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Variable stiffness control device for rope driving robot

A control device and robot technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve problems such as difficult to adjust stiffness

Active Publication Date: 2018-10-09
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the present state of the art above, and provides a variable stiffness control device for a rope-driven robot, which solves the technical problem that the stiffness of the rope-driven joint is difficult to adjust

Method used

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  • Variable stiffness control device for rope driving robot
  • Variable stiffness control device for rope driving robot
  • Variable stiffness control device for rope driving robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Such as image 3 with Figure 4 As shown, the diamond-shaped telescopic mechanism 2 in this embodiment has a mounting base 4 . The first rigid adjustment arm 21 and the second rigid adjustment arm 22 are rotatably arranged on the mounting base 4 . The first connection end 1 a is connected to the first rigid adjustment arm 21 through a third arm 25 constituted by a rope segment. The first connection end 1 a is connected to the second rigid adjustment arm 22 through a fourth arm 26 formed by a rope segment.

[0038] The first rigidity adjusting arm 21, the second rigidity adjusting arm 22, the third arm 25 and the fourth arm 26 constitute the four sides of the diamond telescoping mechanism 2, and the rhombus telescoping mechanism is determined by the first rigidity regulating arm 21 and the second rigidity regulating arm 22 2 stretching state. The third arm 25 and the fourth arm 26 can be rope segments or rigid arms, which do not affect the telescopic state between th...

Embodiment 2

[0043] Such as Figure 5 with Image 6 As shown, in this embodiment, the diamond-shaped telescopic mechanism 2 includes a third rigid adjustment arm 23 and a fourth rigid adjustment arm 24 arranged in a rhombus shape with the first rigid adjustment arm 21 , the second rigid adjustment arm 22 .

[0044] Both ends of the first tension spring 31 are respectively connected to the first extension 21 a of the first rigid adjustment arm 21 and the third extension 23 a of the third rigid adjustment arm 23 .

[0045] Both ends of the second tension spring 32 are respectively connected to the second extension 22 a of the second rigid adjustment arm 22 and the fourth extension 24 a of the fourth rigid adjustment arm 24 .

[0046] The first rigid adjustment arm 21 and the first extension 21a, the second rigid adjustment arm 22 and the second extension 22a, the third rigid adjustment arm 23 and the third extension 23a, the fourth rigid adjustment arm 24 and the fourth extension 24a are L...

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Abstract

The invention discloses a variable stiffness control device for a rope driving robot. The device comprises a rope for driving a movable joint to move, and the rope is provided with a first connectingend and a second connecting end; a rhombic telescopic mechanism is connected between the first connecting end and the second connecting end in series, and the rhombic telescopic mechanism is providedwith a spring for driving the rhombic telescopic mechanism to contract so as to apply a tension force between the first connecting end and the second connecting end. According to the device, a mode ofconnecting the rhombus telescopic mechanism in the driving rope is adopted, and the telescopic state of the rhombic telescopic mechanism is controlled through the tension of the rope and the tensionof the spring so that the movable joint of the rope driving robot can achieve flexible control; and the characteristic that the force and displacement of the rhombic telescopic mechanism have a nonlinear relation is utilized, so that the control of different rigidity grades of the movable joint can be realized.

Description

technical field [0001] The invention relates to robot drive control technology, in particular to a variable stiffness control device for a rope-driven robot. Background technique [0002] In recent years, with the development of new materials and rapid processing and manufacturing technology, soft robot technology has become a research hotspot in the field of robotics. Soft robot technology involves the disciplines of bionics, soft matter and robotics. Compared with traditional rigid robots, it has many advantages: it has infinite degrees of freedom in theory, does not require complex mechanisms, and is easy to achieve multifunctionality. ;It can better adapt to the unknown or complex unstructured working environment through deformation; it has flexible contact with the working object, can operate objects with complex and different shapes, and has little damage to itself and the operating object, etc. It has broad application prospects in rehabilitation, minimally invasive ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0208
Inventor 杨桂林王逸杨凯盛王慰军张驰
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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