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A variable stiffness flexible manipulator

A flexible manipulator and variable stiffness technology, applied in manipulators, claw arms, manufacturing tools, etc., can solve problems such as high cost and limited application scope, and achieve the effect of simple adjustment, easy control, and a large range of variable stiffness.

Active Publication Date: 2019-09-27
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This does make the rigid manipulator flexible while maintaining high precision, but this poses a great challenge to the design of the controller and the electromechanical performance of the motor, and its high cost limits the scope of application.

Method used

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  • A variable stiffness flexible manipulator
  • A variable stiffness flexible manipulator
  • A variable stiffness flexible manipulator

Examples

Experimental program
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Effect test

Embodiment Construction

[0025] The variable stiffness flexible mechanical arm proposed by the present invention has a structure such as figure 1 As shown, it includes a top seat 1, two variable rigidity support plates 2, a central support plate 3, a long slot 4, a base 5, two cross-shaped driving parts 8 and eight connecting rods 18 (19, 20, 21), Such as Figure 7 with Figure 8 shown in . The upper ends of the two variable stiffness support plates 2 are fixed on two sides of the top base 1 , and the lower ends of the two variable stiffness support plates 2 are fixed on the corresponding two sides of the base 5 . The central support plate 3 is placed in the middle of the two variable stiffness support plates 2, the upper end of the central support plate is relatively fixed to the top seat, the long slot 4 is placed in the middle of the base, and the lower end of the central support plate 2 extends into the long slot In 4, similar to the sleeve structure, it plays a supporting role and connects the...

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PUM

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Abstract

The invention relates to a flexible mechanical arm with the variable rigidity, and belongs to the technical field of mechanical equipment. According to the flexible mechanical arm with the variable rigidity, a main body part is composed of three cross beam structures which are parallel to one another, namely, two rigidity-variable supporting plates and a central supporting plate, the two rigidity-variable supporting plates and the central supporting plate are uniformly distributed in a left-middle-left mode, the left supporting plate and the right supporting plate are of flexible plate type structures, and the middle of a plate can be arched through driving of a servo motor so as to change the rigidity of the mechanical arm, and the central supporting plate located in the middle plays a role in supporting and is of a sleeve structure. The flexible mechanical arm has the advantage that the change of the rigidity of the mechanical arm can be simply realized through a mechanical mode, theadjustable range of the rigidity is large, and the requirements for the precision and flexibility of the mechanical arm under different working states can be met.

Description

technical field [0001] The invention relates to a variable stiffness flexible mechanical arm, which belongs to the technical field of mechanical equipment. Background technique [0002] Flexible machinery is a new branch of the robotics industry. Its main idea is to change the body parts of robots from traditionally rigid materials to soft and elastic materials. [0003] Traditional rigid machinery has the advantage of precise control, but the physical properties of rigid components cannot be changed, which hinders them from effectively contacting the outside world and cannot adapt to complex environments. The flexible machinery can absorb the shock and vibration of the system, and realize the environmental adaptability of the system more effectively. It is also developing vigorously in recent years, and has broad application prospects in complex scenarios such as biology, medical treatment, and rescue. [0004] At the same time, current flexible machines also have disadv...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00B25J17/00
Inventor 黄双喜郑亦平杨帆
Owner TSINGHUA UNIV
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