CN115533964A - Multi-degree-of-freedom gravity compensation mechanical arm - Google Patents

Multi-degree-of-freedom gravity compensation mechanical arm Download PDF

Info

Publication number
CN115533964A
CN115533964A CN202210761786.3A CN202210761786A CN115533964A CN 115533964 A CN115533964 A CN 115533964A CN 202210761786 A CN202210761786 A CN 202210761786A CN 115533964 A CN115533964 A CN 115533964A
Authority
CN
China
Prior art keywords
joint
connecting rod
spring device
mass
center
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210761786.3A
Other languages
Chinese (zh)
Inventor
赵朋波
文新
唐侃
赵英凯
南非
赵朱千里
刘战胜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHINA AEROSPACE TIMES ELECTRONICS CO LTD
Original Assignee
CHINA AEROSPACE TIMES ELECTRONICS CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CHINA AEROSPACE TIMES ELECTRONICS CO LTD filed Critical CHINA AEROSPACE TIMES ELECTRONICS CO LTD
Priority to CN202210761786.3A priority Critical patent/CN115533964A/en
Publication of CN115533964A publication Critical patent/CN115533964A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A multi-degree-of-freedom gravity compensation mechanical arm relates to the field of gravity balance and gravity compensation of robots and comprises a base; the first joint is connected to the base, and a first spring device is connected between the first joint and the base and used for performing gravity compensation on the first joint; one end of the second joint is vertically and rotatably connected with the first joint; one end of the third joint is vertically and rotatably connected with one end of the second joint, which is far away from the first joint; one end of the fourth joint is vertically and rotatably connected with one end of the third joint, which is far away from the second joint; the fifth joint is horizontally and rotatably connected with the fourth joint, a second spring device is connected between the fifth joint and the fourth joint, and the second spring device is used for performing gravity compensation on the fifth joint; and the sixth joint is horizontally and rotatably connected with the fifth joint and is provided with a counterweight module for balancing the gravity of the sixth joint. The gravity moment of each joint of the mechanical arm can be obviously reduced or eliminated, the power consumption of a joint driving device is reduced, and the weight of the whole mechanical arm is reduced.

