Three-arm serial connection type auxiliary operation supernumerary robotic limb based on steel wire driving

Abstract

A three-arm serial connection type auxiliary operation supernumerary robotic limb based on steel wire driving comprises a first vertical rotating joint, a second vertical rotating joint, a third vertical rotating joint, a horizontal rotating joint and a motor set fixed to a base, wherein the first vertical rotating joint is connected with the second vertical rotating joint through a hollow arm rod, the second vertical rotating joint is connected with the third vertical rotating joint through a hollow arm rod, the third vertical rotating joint is connected with the horizontal rotating joint, the first vertical rotating joint, the second vertical rotating joint, the third vertical rotating joint and the horizontal rotating joint are respectively controlled by the motor set and a turning steel wire rope set on a steel wire rope reversing wheel train connected with the motor set, so that four-degree-of-freedom movement of the robot is realized. The three-arm serial connection type auxiliary operation supernumerary robotic limb based on steel wire driving is wide in motion space range, long-distance joint driving can be achieved, the horizontal joint and the vertical joints do not interfere with each other in the motion process, the overall flexibility is improved, and the motion inertia is lowered.

Description

technical field [0001] The invention relates to a robot, in particular to a steel wire-driven three-arm serial external limb auxiliary operation robot. Background technique [0002] With the continuous development of industrial technology and the popularization of automation technology, robots have become a necessary means to improve the efficiency of industrial production. Although fully automated technology can realize many assembly line production tasks, many working conditions with flexible operation require the cooperation of human stress judgment. Robots with extremities can provide external auxiliary functions for the human body, and play an important role in high-altitude repair operations and complex assembly. At present, due to the limitation of excessive joint mass, the mass of the joint drive motor and the range of motion of the existing external limb robots are restricted, resulting in low overall motion space and flexibility. In addition, although the wire dr...

AI Technical Summary

Problems solved by technology

However, in the design of steel wire drive, it is often necessary for the steel wire to pass through a single-degree-of-freedom or multi-degree-of-freedom joint to ensure that its length remains unchanged. The existing design is generally realized by dynamic compensation of the motor, or by designing the steel wire to pass through the joint axis horizontally. Yes, the former of these two methods will affect the motion stability and increase the difficulty of control, while the latter cannot realize the transmission condition that requires the steel wire rope to pass vertically

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