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Serial-parallel artificial wrist joint with three degrees of freedom

A parallel, wrist technology, applied in the field of artificial wrist joints, can solve the problems of complex structure and heavy weight, and achieve the effects of high precision, light weight and strong functionality

Active Publication Date: 2018-11-20
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional prosthetic wrist joints mostly use a series mechanism to realize the wrist function, the structure is complex, the weight is heavy, and only part of the three degrees of freedom of wrist rotation, internal rotation and external rotation, flexion and extension, and lateral deviation can be realized.

Method used

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  • Serial-parallel artificial wrist joint with three degrees of freedom
  • Serial-parallel artificial wrist joint with three degrees of freedom
  • Serial-parallel artificial wrist joint with three degrees of freedom

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Embodiment Construction

[0020] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0021] Such as Figure 1 to Figure 6 As shown, the present embodiment provides a three-degree-of-freedom parallel prosthetic wrist joint, including a base (21), a rotating table (1), a first active branch chain, a second active branch chain, a constraint branch chain, and a moving platform ( 9).

[0022] The rotary table (1) sequentially passes through the end cover (13), the first bearing (14), the bearing spacer (15), the second bearing (16), the C-shaped collar (17) and the motor (20) The output shaft is connected through a flat key (18), the motor (20) is fixedly connected to the base (21) through a reducer (19), and the rotating table (1) is equipped with a bearing spacer (15) and a C-shaped collar (17). , the bearing spacer (15) is placed between the two rolling bearings (14 and 16), and the C-shaped snap ring (17) is placed on the side of the ...

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Abstract

The invention relates to a serial-parallel artificial wrist joint with three degrees of freedom. The device is in a serial-parallel structure, has the three degrees of freedom and can be used for achieving movements of medial rotation, lateral rotation, flexion, extension and lateral deviation of an artificial wrist joint. The device comprises a base, a rotating platform, a first driving branch chain, a second driving branch chain, a constraint branch chain and a movable platform. The rotating platform is in key connection with a motor, so that the movements of medial rotation and lateral rotation of the artificial wrist joint can be achieved; through the extension and retraction of the first driving branch chain and the second driving branch chain, the movable platform is enabled to rotate around two axes of a Hooke pair in the constraint branch chain, and the movements of flexion and extension are achieved. The device has the advantages of being high in rigidity, strong in carrying capacity, high in accuracy, strong in bio-imitability and functionality, and on the like.

Description

technical field [0001] The invention relates to an artificial wrist joint, in particular to a three-degree-of-freedom parallel artificial wrist joint. Background technique [0002] With the rapid development of industrial transportation, traffic accidents and accidental injuries occur frequently, resulting in a large number of amputee patients every year. This kind of special group has brought a lot of inconvenience to life, work and study because of the disability of limbs, and caused a serious psychological blow at the same time. The social ability of these amputees varies according to the amputation site, and the social ability of upper limb amputee patients is much lower than that of lower limb amputee patients. [0003] At present, most of the research on upper limb prosthetics focuses on the prosthetic hand, and there is less research on the wrist joint. In order to fully meet the normal needs of upper limb prosthetic users, it is necessary to solve not only the dexte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/58
CPCA61F2/585
Inventor 李剑锋周帅锋张凯陈莹张子康
Owner BEIJING UNIV OF TECH
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