Description

Multi-degree-of-freedom gravity compensation mechanical arm
Technical Field
The invention relates to the field of gravity balance and gravity compensation of robots, in particular to a multi-degree-of-freedom gravity compensation mechanical arm.
Background
The existing gravity balance mechanical arm generally has less degree of freedom and single balance method, and only adopts a spring method or a counterweight method. The simple spring method needs to add more springs, which can affect the operation space of the mechanical arm. The mechanical arm is balanced only by adopting a counterweight method, so that the quality of the mechanical arm is greatly increased, and the dynamic performance is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a six-degree-of-freedom gravity compensation mechanical arm, so that the collection weight of the mechanical arm is increased less, and the dynamic performance of the mechanical arm is better.
The technical scheme is as follows:
a multi-degree-of-freedom gravity compensation mechanical arm comprises a base; the first joint is connected to the base, and a first spring device is connected between the first joint and the base and used for performing gravity compensation on the first joint; one end of the second joint is vertically and rotatably connected with the first joint; one end of the third joint is vertically and rotatably connected with one end of the second joint, which is far away from the first joint; one end of the fourth joint is vertically and rotatably connected with one end of the third joint, which is far away from the second joint; the fifth joint is horizontally and rotatably connected with the fourth joint, and a second spring device is connected between the fifth joint and the fourth joint and used for performing gravity compensation on the fifth joint; and the sixth joint is horizontally and rotatably connected with the fifth joint and is provided with a counterweight module for balancing the gravity of the sixth joint.
The first joint comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged, the hinge axes of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are horizontal, the first connecting rod is fixedly connected to the base, the first spring device is located above the first joint and connected to the second connecting rod, and the second joint is rotatably connected to the third connecting rod.
The connection point of the first spring device and the base is positioned right above the axis of the first connecting rod.
The first spring device and the second spring device respectively comprise a rack, an elastic part, a fixed pulley and a steel wire rope, the rack is connected to the first balanced rod, the elastic part is connected to the rack, and one end of the steel wire rope is connected to the elastic part, then bypasses the fixed pulley and is connected to the second balanced rod;
the first balanced bar and the second balanced bar are respectively a first joint and a base, or the first balanced bar and the second balanced bar are respectively a fifth joint and a fourth joint.
The first spring device comprises a rack, an elastic part, a fixed pulley and a steel wire rope, wherein the rack of the first spring device is connected to the base, the elastic part of the first spring device is connected to the rack of the first spring device, and one end of the steel wire rope of the first spring device is connected to the elastic part of the first spring device, then bypasses the fixed pulley of the first spring device and is connected to the first joint;
the second spring device comprises a rack, an elastic part, a fixed pulley and a steel wire rope, the rack of the second spring device is connected to the fourth joint, the elastic part of the second spring device is connected to the rack of the second spring device, and one end of the steel wire rope of the second spring device is connected to the elastic part of the second spring device, then bypasses the fixed pulley of the second spring device and is connected to the fifth joint.
The elastic part comprises a movable pulley, a guide rod, a pressing rod and a pressing spring, the end part of the guide rod is connected to the frame, the pressing spring sleeve is arranged outside the guide rod, the pressing rod is connected to the guide rod, the pressing rod is arranged at one end, far away from the frame, of the pressing spring in a pressing mode, the movable pulley is rotatably connected to the pressing rod, one end of the steel wire rope is fixedly connected to the frame, and the steel wire rope bypasses the fixed pulley after bypassing the movable pulley.
The fourth joint comprises a horizontal part and a vertical part which are integrally connected and are vertical to each other, the end part of the horizontal part is vertically and rotatably connected with the third joint, and the bottom end of the vertical part is horizontally and rotatably connected with the fifth joint.
The counterweight module comprises a seed distributing rod and a counterweight block, the seed distributing rod is connected to the end part of the fifth joint hinged to the fourth joint, and the counterweight block is connected to the end part of the counterweight rod far away from the fifth joint.
The sixth joint and the counterweight module satisfy: m is 26 ×L 26 ＝m 27 ×L 27 ，
Wherein m is 26 Is the center of mass of the sixth joint, L 26 Moment of the center of mass of the sixth joint to the axis of rotation of the sixth joint, m 27 Is the center of mass of the counterweight module, L 27 The moment from the mass center of the counterweight module to the rotating shaft of the sixth joint.
The gravity balance condition of the fifth joint is as follows:
(m 25 +m 26 +m 27 )×g×L 24 ＝-k×L OA ×L OB ，
wherein m is 25 Is the center of mass of the fifth joint, (m) 25 +m 26 +m 27 ) Is the integral mass center, L, of the fifth joint, the sixth joint and the counterweight module 24 The moment from the integral mass center of the fifth joint, the sixth joint and the counterweight module to the rotating shaft between the fifth joint and the fourth joint, L OA Is the distance from the connecting point of the second spring device and the fourth joint to the rotating shaft between the fifth joint and the fourth joint, L OB The distance from the connecting point of the second spring device and the fifth joint to the rotating shaft between the fifth joint and the fourth joint is g, the gravity acceleration is g, and k is the elastic coefficient of the second spring device.
