A modular tandem master robot

Abstract

The invention relates to a modular series master robot comprising a flange serving as a base, three rocking joint modules, two rotating joint modules and a handle module. The modules are sequentially connected in series according to a connection sequence from the base to the tail end: the flange, the first rotating joint module, the first rocking joint module, the second rocking joint module, the second rotating joint module, the third rocking joint module and the handle module; each two of the modules are fixedly connected through a span ring; a base segment is fixed on an operating table through the flange; joint mandrels of the first and second rocking joint module are parallel to each other and are naturally perpendicular to those of the rotating joint modules arranged at two ends. The modular series master robot has the advantages such as ease in construction, configuration variability, simple structure, good extensiveness, high universality, capability of indifferent equilibrium, convenience in operation and ease in isomorphic mapping with slave robots; the modular series master robot is widely applicable to remote control of slave robots in the fields such as industry, medical treatment, building industry, nuclear industry and chemical industry.

Description

technical field [0001] The invention is a modular series main robot, which belongs to the modification technology of the modular series 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 according to the pose information of the master robot, and contro...

AI Technical Summary

Problems solved by technology

But they have some problems and deficiencies, mainly in: (1) poor versatility and flexibility

The configuration of the current main robot is fixed, and the configuration cannot be changed according to the task requirements or changes of the slave robot; and the degrees of freedom are also fixed, and cannot be increased or decreased as needed

This makes it difficult for the master robot to adapt to various slave robots

(2) The cost is high. Due to the lack of versatility, different slave robots often require corresponding master robots, so the development and use costs of the master robot are high; (3) The control is complex, and most of the existing master robot systems and slave robots are Heterogeneous, the mapping between the master-slave robot is more complicated, the amount of calculation is large, which affects the stability of the master-slave control; (3) The operation performance is poor, and the existing master robot systems are all wearable or drop-type large-scale, The former generally has balance problems, and the operator is prone to fatigue; the drop-type large-scale main robot requires the operator to stand upright, and it will also fatigue after long-term operation

This balance method increases the complexity of the structure, and also brings the backlash of forward and reverse rotation, which reduces the detection accuracy

In addition, since the damping of the damper is constant, it cannot be changed with the configuration and degrees of freedom of the main robot, so it cannot achieve random balance and the operability is not good.

Therefore, the existing damping main robot is not ideal, and it is necessary to develop other modular main robots with simpler structure, more convenient operation, and balance in any situation

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