CN114652452A - From the operating end arm - Google Patents
From the operating end arm Download PDFInfo
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- CN114652452A CN114652452A CN202210424630.6A CN202210424630A CN114652452A CN 114652452 A CN114652452 A CN 114652452A CN 202210424630 A CN202210424630 A CN 202210424630A CN 114652452 A CN114652452 A CN 114652452A
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- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 239000012636 effector Substances 0.000 claims 7
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The present disclosure provides a slave manipulator arm comprising: the connecting part is of a telescopic structure and comprises a driving end and a driven end; two driving rods of the control part are respectively connected with the driving end of the connecting part, and the other end of the control part is connected with the slave operation end; one end of the far-end executing part is connected with the driven end of the connecting part, and the other end of the far-end executing part is connected with the executing mechanism; one end of the auxiliary arm is hinged with the lower part of the connecting part, and the other end of the auxiliary arm is hinged with the far-end executing part; the control part controls the connecting part to extend and/or swing along a spherical surface, and the actuating mechanism always points to the spherical center corresponding to the spherical surface; the auxiliary arm moves passively with the movement of the connecting part along a spherical surface in a stretching and/or swinging manner.
Description
Technical Field
The disclosure relates to the technical field of instrument arms, in particular to an instrument arm from an operation end.
Background
At present, a slave end instrument arm of a surgical robot with a fixed point is provided with a connecting rod assembly for transmitting motion in the axial direction of a surgical tool guide pipe, and in order to avoid interference between an assembly and an auxiliary surgical instrument or a patient in the motion process, the length of each connecting rod of the assembly needs to be increased, so that the volume of the instrument arm is increased. The surgical robot arm can be regarded as a cantilever beam structure, when the length of each connecting rod in the structure is increased, the motion inertia of the arm is increased, the elastic deformation of each component is increased in the motion process, and the repeated positioning precision of the tail end of a surgical tool is reduced.
Disclosure of Invention
Technical problem to be solved
Based on the above problem, the present disclosure provides a slave manipulator arm to alleviate technical problems such as reduction in the precision of repeated positioning of the distal end of a surgical tool in the prior art.
(II) technical scheme
According to an aspect of the present disclosure, there is provided a slave manipulation end instrument arm for a slave manipulation end of a surgical robot, the slave manipulation end instrument arm comprising:
the connecting part is of a telescopic structure and comprises a driving end and a driven end;
the two driving rods of the control part are respectively connected with the driving end of the connecting part, and the other end of the control part is connected with the slave operation end;
one end of the far-end executing part is connected with the driven end of the connecting part, and the other end of the far-end executing part is connected with an executing mechanism;
one end of the auxiliary arm is hinged with the lower part of the connecting part, and the other end of the auxiliary arm is hinged with the far-end executing part;
the control part controls the connecting part to stretch and/or swing along a spherical surface, and the actuating mechanism always points to the spherical center corresponding to the spherical surface; the auxiliary arm moves passively along with the motion of the connecting part stretching and/or swinging along a spherical surface.
In some embodiments of the present disclosure, the control portion includes:
the driving device is connected with the slave operation end; the driving device comprises a first driving shaft and a second driving shaft, and the axis of the first driving shaft is coincident with the axis of the second driving shaft;
one end of the first driving rod is coaxially connected with the first driving shaft, and the other end of the first driving rod is connected with the driving end of the connecting part;
one end of the second driving rod is coaxially connected with the second driving shaft; the other end of the second driving rod is connected with the driving end of the connecting part.
In some embodiments of the present disclosure, the driving device includes:
the mounting seat is connected with the slave operation end;
the first driving motor is arranged on one outer end face of the mounting seat;
the first driving gear is connected with the output end of the first driving motor;
the first transmission gear is sleeved on the first driving shaft and meshed with the first driving gear;
the second driving motor is arranged on the other outer end face of the mounting seat;
the second driving gear is connected with the output end of the second driving motor;
and the second transmission gear is sleeved on the second driving shaft and meshed with the second driving gear.
