Mechanical arm

Abstract

The invention provides a novel biomimetic mechanical arm structure. According to the mechanical arm, the drawbacks are overcome that the gravity center of a traditional series mechanical arm is in the front and a device is low in stiffness. A parallel drive mode is utilized to move the gravity center backwards, therefore in the premise that the working load is constant, the load of each joint is reduced, the load of a drive device is reduced, and the cost is saved. At the same time, the joints can only swing and do not introduce coupling translation like the majority of traditional parallel mechanisms. The mechanical arm adopts biomimetic design and comprises two connecting rods swinging in space. A linear drive part is utilized to achieve three degrees of freedom motion independently swinging on the shoulder and the wrist. A rotary drive unit is utilized to achieve one degree of freedom swing at the elbow. The motion mode of the mechanical arm is similar to that of the human arm, and the mechanical arm has an excellent biomimetic motion effect.

Description

technical field [0001] The invention relates to the field of robotic automatic processing, in particular to a novel bionic mechanical arm. Background technique [0002] A robotic arm is an arm-like structure designed to achieve specific spatial motion. [0003] At present, common robotic arms contain 6 or 7 degrees of freedom, each of which is driven by a driving component to move to a specific position, and each degree of freedom is connected in series. In this type of structure, the mass is concentrated at the end of the rod, which in turn increases the load moment on the next-level joint. However, the traditional parallel robot is difficult to control, and it is easy to generate coupled translational motion, so it is not suitable for direct application to anthropomorphic use (such as humanoid robot arms to grab objects, work with people, etc.). [0004] Therefore, those skilled in the art are committed to developing a new type of mechanical arm, which overcomes the shor...

AI Technical Summary

Problems solved by technology

However, the control of the traditional parallel robot is difficult, and it is easy to generate coupled translational motion, so it is not suitable for direct application to the state of anthropomorphic use (such as the arm of a humanoid robot to grab objects, work with people, etc.)

[0004] Therefore, those skilled in the art are committed to developing a new type of mechanical arm, which overcomes the shortcomings of the traditional serial mechanical arm with a center of gravity forward and unstable operation of the device, while reducing the load moment at the joints and saving costs. The method causes coupling translation and limits its applicable environment

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