2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator

A flexible manipulator, 2-DOF technology, applied in manipulators, program-controlled manipulators, claw arms, etc., can solve the problems of unsanitary, dangerous, affecting the overall performance of the robot, and achieve strong flexibility, self-protection, and accurate position. control effect

Active Publication Date: 2017-02-22
SHANGHAI UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The driver is the power source of the robot system. Its performance and stiffness directly affect the overall performance of the robot and the accuracy of control. Most of the existing robot driving methods use purely rigid motors. Although the high-rigidity drive system achieves Accurate positioning of the actuator and precise track tracking, but with the acceleration of people's life rhythm, people are more pursuing a healthy lifestyle and a comfortable working environment, and are unwilling to do very difficul

Method used

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  • 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator
  • 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator
  • 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator

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Embodiment Construction

[0024] Below in conjunction with the accompanying drawings, the specific movement process of the present invention will be further described.

[0025] Such as figure 1 and figure 2 As shown, a 2-DOF flexible manipulator based on an antagonistic variable stiffness compliant driver, including a mounting base 1, an elbow joint (2-axis) driving device 2, a shoulder joint (1-axis) driving device 3, a bionic arm (flexible mechanical arm) 4, the shaft joint (2 axes) driving device 2, the shoulder joint (1 axis) driving device 3, the bionic arm (flexible robotic arm) 4 in sequence figure 1 The sequence is installed on the rear of the installation base (1), the elbow joint (2-axis) drive device 2 is installed in the installation hole 5 and the installation hole 9 of the installation base 1 and in the middle, and the shoulder joint (1-axis) drive device 3 is installed in the Install the installation hole 6 and the installation hole 8 of the base plate 1 and the middle of them.

[00...

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Abstract

The invention relates to a 2-DOF flexible mechanical arm based on an antagonism type variable stiffness actuator. The 2-DOF flexible mechanical arm comprises a mounting base board, elbow joint driving devices, shoulder joint driving devices and a bionic arm, and the elbow joint driving devices, the shoulder joint driving devices and the bionic arm are arranged on the rear portion of the mounting base board correspondingly. The elbow joint driving devices and the shoulder joint driving devices are based on the antagonism type variable stiffness actuator, so that stiffness is variable when two shafts of two flexible mechanical arms are driven. In application occasions relating to man-machine interaction, the stiffness can be changed with working scenes, the safety of operators is sufficiently improved, and the 2-DOF flexible mechanical arm is of profound significance in research and development of service-oriented robots.

Description

technical field [0001] The invention relates to a 2-DOF flexible mechanical arm based on an antagonistic variable stiffness driver, which belongs to the field of industrial robots. Background technique [0002] For traditional industrial robots, in order to achieve precise control, the entire system needs to have high stiffness, and the faster the response speed, the better. The driver is the power source of the robot system. Its performance and stiffness directly affect the overall performance of the robot and the accuracy of control. Most of the existing robot driving methods use purely rigid motors. Although the high-rigidity drive system achieves Accurate positioning of the actuator and precise track tracking, but with the acceleration of people's life rhythm, people are more pursuing a healthy lifestyle and a comfortable working environment, and are unwilling to do very difficult, dangerous, unhygienic work, nor Willing to do boring and repetitive work, the focus of ro...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J18/06
CPCB25J9/104B25J9/12B25J18/06
Inventor 崔泽宋伟任钱东海韩汪洋鄢璇李彦彪
Owner SHANGHAI UNIV
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