robot arms can be reduced, the elastic deformation of a transmission mechanism and the defect of low movement precision caused by movement dead zones can be avoided under the condition of reduced joint quantity, the structure of the robot arms can be simplified, and the effects of small size, light weight, fast response speed and the like can be achieved.

Description

technical field [0001] The invention relates to a passive ball joint, more particularly, a three-degree-of-freedom passive ball joint with attitude detection, and the passive ball joint is also used as a rotor support for a ball motor. Background technique [0002] Bionics is one of the important foundations for the development of robotics. The human arm has seven degrees of freedom, that is, the shoulder and wrist are three-degree-of-freedom ball joints, and the elbow is a single-degree-of-freedom rotary joint. The human arm not only has a large working space, a good carrying capacity, but also outstanding flexibility. The ball motor can realize the continuous rotation of three degrees of freedom in space, so the development of the ball motor has been widely valued in the field of robotics. [0003] Conventional motors are single-axis motion, so each joint of the robot is also driven by a single axis. For example, the functions of human shoulder and wrist joints are simu...

AI Technical Summary

Problems solved by technology

[0004] First, the inevitable elastic deformation of the transmission mechanism and the motion dead zone are the reasons for the reduction of motion accuracy;

[0005] Second, the large mass and inertia of the combined motor and accessories lead to high energy loss, and poor motion response sensitivity and rapidity limit the application range;

[0006] Third, it is easy to have kinematic singularity during the joint movement

However, the accuracy and stability of these detection methods cannot be guaranteed for various reasons.

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