A Reconfigurable Redundant Manipulator Based on Rope Drive

Abstract

The invention discloses a reconfigurable redundant mechanical arm driven by a rope, which belongs to the field of robot research and engineering. The redundant mechanical arm of the present invention is composed of a plurality of joint units, and its joint unit mainly includes a first joint, a second joint, a third joint, a retractable trunnion, a two-way electric push rod, an external threaded bearing and a spring embedded Silicone bellows, the two-way electric push rod built in the joint is connected to the retractable trunnion, and the trunnion is fixed between the two joints through an external threaded bearing to form a single-degree-of-freedom rotary joint and covered with a silicone bellows. Methods The position and equivalent height of the trunnion are changed by using the electric push rod to provide the drive, so as to realize the reconstruction of the joint mechanism. When the trunnion of the present invention is contracted, the inter-joint gap is reduced, and the rigidity and control precision of the overall redundant mechanical arm are improved; when the trunnion is extended, the joint gap is increased, the rotation angle range of the redundant arm is increased, and there is a larger terminal operation space.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a reconfigurable redundant mechanical arm driven by a rope. Background technique [0002] With the rapid development of industry and technology, many fields such as intelligent manufacturing, nuclear power equipment maintenance, and post-disaster exploration are faced with unstructured and complex working environments. They need to overcome difficulties such as multiple obstacles and small spaces. Traditional articulated manipulators are often difficult to meet the requirements Due to the work requirements in limited space, redundant robotic arms with multiple degrees of freedom and flexible movement have become the research object of many scholars. [0003] Compared with redundant robotic arms driven by other driving methods, the rope-driven redundant robotic arm separates the transmission part from the arm body mechanism to realize remote power transmission, and ha...

AI Technical Summary

Problems solved by technology

The joints of the existing rope-driven redundant arms are mainly connected by cross-axis universal joints, and on this basis, elastic elements, variable stiffness mechanisms, and wire tension sensors are added to improve control accuracy, but the joints are ignored. Due to the limited rotation angle, compact joint connection is used to improve the end load capacity, which lacks adaptability to actual complex working conditions

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