The gravity balance condition of the first joint 3 is as follows:
-(0.5m 19 +0.5m 21 +m 20 +m 22 +m 23 +2m 24 +m 25 +m 26 +m 27 )
×g×l 21 ＝k 0 ×a×b，
wherein m is 19 Is the center of mass, m, of the second link 21 Is the center of mass, m, of the fourth link 20 Is the center of mass, m, of the third link 22 Is the center of mass of the second joint, m 23 Is the center of mass of the third joint, m 24 Is the center of mass of the fourth joint, and a is the connection point of the first spring device and the base to the first connecting rod and the second connecting rodThe distance between the hinge point of the rod, b is the distance between the connection point of the first spring device and the second connecting rod and the hinge point of the first connecting rod and the second connecting rod, k 0 Is the spring constant of the first spring means.
In summary, the present application at least includes the following beneficial technical effects:
1. the gravity compensation method is a complete balance method, and can realize complete gravity balance of the mechanical arm at any pose under the condition of neglecting friction of the joints and the spring device, namely, each joint is not influenced by gravity moment.
2. The balance method comprises a spring method and a counterweight method, and aiming at the condition that the tail end joint of the mechanical arm is light in weight, the counterweight balance of the tail end joint is realized by adopting a light counterweight. And the other joints adopt zero initial length spring devices to realize gravity balance. The increase of the weight of the whole machine is reduced on the premise of realizing gravity balance.
Drawings
FIG. 1 is a schematic view of a robot arm in an embodiment of the present application;
FIG. 2 is a diagrammatic view of a first spring arrangement and a second spring arrangement in an embodiment of the present application;
FIG. 3 is a first joint profile in an embodiment of the present application;
FIG. 4 is a schematic view of a robot arm centroid location distribution;
fig. 5 is a schematic diagram of the balance principle of the fifth joint 8 and the sixth joint 9;
fig. 6 is a schematic view of the principle of balancing the first joint 3.
Description of reference numerals: 1. a base; 2. a first spring means; 3. a first joint; 4. a second joint; 5. a third joint; 6. a fourth joint; 7. a second spring means; 8. a fifth joint; 9. a sixth joint; 10. a counterweight module;
11. a movable pulley; 12. a guide bar; 13. a pressure lever; 14. a pressure spring; 15. a fixed pulley; 16. a balanced bar;
17. a wire rope;
18. a first link; 19. a second link; 20. a third link; 21. and a fourth link.
Detailed Description
The present application will now be described in further detail with reference to the following figures and specific examples:
the embodiment of the application discloses a multi-degree-of-freedom gravity compensation mechanical arm, which comprises a base 1 and a first joint 3 connected to the base 1, wherein a first spring device 2 is connected between the first joint 3 and the base 1, and the first spring device 2 is used for performing gravity compensation on the first joint 3; the first joint 3 is vertically and rotatably connected with a second joint 4; one end of the second joint 4, which is far away from the first joint 3, is vertically and rotatably connected with a third joint 5; one end of the third joint 5, which is far away from the second joint 4, is vertically and rotatably connected with a fourth joint 6; the fourth joint 6 is horizontally and rotatably connected with a fifth joint 8, a second spring device 7 is connected between the fifth joint 8 and the fourth joint 6, and the second spring device 7 is used for performing gravity compensation on the fifth joint 8; the fifth joint 8 is horizontally and rotatably connected with a sixth joint 9, and the sixth joint 9 is provided with a counterweight module 10 for balancing the weight of the sixth joint 9.
As shown in fig. 2, the first spring device 2 includes a frame, a movable pulley 11, a guide rod 12, a pressing rod 13, a pressing spring 14, a fixed pulley 15, and a wire rope 17. In this embodiment, two guide rods 12 are provided, one end of each guide rod 12 is fixed to the frame, the pressure spring 14 is sleeved outside the guide rod 12, the pressure rod 13 is slidably connected to the guide rod 12 along the axial direction of the guide rod 12, the pressure rod 13 is arranged at one end, far away from the frame, of the pressure spring 14 in a pressing manner, the upper end of the pressure spring 14 is connected with the pressure rod 13, the movable pulley 11 is connected to the middle position of the pressure rod 13, and the fixed pulley 15 is connected to the frame. One end of a steel wire rope 17 is fixed at the point C of the frame, and then the steel wire rope 17 is wound around the movable pulley 11, the fixed pulley 15 and then fixed at the point B of the balanced rod 16 in sequence. The first balanced bar and the second balanced bar are respectively a first joint and a base, or the first balanced bar and the second balanced bar are respectively a fifth joint and a fourth joint. The second spring means 7 are of the same construction as the first spring means 2. The frame of the first spring device 2 is connected to the base 1, and the wire rope 17 of the first spring device 2 is connected to the first joint. The frame of the second spring device 7 is connected to the fourth joint, and the wire rope 17 of the second spring device 7 is connected to the fifth joint.
As shown by the dotted line in fig. 2, when the pressure spring 14 is in the initial state, the length of the steel wire rope between the point a and the point B is 0, that is, the point a coincides with the point B when the balanced bar is in the vertical state. By adopting the spring device, the steel wire rope between the points AB can be equivalent to a zero initial length spring, namely, the force between the point A and the point B is in direct proportion to the distance. The springs shown in fig. 1 are all equivalent zero initial length springs.