In some embodiments of the present disclosure, the first driving shaft is a hollow shaft, and the first driving shaft is sleeved on the second driving shaft.
In some embodiments of the present disclosure, the first driving shaft is fixedly connected to an end surface of the first driving rod, which is far away from the second driving rod, through a flange; the second driving shaft is fixedly connected with the end face, far away from one side of the first driving rod, of the second driving rod through a flange.
In some embodiments of the present disclosure, the auxiliary arm comprises:
one end of the passive telescopic arm is hinged with the lower part of the connecting part through a hinge seat; the other end of the passive telescopic arm is hinged with the far-end execution part through the hinge seat.
In some embodiments of the present disclosure, the connection portion includes:
one end of the spherical connecting assembly is pivoted with the two driving rods of the control part through the two revolute pair components respectively;
second spherical coupling assembling, second spherical coupling assembling one end with the first spherical coupling assembling other end is through two the pin joint of revolute pair spare, the second spherical coupling assembling other end with far away end execution portion is through one the pin joint of revolute pair spare.
In some embodiments of the present disclosure, the first spherical connection assembly comprises:
one end of the first spherical connecting rod is pivoted with the first driving rod through one rotating pair part;
one end of the second spherical connecting rod is pivoted with the second driving rod through one revolute pair part, and the middle part of the first spherical connecting rod is pivoted with the middle part of the second spherical connecting rod through one revolute pair part.
In some embodiments of the present disclosure, the second spherical connection assembly comprises:
one end of the third spherical connecting rod is pivoted with the other end of the first spherical connecting rod through one revolute pair component;
one end of the fourth spherical connecting rod is pivoted with the other end of the second spherical connecting rod through one revolute pair component;
the other end of the third spherical connecting rod and the other end of the fourth spherical connecting rod are pivoted with the far-end executing part through one revolute pair component.
In some embodiments of the present disclosure, the radius of curvature of the first spherical link is equal to or greater than the radius of curvature of the second spherical link. The radius of curvature of the fourth spherical connecting rod is equal to or greater than the radius of curvature of the third spherical connecting rod.
(III) advantageous effects
According to the technical scheme, the manipulator arm from the operating end of the present disclosure has at least one or a part of the following beneficial effects:
(1) the instrument arm provided by the disclosure adopts a spherical extensible structure consisting of a plurality of spherical connecting rods, can move around one point in space in 2 degrees of freedom, and can adjust the space position of an immobile point by adjusting the posture of a driven arm of a slave operation arm so as to meet the operation requirements of different operations.
(2) The utility model provides an instrument arm is provided with the auxiliary arm below the connecting portion to improve spherical deployable structural rigidity and bearing capacity.
(3) The rotating shafts of the first driving rod and the second driving rod of the mechanical arm are arranged in a superposition mode, so that the structure of the driving device is more compact, and the size of a robot for the operation is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a slave manipulator arm according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of an embodiment of the present disclosure from another angle of the manipulator arm.
Fig. 3 is a schematic structural diagram of a control unit of the slave manipulator arm according to the embodiment of the present disclosure.
Fig. 4 is a schematic diagram of the exploded structure of fig. 3.
Fig. 5 is a schematic view of a transmission structure from the first driving motor to the first driving rod in fig. 3.
Fig. 6 is a schematic view of a transmission structure from the second driving motor to the second driving rod in fig. 3.
Fig. 7 is a schematic diagram of a slave operation end of a robot applied to a slave operation end robot arm according to an embodiment of the present disclosure.
Detailed Description
The present disclosure provides a slave operation end robot arm including: the connecting part is of a telescopic structure and comprises a driving end and a driven end; two driving rods of the control part are respectively connected with the driving end of the connecting part, and the other end of the control part is connected with the slave operation end; one end of the far-end executing part is connected with the driven end of the connecting part, and the other end of the far-end executing part is connected with the executing mechanism; one end of the auxiliary arm is hinged with the lower part of the connecting part, and the other end of the auxiliary arm is hinged with the far-end executing part; the control part controls the connecting part to extend and/or swing along a spherical surface, and the actuating mechanism always points to the spherical center corresponding to the spherical surface; the auxiliary arm moves passively with the movement of the connecting part along a spherical surface in a stretching and/or swinging manner.
