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Elephant-nose-imitated robot based on novel under-actuated mechanism

A driving mechanism and underactuated technology, applied in the field of bionic robots, can solve the problems of cumbersome control process, low load capacity, and weak stability, and achieve high application value, large carrying capacity, and strong reconfigurability

Active Publication Date: 2017-07-04
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the elephant trunk robots developed at home and abroad are driven by artificial muscles, pneumatics, ropes or memory alloys. The control process is cumbersome, the load capacity is low, and the stability is weak.

Method used

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  • Elephant-nose-imitated robot based on novel under-actuated mechanism
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  • Elephant-nose-imitated robot based on novel under-actuated mechanism

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] Such as Figure 1~5 Shown, the present invention comprises driving mechanism 19, connecting scissors mechanism 12 and a plurality of elephant trunk joints 20, wherein on each elephant trunk joint 20, is all provided with linkage scissors mechanism 18, and driving mechanism 19 passes through described connecting scissors Mechanism 12 links to each other with the linkage scissors mechanism 18 on the elephant trunk joint 20 closest to described driving mechanism 19, and the linkage scissors mechanism 18 on each elephant trunk joint 20 links to each other successively, and described connecting scissors mechanism 12 and each linkage scissors The fork mechanism 18 is synchronously opened and closed through the driving mechanism 19, and the width of the side of each elephant trunk section 20 provided with the linkage scissor mechanism 18 is changed by the lin...

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Abstract

The invention relates to the field of biomimetic robots, in particular to an elephant-nose-imitated robot based on a novel under-actuated mechanism. The elephant-nose-imitated robot comprises a drive mechanism, a connecting shear fork mechanism and a plurality of elephant nose joints. Each elephant nose joint is provided with a linkage shear fork mechanism, the drive mechanism is connected with the linkage shear fork mechanism on the elephant nose joint closest to the drive mechanism through the connecting shear fork mechanism, the linkage shear fork mechanisms on the elephant nose joints are sequentially connected, the connecting shear fork mechanism and the linkage shear fork mechanisms are synchronously opened and closed through the action of the drive mechanism, and the side, provided with the linkage shear fork mechanism, of each elephant nose joint is opened or closed through the action of the corresponding linkage shear fork mechanism. The elephant-nose-imitated robot is simple in control, good in stability and capable of bearing large loads.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to an elephant trunk-like robot based on a novel underactuated mechanism. Background technique [0002] Bionic robots have always been a hot research field in robotics. We have invented many robots that can perform special tasks from various creatures in nature. The elephant trunk bionic robot is one of the outstanding representatives. The elephant trunk robot is suitable for various obstacle avoidance occasions, and is also suitable for being installed on community service robots to facilitate people's lives. Of course, future engineering, medical and other fields will also have a demand for flexible robotic arms. At present, most of the elephant trunk robots developed at home and abroad are driven by artificial muscles, pneumatics, ropes or memory alloys. The control process is cumbersome, the load capacity is low, and the stability is weak. Contents of the invention [0003] The ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10
CPCB25J9/06B25J9/109
Inventor 刘玉旺王东东张凯理中强
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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