Sinusoidal elastic force amplification and force moment compensation device and method for robot

Abstract

The invention relates to the field of medical apparatus and instruments, and in particular, relates to a sinusoidal elastic force amplification and force moment compensation device and method for a robot, wherein the device includes a frame for supporting a mechanical arm and also includes a cantilever joint force moment transmission mechanism, a sinusoidal conversion mechanism and an elastic force amplification mechanism. The method comprises the following specific use steps: S1, connection; S2, revolving; S3, rotation; S4, swing; S4, horizontal motion; and S5, elastic force amplification. The sinusoidal conversion mechanism and the elastic force amplification mechanism are matched for use, the complete compensation of the cantilever gravitational moment of the robot can be realized, thepower of a driven deceleration motor and the fluctuation of the driving torque when the robot configuration is changed are reduced, and the stability of the robot driving is improved; at the same time, by adjusting the gear group speed ratio and the spring stiffness of the sinusoidal conversion mechanism, the cantilevers with different weight can be flexibly compensated, the overall installation is more convenient, and the structure is compact.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a sinusoidal elastic force amplification moment compensation device and method for a robot. Background technique [0002] According to the characteristics of clinical lithotomy surgery, the cantilever articulated robot is suitable for surgery in the narrow space of the human perineum. However, when the cantilever articulated configuration is operated at low speed and high precision, the changing gravity will cause large fluctuations in the amplitude of the motor drive torque, which will deteriorate Robot low-speed motion stability performance. The sinusoidal elastic force amplification torque compensation device designed in this paper is suitable for the cantilever articulated targeted particle implantation robot. Although the cantilever articulated particle implantation robot is not a high-speed and heavy-duty equipment, the working space of the robot is strictly limited by the ...

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Problems solved by technology

The disadvantage of this method is that the numerical solution process is very complicated, and there is always an unbalanced moment of the arm under the configuration change

Nakayama has studied the pulley and spring combination multi-rod gravity compensation mechanism. A certain range of gravity compensation can be achieved by selecting the appropriate pulley and spring stiffness, but the wire transmission will affect the transmission stiffness and the robustness of the balance.

Koser has studied the cam structure to adjust the spring to realize the gravity compensation of the connecting rod, which can also improve the stiffness of the wire transmission and the balance robustness, but for different connecting rods, it is necessary to redesign and manufacture the cam, which is relatively difficult

Yamada Y studies the crank-slider mechanism to realize the gravity compensation of the connecting rod, which improves the robustness and safety of the balance, but the scope of the self-weight balance of the connecting rod is limited, which is mainly affected by the motion interference between the rods and the stroke of the slider.

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