Master-slave type artificial muscle joint system with position/force two-way feedback

Abstract

The invention discloses a master-slave type artificial muscle joint system with position / force two-way feedback. The system is composed of a master joint system with a pneumatic artificial muscle driving mode and a slave joint system with a hydraulic artificial muscle driving mode. A positional voltage signal of the master joint system can be fed back to the input terminal of the slave joint system, so that the slave joint system tracks the positional voltage signal to carry out corresponding rotation angle action; meanwhile, a torque voltage signal of the slave joint system can be fed back tothe input terminal of the master joint system, so that the master joint system tracks the torque voltage signal to make action. When the master-slave type artificial muscle joint system works, compatibility with the seawater environment during operation is high; no environmental pollution is caused. With the master and slave controlling, a hydraulic manipulator can move with the operator's arm synchronously, so that the operation becomes simple. The stress of the driven hydraulic artificial muscle joint can be fed back to the driving pneumatic artificial muscle joint, so that the operator hasthe intuitive experience of the stress on the artificial muscle joint.

Description

technical field [0001] The invention relates to the fields of a master-slave remote control robot arm, a special operation manipulator, and deep sea operation equipment, and in particular relates to a master-slave remote control operation manipulator used in a deep sea environment. Background technique [0002] When working in the deep sea, divers are limited by the diving depth. To complete underwater operations at large depths, it is generally necessary to use a remote-controlled underwater robot (ROV) to complete the task. At present, the underwater robotic arm carried by ROV is driven by oil pressure. The inward leakage of seawater makes it vulnerable to underwater environmental pollution, which seriously affects its service life. The outward leakage of oil will pollute the marine environment. It is heavy and It requires fuel tank and pressure compensation device, which is not conducive to the realization of light weight and miniaturization. In addition, the operator is...

AI Technical Summary

Problems solved by technology

When using this mode of operation to control the multi-degree-of-freedom manipulator, there are many inconveniences. For example, controlling the multi-degree-of-freedom manipulator has extremely high requirements on the structure of the joystick and the technical requirements of the operator; in addition, when the manipulator grasps the target object, the operator There is no corresponding force feeling, which will also affect the operator's control accuracy

Images