To make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to specific embodiments and the accompanying drawings.
In an embodiment of the present disclosure, a slave manipulator arm is provided, including: the connecting part is of a telescopic structure and comprises a driving end and a driven end; two driving rods of the control part are respectively connected with the driving end of the connecting part, and the other end of the control part is connected with the slave operation end; one end of the far-end executing part is connected with the driven end of the connecting part, and the other end of the far-end executing part is connected with the executing mechanism; one end of the auxiliary arm is connected with the lower part of the connecting part, and the other end of the auxiliary arm is connected with the far-end executing part; the control part controls the connecting part to extend and/or swing along a spherical surface, and the actuating mechanism always points to the spherical center corresponding to the spherical surface; the auxiliary arm moves passively with the movement of the connecting part along a spherical surface in a stretching and/or swinging manner.
To explain the control section in detail, in the present embodiment, the control section includes: a drive means 101, a first drive rod 105 and a second drive rod 106. The driving device 101 is provided with a first driving lever 105 and a second driving lever 106 for controlling the space 2 degree-of-freedom movement of the slave operation end robot arm L01. The rotating shafts of the first driving rod 105 and the second driving rod 106 are overlapped, and the purpose of the driving device 101 is to make the structure more compact and reduce the size of the robot for operation.
For a detailed description of the connection portion, the connection portion in this embodiment includes a plurality of first spherical surface connection components and second spherical surface connection components. The first spherical connecting components and the second spherical connecting components are combined to form a spherical expandable structure. The first spherical connecting component positioned at the front end in the plurality of first spherical connecting components is connected with the control part as an active end, and the first spherical connecting component positioned at the tail end is connected with the second spherical connecting component. The second spherical joint assembly is provided with a tool mount 104 as a driven end.
The first spherical connecting assembly comprises two spherical connecting rods 102 and a revolute pair part 103 pivoted with the middle parts of the two spherical connecting rods 102, and two ends of each spherical connecting rod 102 are respectively pivoted with the spherical connecting rods 102 in the adjacent first spherical connecting assembly or pivoted with the first driving rod 105 and the second driving rod 106. Referring to fig. 1 and 2, the spherical link 102 connected to the first driving rod 105 via the revolute pair member 103 serves as a first spherical link, the spherical link 102 connected to the second driving rod 106 via the revolute pair member 103 serves as a second spherical link, and the middle of the first spherical link is pivotally connected to the middle of the second spherical link via the revolute pair member 103. Typically, the radius of curvature of the first spherical link is equal to or greater than the radius of curvature of the second spherical link.
The second spherical connecting assembly comprises two spherical connecting rods 102, and only two ends of each spherical connecting rod 102 are connected with the spherical connecting rods 102 in the adjacent first spherical connecting assemblies and pivoted with the far-end executing parts. Referring to fig. 1 and 2, a spherical link 102 connected to the first spherical link via a revolute pair component 103 serves as a third spherical link, a spherical link 102 connected to the second spherical link via a revolute pair component 103 serves as a fourth spherical link, and an instrument holder 104 is mounted at the end of the spherical deployable structure, which is also at the end of the third spherical link and the fourth spherical link. Generally, the radius of curvature of the fourth spherical link is equal to or greater than the radius of curvature of the third spherical link.
Referring to fig. 2, an auxiliary arm 107 is disposed below the spherical expandable structure for improving the rigidity and the bearing capacity of the spherical expandable structure. The auxiliary arm 107 includes: a passive telescopic arm 108 and two articulated seats 109. Two hinged seats 109 are respectively arranged below the revolute pair part 103 and on the instrument seat 104 at any cross joint of the spherical connecting rod 102, and two ends of the passive telescopic arm 108 are respectively hinged with one hinged seat 109. The auxiliary arm 107 is mounted on the same side of the tool holder 104 as the connecting portion. When the connecting part moves with 2 degrees of freedom in space, the auxiliary arm 107 can move passively following the motion of the deployable structure.