As shown in fig. 1 and 3, the first joint 3 includes a first link 18, a second link 19, a third link 20, and a fourth link 21, which are sequentially hinged, the hinge axes of the first link 18, the second link 19, the third link 20, and the fourth link 21 are horizontal, the first link 18 is fixedly connected to the base 1, the first spring device 2 is located above the first joint 3 and connected to the second link 19, and the second joint 4 is rotatably connected to the third link 20. So that the first joint 3 forms a parallelogram mechanism. In the figure, the point A of the first spring device 2, namely the equivalent zero initial length spring, is fixedly connected with the base 1, the point B of the equivalent zero initial length spring is fixedly connected with the second connecting rod 19, and the point A is positioned right above the axis of the first connecting rod 18 in the figure.
As shown in fig. 1, the fourth joint includes a horizontal portion and a vertical portion that are integrally connected and perpendicular to each other, an end of the horizontal portion is vertically and rotatably connected to the third joint, and a bottom end of the vertical portion is horizontally and rotatably connected to the fifth joint. The second spring means 7, i.e. the equivalent zero initial length spring a, is fixed to the vertical part of the fourth joint 6 and the equivalent zero initial length spring B is fixed to the fifth joint 8. The counterweight module comprises a seed distributing rod and a counterweight block, the seed distributing rod is connected to the end part of the fifth joint hinged with the fourth joint, and the counterweight block is connected to the end part of the counterweight rod far away from the fifth joint.
As shown in fig. 4, the positions of the mass centers of the joints of the mechanical arm are distributed along the axes of the connecting rods, and the gravity balance condition of the mechanical arm is analyzed:
the sixth joint 9 realizes the gravity balance of the joint through a counterweight, and the balance condition can pass through the mass center m 26 、m 27 The resultant moment of the axis of the sixth joint is zero, m 26 ×L 26 ＝m 27 ×L 27
Wherein m is 26 Is the center of mass of the sixth joint, L 26 Is as followsMoment from the center of mass of the six joints to the axis of rotation of the sixth joint, m 27 Is the center of mass of the counterweight module, L 27 The moment from the mass center of the counterweight module to the rotating shaft of the sixth joint.
The gravity balance of the fifth joint 8 is realized by the second spring device 7 as shown in fig. 5, the connecting rod 24 in the fourth joint 6 is in a vertical state at any pose, a point A in fig. 5 is set as a zero potential energy reference point, and the center of mass m is set as the center of mass m 25 、m 26 、m 27 Has a gravitational potential energy of (m) 25 +m 26 +m 27 )×g×(L OA -L 24 ×cosθ)
The elastic potential energy of the second spring means 7 is:
1/2×k×(L OA 2 +L OB 2 -2L OA L OB cosθ)
the gravity balance condition of the fifth joint 8 that can be obtained from conservation of potential energy is:
(m 25 +m 26 +m 27 )×g×L 24 ＝-k×L OA ×L OB
wherein m is 25 Is the center of mass of the fifth joint, (m) 25 +m 26 +m 27 ) Is the integral mass center, L, of the fifth joint, the sixth joint and the counterweight module 24 The moment from the integral mass center of the fifth joint, the sixth joint and the counterweight module to a rotating shaft between the fifth joint and the fourth joint, L OA Is the distance from the connecting point of the second spring device and the fourth joint to the rotating shaft between the fifth joint and the fourth joint, L OB The distance from the connecting point of the second spring device and the fifth joint to the rotating shaft between the fifth joint and the fourth joint is g, the gravity acceleration is g, and k is the elastic coefficient of the second spring device.
In any pose, the joint axes of the second joint 4, the third joint 5 and the fourth joint 6 are all in a vertical state, so that the joints are not influenced by gravity moment.
As shown in fig. 6, the gravitational equilibrium of the first joint 3 is realized by the first spring device 2, and with point a as a zero potential energy reference point, the gravitational potential energy of the first joint 3 at any pose is:
-(0.5m 19 +0.5m 21 +m 20 +m 22 +m 23 +2m 24 +m 25 +m 26 +m 27 )×g×l 21 ×cosθ+C
in the above formula, C is a constant, and is not related to derivation of the gravity balance condition.
The elastic potential energy of the first spring means 2 is:
1/2×k 0 ×(a 2 +b 2 -2×a×b×cosθ)
the gravity balance condition of the first joint 3 that can be obtained from the conservation of potential energy is:
-(0.5m 19 +0.5m 21 +m 20 +m 22 +m 23 +2m 24 +m 25 +m 26 +m 27 )×g×l 21 ＝k 0 ×a×b
wherein m is 19 Is the center of mass of the second link, m 21 Is the center of mass, m, of the fourth link 20 Is the center of mass, m, of the third link 22 Is the center of mass of the second joint, m 23 Is the center of mass of the third joint, m 24 Is the center of mass of the fourth joint, a is the distance from the connection point of the first spring device and the base to the hinge point of the first connecting rod and the second connecting rod, b is the distance from the connection point of the first spring device and the second connecting rod to the hinge point of the first connecting rod and the second connecting rod, and k 0 Is the spring constant of the first spring means.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A multi freedom gravity compensation arm which characterized in that: comprises that
A base (1);
the first joint (3) is connected with the base (1) through a first spring device (2), and the first spring device (2) is used for performing gravity compensation on the first joint (3);
one end of the second joint (4) is vertically and rotatably connected with the first joint (3);
one end of the third joint (5) is vertically and rotatably connected with one end of the second joint (4) far away from the first joint (3);
one end of the fourth joint (6) is vertically and rotatably connected with one end of the third joint (5) far away from the second joint (4);
the fifth joint (8) is horizontally and rotatably connected with the fourth joint (6), a second spring device (7) is connected between the fifth joint (8) and the fourth joint (6), and the second spring device (7) is used for performing gravity compensation on the fifth joint (8);
