Rope-driven large-motion-range flexible bionic ball socket joint

Abstract

The invention discloses a rope-driven large-motion-range flexible bionic ball socket joint, and belongs to the technical field of robots. A ball head can rotate in a ball socket in a three-degree-of-freedom manner, two offset driving rods are symmetrically arranged at the ball head, two flexible sliding grooves are symmetrically formed in the ball socket, one ends of spherical shear fork mechanisms are connected with the offset rods, the other ends of the spherical shear fork mechanisms are connected with flexible sliding blocks, the flexible sliding blocks can slide along the flexible slidinggrooves, and springs are installed between the sliding grooves and the sliding blocks. The structure simulates the human ligament to limit the joint. A muscle driving manner of the human body is simulated, four rope driving structures are symmetrically arranged in the driving sliding grooves in the ball socket in pairs, each rope driving structure is an expandable mechanism and can be expanded only under single-direction pulling force, one end of each rope is connected to a driving rod of the ball head, and the other end of each rope is wound around the interior of the corresponding rope driving structure and extends out of the lower side of the ball socket to be then connected with a driver, and the three rotational degrees of freedom of the ball socket joint can be controlled. The jointhas high compactness, and the deflection range can reach 120 degrees.

Description

[0001] Technical field [0002] The invention relates to the technical field of robots, in particular to a mechanical ball and socket joint. Background technique [0003] The shoulder joint of the human body is a three-degree-of-freedom ball-and-socket joint, which has the advantages of compact structure and large range of motion. Due to the constraints of manufacturing technology and driving methods, most robots are serial single-degree-of-freedom joints. Although parallel mechanisms can imitate the movement of three-degree-of-freedom joints, their range of motion is generally small and their structures are not compact enough. Contents of the invention [0004] In order to overcome the shortcomings of the traditional joint structure, the present invention simulates the biological structure of the human shoulder joint, and designs a flexible ball-and-socket bionic joint. The ball-and-socket joint is driven by a cable and is matched with a flexible mechanical structure. It h...

AI Technical Summary

Problems solved by technology

Due to the constraints of manufacturing technology and driving methods, most of the robots are single-degree-of-freedom joints in series. Although the parallel mechanism can imitate the movement of three-degree-of-freedom joints, the range of motion is generally small and the structure is not compact enough.

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