A Cube-Rod Mechanism Realizing the Rotation of Ball-like Joints with Three Degrees of Freedom in Space by Linear Drive

Abstract

The invention discloses a cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving, and belongs to the technical field of robots. The cube rod mechanism comprises an X-axis first rigid body a1, an X-axis second rigid body a2, an X-axis third rigid body a3, an X-axis fourth rigid body a4, a Y-axis first rigid body c1, a Y-axis second rigid body c2, a Y-axis third rigid body c3, a Y-axis fourth rigid body c4, a Z-axis first rigid body b1, a Z-axis second rigid body b2, a Z-axis third rigid body b3, a Z-axis fourth rigid body b4, a first base d1, a second base d2, an auxiliary rigid body e1, a first telescopic rod La, a second telescopic rod Lb and a third telescopic rod Lc. The cube rod mechanism is simple in structure, strong in decoupling performance, and simple, clear and reliable in motion.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a cubic rod mechanism which is driven by a straight line to realize the rotation of a ball joint with three degrees of freedom in space. . Background technique [0002] Bionic footed robot is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, reflecting a country's intelligence and automation research. At the same time, as an important symbol of a country's high-tech strength, developed countries have invested heavily in research in this field. [0003] The bionic legged robot with hydraulic drive (hydraulic cylinder linear drive) has high load capacity and superior mobility, and will have a huge demand background in special and complex environments such as military, mountain rescue, and forest...

AI Technical Summary

Problems solved by technology

At present, the design of ball joints has a certain complexity, such as the three-degree-of-freedom spherical space robot wrist designed by Deng Zongquan and others (public number: CN102029614A), and the movements of each degree of freedom will be coupled with each other; especially the use of straight lines In the method of driving to realize three-degree-of-freedom joint rotation, multiple linear drive inputs are coupled to each other, such as a space three-degree-of-freedom parallel robot structure with a bracket and three branches designed by Liu Xinjun et al. (public number: CN1267587A) A three-degree-of-freedom platform parallel robot structure designed by Fang Yuefa and others for spherical rotation (public number: CN1417003A); and in a three-degree-of-freedom ball joint driven by flexible cables such as ropes in parallel, the motion input of each rope is related to the ball joint The three rotation angles have a coupling problem, and its decoupling is poor, and the calculation is more complicated. For example, a flexible cable-driven three-degree-of-freedom parallel mechanism composed of three sets of drive units and a motion platform designed by Zhao Mingyang et al. (public number: CN1250374C) )

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