and the sixth joint (9) is horizontally and rotatably connected with the fifth joint (8) and is provided with a counterweight module (10) for balancing the gravity of the sixth joint (9).
2. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 1, wherein: first joint (3) are including articulated first connecting rod (18), second connecting rod (19), third connecting rod (20), fourth connecting rod (21) in proper order, and the hinge axis level of first connecting rod (18), second connecting rod (19), third connecting rod (20), fourth connecting rod (21), first connecting rod (18) fixed connection in base (1), first spring assembly (2) are located the top of first joint (3), and connect in second connecting rod (19), and second joint (4) rotate to be connected in third connecting rod (20).
3. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 2, wherein: the connection point of the first spring device (2) and the base (1) is on the extension line of the axis of the first connecting rod (18).
4. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 1, wherein: the first spring device (2) comprises a rack, an elastic part, a fixed pulley (15) and a steel wire rope (17), the rack is connected to the base (1), the elastic part is connected to the rack, and one end of the steel wire rope (17) is connected to the elastic part, then bypasses the fixed pulley (15) and is connected to the first joint (3);
the second spring device (7) comprises a rack, an elastic part, a fixed pulley (15) and a steel wire rope (17), the rack is connected to the fourth joint (6), the elastic part is connected to the rack, and one end of the steel wire rope (17) is connected to the elastic part, then bypasses the fixed pulley (15) and is connected to the fifth joint (8).
5. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 4, wherein: elastic component includes movable pulley (11), guide arm (12), depression bar (13), pressure spring (14), the tip of guide arm (12) is connected in the frame, guide arm (12) outside is located in pressure spring (14) cover, depression bar (13) sliding connection is in guide arm (12), and depression bar (13) pressure is located the one end that the frame was kept away from in pressure spring (14), movable pulley (11) are connected in depression bar (13), the one end fixed connection in the frame of wire rope (17), wire rope (17) are walked around after movable pulley (11) and are walked around fixed pulley (15) again.
6. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 1, wherein: the fourth joint (6) comprises a horizontal part and a vertical part which are integrally connected and vertical to each other, the end part of the horizontal part is vertically and rotatably connected with the third joint (5), and the bottom end of the vertical part is horizontally and rotatably connected with the fifth joint (8).
7. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 1, wherein: the counterweight module (10) comprises a counterweight rod and a counterweight block, the counterweight rod is connected to the end part of the sixth joint (9) hinged to the fifth joint (8), and the counterweight block is connected to the end part of the counterweight rod far away from the sixth joint (9).
8. The multi-degree-of-freedom gravity compensation mechanical arm as recited in claim 7, wherein: the sixth joint (9) and the counterweight module (10) satisfy: m is 26 ×L 26 ＝m 27 ×L 27 ，
Wherein m is 26 Is the center of mass, L, of the sixth joint (9) 26 Is the moment from the mass center of the sixth joint (9) to the rotating shaft of the sixth joint (9), m27 is the mass center of the counterweight module (10), L 27 Being counterweight modules (10)The moment of the center of mass to the rotating shaft of the sixth joint (9).
9. The multi-degree-of-freedom gravity compensation mechanical arm as recited in claim 8, wherein: the gravity balance condition of the fifth joint (8) is as follows:
(m 25 +m 26 +m 27 )×g×L 24 ＝-k×L OA ×L OB ，
wherein m is 25 Is the center of mass of the fifth joint (8), (m) 25 +m 26 +m 27 ) Is the integral mass center, L, of the fifth joint (8), the sixth joint (9) and the counterweight module (10) 24 Is the moment from the integral mass center of the fifth joint (8), the sixth joint (9) and the counterweight module (10) to the rotating shaft between the fifth joint (8) and the fourth joint (6), L OA The distance L from the connecting point of the second spring device (7) and the fourth joint (6) to the rotating shaft between the fifth joint (8) and the fourth joint (6) OB The distance from the connecting point of the second spring device (7) and the fifth joint (8) to the rotating shaft between the fifth joint (8) and the fourth joint (6) is g, the gravity acceleration is g, and k is the elastic coefficient of the second spring device (7).
10. The multi-degree-of-freedom gravity compensation mechanical arm according to claim 9, wherein: the gravity balance condition of the first joint (3) is as follows:
-(0.5m 19 +0.5m 21 +m 20 +m 22 +m 23 +2m 24 +m 25 +m 26 +m 27 )×g×l 21 ＝k 0 ×a×b，
wherein m is 19 Is the center of mass, m, of the second link (19) 21 Is the center of mass, m, of the fourth link (21) 20 Is the center of mass, m, of the third link (20) 22 Is the center of mass, m, of the second joint (4) 23 Is the center of mass, m, of the third joint (5) 24 Is the center of mass of the fourth joint (6), a is the distance from the connecting point of the first spring device (2) and the base (1) to the hinge point of the first connecting rod (18) and the second connecting rod (19), and b is the distance from the connecting point of the first spring device (2) and the second connecting rod (19) to the hinge point of the first connecting rod (18) and the second connecting rod (19)，k 0 Is the elastic coefficient of the first spring device (2).
CN202210761786.3A 2022-06-29 2022-06-29 Multi-degree-of-freedom gravity compensation mechanical arm Pending CN115533964A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210761786.3A CN115533964A (en) 2022-06-29 2022-06-29 Multi-degree-of-freedom gravity compensation mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210761786.3A CN115533964A (en) 2022-06-29 2022-06-29 Multi-degree-of-freedom gravity compensation mechanical arm