The driving device 101 will be described in detail below with reference to the drawings. Fig. 3 is a schematic structural diagram of a control unit of the slave manipulator arm according to the embodiment of the present disclosure. As shown in fig. 3, the driving device 101 includes: mount 101a, drive motor, transmission gear, drive shaft, etc. The mounting seat 101a is used for mounting parts in the driving device 101.
Referring to fig. 4, the rotation axes of the first driving rod 105 and the second driving rod 106 are coincident. The first driving shaft 101b is used for driving the first driving rod 105 to rotate, the flange 101c arranged at one end of the first driving shaft 101b is installed above the first driving rod 105, the rotation axis of the first driving shaft 101b is overlapped with the rotation axis of the first driving rod 105, the first transmission gear 101d is sleeved on the upper end face of the first driving shaft 101b, the first driving motor 101e is fixedly installed on the outer end face of the installation base 101a, the first driving gear 101f installed on the output shaft of the first driving motor is meshed with the first transmission gear 101d, and the first driving gear 101f rotates to drive the first transmission gear 101d, the first driving shaft 101b and the first driving rod 105 to rotate, as shown in fig. 5.
The second driving shaft 101g is used for driving the second driving rod 106 to rotate, a flange 101h arranged at one end of the second driving shaft 101g is installed below the second driving rod 106, a rotation axis of the second driving shaft 101g is overlapped with a rotation axis of the second driving rod 106, the first driving shaft 101b is a hollow shaft, the other end of the second driving shaft 101g passes through the first driving rod 105, the first driving shaft 101b and the first transmission gear 101d, the second transmission gear 101i is sleeved on the upper end face of the second driving shaft 101g, the second driving motor 101j is fixedly installed on the outer end face of the installation base 101a, a second driving gear 101k installed on an output shaft of the second driving shaft is meshed with the second transmission gear 101i, and the second driving gear 101k rotates to drive the second transmission gear 101i, the second driving shaft 101g and the second driving rod 106 to rotate, as shown in fig. 6.
In an embodiment of the disclosure, a slave operation end using the slave operation end manipulator arm is also provided. Fig. 7 is a schematic diagram of a slave operation end of a robot applied to a slave operation end robot arm according to an embodiment of the present disclosure. As shown in fig. 7, the slave operation end is provided with a deployable slave operation end instrument arm for connecting the surgical instrument with the robot main body, and the deployable slave operation end instrument arm L01 includes a spherical deployable structure capable of performing 2-degree-of-freedom motion around one point in space, namely a fixed point. Before the operation is carried out, the space position of the immobile point can be adjusted by adjusting the posture of the passive arm of the slave operation arm so as to adapt to the operation requirements of different operations.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should clearly recognize that the present disclosure is directed to a slave manipulator arm.
In summary, the present disclosure provides a slave manipulator arm, and the driving device provided by the present disclosure drives the spherical expandable structure through driving the first driving rod and the second driving rod, and makes 2 degrees of freedom motion around one point in space, and can adjust the spatial position of the immobile point by adjusting the posture of the passive arm of the slave manipulator arm, so as to meet the operation requirements of different operations.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". In general, the meaning of the expression is meant to encompass variations of a specified number by ± 10% in some embodiments, by ± 5% in some embodiments, by ± 1% in some embodiments, by ± 0.5% in some embodiments.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A slave manipulation end instrument arm for a slave manipulation end of a surgical robot, the slave manipulation end instrument arm comprising:
the connecting part is of a telescopic structure and comprises a driving end and a driven end;
the two driving rods of the control part are respectively connected with the driving end of the connecting part, and the other end of the control part is connected with the slave operation end;
one end of the far-end executing part is connected with the driven end of the connecting part, and the other end of the far-end executing part is connected with an executing mechanism; and
one end of the auxiliary arm is hinged with the lower part of the connecting part, and the other end of the auxiliary arm is hinged with the far-end executing part;
the control part controls the connecting part to stretch and/or swing along a spherical surface, and the actuating mechanism always points to the spherical center corresponding to the spherical surface; the auxiliary arm moves passively along with the motion of the connecting part stretching and/or swinging along a spherical surface.
