A Modular Handheld Dual-Operation End-Master Robot

Abstract

The invention relates to a modular handheld double-operating-end master robot comprising two handle modules, three rocking joint modules and two rotating joint modules. The modules are serially connected through snap rings according a connection sequence: the first handle module, the first rotating joint module, the first rocking joint module, the second rocking joint module, the third rocking joint module, the second rotating joint module and the second handle module; a joint sleeve is added between the second rocking joint module and the third rocking joint module so that the front and tail end structure of the robot are symmetrical around a joint mandrel of the second rocking joint module; joint mandrels of the three rocking joint modules are parallel to one another and are naturally perpendicular to joint mandrels of the rotating joint modules arranged at two ends; the handle modules are mounted at two ends of the robot; the double-claw arm-like master robot is formed. The modular handheld double-operating-end master robot is easy to construct, variable in configuration, simple in structure, good in extensibility, high in universality, convenient to operate and easy to subject to isomorphic mapping with slave robots.

Description

technical field [0001] The invention is a modularized handheld dual-operation terminal main robot, which belongs to the modification technology of the modularized handheld dual-operation terminal main robot. Background technique [0002] Humans increasingly need robots that can work in dangerous or unknown environments. However, limited by artificial intelligence technology, mechanism, control and sensing technology, it will take a long time to develop intelligent robots that can work autonomously in unknown environments. Therefore, currently relying on human intelligence, the master-slave control robot working under human-computer interaction is a realistic and feasible choice. This kind of master-slave control combines human intelligence and robot execution, and realizes the extension of human perception and behavior. The operator operates the master robot, and the processor converts the operator's control intention into commands that the slave robot can understand accor...

AI Technical Summary

Problems solved by technology

But they have several problems and deficiencies, mainly in: (1) lack of versatility and flexibility

On the one hand, the configuration of the current master robot is fixed, and the configuration cannot be changed according to the task requirements or the change of the slave robot; moreover, the degrees of freedom are also fixed and cannot be increased or decreased according to the needs, which leads to the current The master robot cannot adapt to changes in the configuration and degrees of freedom of the slave robot (such as a modular robot)

On the other hand, the current master robot can only operate single-ended, so it can only control the slave robot with one actuator, and cannot do anything for the robot with double-ended actuators (such as a dual-arm robot or a two-hand claw climbing robot)

(2) The cost is high. Due to the lack of versatility, different slave robots often need corresponding master robots, so the development and use costs of the master robot are high; (3) The control is complicated. Most of the existing master robot systems and slave robots are Heterogeneous, the mapping between the master-slave robot is more complex, the amount of calculation is large, which affects the stability of the master-slave control; (4) The operation performance is poor, the existing master robot systems are all wearable or large drop-in, the former Generally, there is a problem of balance at any time, and the operator is prone to fatigue. The latter requires the operator to stand upright, and it will also fatigue after long-term operation

[0007] In particular, as mentioned earlier, there is currently a lack of a master robot that can control both a slave robot (manipulator arm) with a single end effector and a slave robot with dual crawling robot)

At present, the two-hand claw climbing robot cannot realize autonomous or intelligent climbing, and needs manual remote control. However, there is currently a lack of effective remote control methods and means. The teaching box and joystick are not intuitive, making teaching or remote control very difficult.

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