Publications (1)

Publication Number Publication Date
CN115533964A true CN115533964A (en) 2022-12-30

Family

ID=84724569

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210761786.3A Pending CN115533964A (en) 2022-06-29 2022-06-29 Multi-degree-of-freedom gravity compensation mechanical arm

Country Status (1)

Country Link
CN (1) CN115533964A (en)

Similar Documents

Publication Publication Date Title
US20190380903A1 (en) Passively Balanced Load-Adaptive Upper-Limb Exoskeleton
CN108818618A (en) A kind of healing robot arm gravity balance device
CN102507218A (en) Mechanical arm type simulation test platform for tire comprehensive performances
CN110315511A (en) A kind of rope driving sorting machine people in parallel using passive tensioned
CN111216129A (en) Active and passive combined series-parallel force feedback equipment gravity compensation method
CN101376248B (en) Long-distance motion central mechanism for gravitational equilibrium
CN109826894A (en) A kind of spring face damping device
CN107351120A (en) Gravity load counter-jib and mechanical arm
CN104444896A (en) Integrated constant-tension sling control device with measurement and buffering functions
CN106078688B (en) A kind of heavy duty self-balancing 3-freedom parallel mechanism
CN112959339A (en) Balance clamping shock-absorbing device for stay cable detection robot
RU2010151175A (en) SOLAR BATTERY DISPLAY TEST STAND
CN103950042B (en) Three revoliving arm series connection suspension type Six-freedom-degree space mechanical arm gravity-compensated devices
CN201026090Y (en) Angle regulating device of wall hanging frame
CN115533964A (en) Multi-degree-of-freedom gravity compensation mechanical arm
CN102161201B (en) Up-and-down telescopic three-platform one-rotation parallel mechanism
CN202344124U (en) Pulley type air cylinder balance mechanism
CN113021313A (en) Vibration damping base for reconnaissance robot
CN113081289B (en) Main operation arm for surgical robot
CN106826775B (en) Isotropic space two-degree-of-freedom rotating parallel robot
CN114705392B (en) Test equipment for wind displacement resistance strength of mechanical ventilation cooling tower
CN109129559A (en) A kind of gravity balance device of series parallel robot in five degrees of freedom
CN2716943Y (en) Novel six-degree-of-freedom gravity balance mechanism
CN105460291A (en) X-shaped encapsulating clamp
CN207273229U (en) A kind of self-balancing teaching mechanical arm

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination