A multi-degree-of-freedom manipulator based on sequential control

Abstract

The invention belongs to the technical field of mechanical arms and particularly relates to a multi-degree-of-freedom mechanical arm based on sequential control. The mechanical arm comprises three auxiliary mechanical fingers, a main mechanical finger, a palm plate, a motor driving mechanism, an arm sleeve and the like. The first auxiliary mechanical finger, the second auxiliary mechanical finger, the third auxiliary mechanical finger and the main mechanical finger are installed on the palm plate. The three auxiliary mechanical fingers have three bending degrees of freedom, the first auxiliary mechanical finger has one swing degree of freedom, the main mechanical finger has one bending degree of freedom and one swing degree of freedom, and six degrees of freedom are achieved in total. The motor driving mechanism with single-power sequential control is used for driving, so that the structure of the mechanical arm is greatly simplified, and high practicability is achieved.

Description

[0001] Technical field [0002] The invention belongs to the technical field of manipulators, in particular to a multi-degree-of-freedom manipulator based on time sequence control. Background technique [0003] At present, the driving methods of manipulators mostly use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part of them use artificial muscle drive; among them, artificial muscle drive, although the drive method is advanced, but the manufacturing cost is currently very high, and hydraulic drive requires powerful power. For hydraulic oil pressurized drive, it will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the simulation manipulator drive, and the servo motor drive is used in each Install a servo motor on the joint, which will make the mechanism on the manipulator very unsightly. The size and shape of the servo motor will determin...

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Problems solved by technology

[0003] At present, the driving methods of manipulators mostly use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part of them use artificial muscle drive; among them, artificial muscle drive, although the drive method is advanced, but the manufacturing cost is currently very high, and hydraulic drive requires powerful power. For hydraulic oil pressurized drive, it will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the simulation manipulator drive, and the servo motor drive is used in each Install a servo motor on the joint, which will make the mechanism on the manipulator very unsightly. The size and shape of the servo motor will determine the shape and function of the manipulator; currently the most used and the lowest cost is to use steel wire drive to centrally install the servo motors At the arm, the mechanism of the manipulator and fingers is relatively simple, and the control is relatively easy, but in the wire drive, it is easy to cause inaccurate positioning of the mechanical finger and swinging of the fingers.

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