Seven-degree-of-freedom external skeleton type teleoperation main hand

Abstract

The invention relates to a seven-degree-of-freedom external skeleton type teleoperation main hand. The seven-degree-of-freedom external skeleton type teleoperation main hand is composed of an external skeleton main hand portion, a driving unit and a support. The external skeleton main hand portion comprises an arm wearing portion and a singular configuration adjusting unit. The arm wearing portion is worn on the upper limb of an operator; the singular configuration adjusting unit provides rotation in two directions; the singular configuration of the adjustable external skeleton main hand can be carried out on the edge of working space; the driving unit is composed of motors, harmonic reducers, encoders, torque transducers, transmission wheels and the like; power is transmitted through steel wire ropes; and the weight of the arm part is greatly reduced. The support is used for fixing the external skeleton main hand portion and the driving unit and can achieve height adjustment and gravity balance of the arm. The seven-degree-of-freedom external skeleton type teleoperation main hand is flexible in operation and good in applicability; the arm part is compact in structure, low in inertia and not prone to fatiguing after long-time operation. By means of the seven-degree-of-freedom external skeleton type teleoperation main hand, the operator can remotely control a multi-degree-of-freedom robot through the external skeleton type main operation hand.

Description

technical field [0001] The invention relates to an exoskeleton-type main hand device, in particular to a seven-degree-of-freedom exoskeleton-type remote-operated main hand device applied in the field of space robots, which can measure the rotation angle and reproduce the contact between the slave-end multi-degree-of-freedom robot and the environment moment. Background technique [0002] With the rapid development of the aerospace industry and the continuous deepening of space exploration, space operations tasks have become more and more arduous and complex, such as the construction and maintenance of satellites in orbit or large space stations, the maintenance of space equipment, and the care of scientific experiment loads Wait. Extravehicular service robots can well adapt to the space operation environment, and use robots to replace or assist astronauts to participate in space activities. [0003] A robot with multiple degrees of freedom in space needs control parameters ...

AI Technical Summary

Problems solved by technology

Most of its weight is concentrated on the wearing part of the arm, which is large in size and high in inertia, causing an excessive burden on the human body

The Chinese utility model patent with the authorized publication number CN2710848 Y is a wearable exoskeleton manipulator developed by Zhejiang University. This mechanism adopts a parallel structure, compact structure, and low weight. It is used for remote control of remote robots, but there are also exoskeletons The complex and inaccurate problem of motion mapping from the manipulator to the multi-degree-of-freedom robot

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