2. The slave manipulator arm according to claim 1, wherein the control unit includes:
the driving device is connected with the slave operation end; the driving device comprises a first driving shaft and a second driving shaft, and the axis of the first driving shaft is coincident with the axis of the second driving shaft;
one end of the first driving rod is coaxially connected with the first driving shaft, and the other end of the first driving rod is connected with the driving end of the connecting part; and
one end of the second driving rod is coaxially connected with the second driving shaft; the other end of the second driving rod is connected with the driving end of the connecting part.
3. The slave end effector arm of claim 2, wherein the drive means comprises:
the mounting seat is connected with the slave operation end;
the first driving motor is arranged on one outer end face of the mounting seat;
the first driving gear is connected with the output end of the first driving motor;
the first transmission gear is sleeved on the first driving shaft and meshed with the first driving gear;
the second driving motor is arranged on the other outer end face of the mounting seat;
the second driving gear is connected with the output end of the second driving motor; and
and the second transmission gear is sleeved on the second driving shaft and meshed with the second driving gear.
4. The slave end effector arm of claim 3, wherein the first drive shaft is a hollow shaft, and the first drive shaft is sleeved on the second drive shaft.
5. The slave manipulator arm according to claim 4, wherein the first drive shaft is fixedly connected to an end face of the first drive rod on a side away from the second drive rod via a flange; the second driving shaft is fixedly connected with the end face, far away from one side of the first driving rod, of the second driving rod through a flange.
6. The slave end effector arm of claim 1, wherein the auxiliary arm comprises:
one end of the passive telescopic arm is hinged with the lower part of the connecting part through a hinge seat; the other end of the passive telescopic arm is hinged with the far-end execution part through the hinge seat.
7. The slave end effector arm of any one of claims 1 to 6, wherein the connection portion comprises:
one end of the first spherical connecting assembly is pivoted with the two driving rods of the control part through two revolute pair components respectively; and
second spherical coupling assembling, second spherical coupling assembling one end with the first spherical coupling assembling other end is through two the pin joint of revolute pair spare, the second spherical coupling assembling other end with far away end execution portion is through one the pin joint of revolute pair spare.
8. The slave end effector arm of claim 7, wherein the first spherical coupling assembly comprises:
one end of the first spherical connecting rod is pivoted with the first driving rod through one rotating pair part; and
one end of the second spherical connecting rod is pivoted with the second driving rod through one revolute pair part, and the middle part of the first spherical connecting rod is pivoted with the middle part of the second spherical connecting rod through one revolute pair part.
9. The slave end effector arm of claim 8, wherein the second spherical coupling assembly comprises:
one end of the third spherical connecting rod is pivoted with the other end of the first spherical connecting rod through one revolute pair component; and
one end of the fourth spherical connecting rod is pivoted with the other end of the second spherical connecting rod through one revolute pair component;
the other end of the third spherical connecting rod and the other end of the fourth spherical connecting rod are pivoted with the far-end executing part through one revolute pair component.
10. The slave end effector arm of claim 9, wherein the radius of curvature of the first spherical link is equal to or greater than the radius of curvature of the second spherical link; the radius of curvature of the fourth spherical connecting rod is equal to or greater than the radius of curvature of the third spherical connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210424630.6A CN114652452A (en) | 2022-04-20 | 2022-04-20 | From the operating end arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210424630.6A CN114652452A (en) | 2022-04-20 | 2022-04-20 | From the operating end arm |
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| CN114652452A true CN114652452A (en) | 2022-06-24 |
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| CN202210424630.6A Pending CN114652452A (en) | 2022-04-20 | 2022-04-20 | From the operating end arm |
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