Title:
GUYED SERIAL MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2011/079631
Kind Code:
A1
Abstract:
A guyed serial manipulator includes a wrist joint (1), an elbow joint (2), a shoulder joint (3), and a base drive box (4). The wrist joint and the shoulder joint have two degrees of freedom respectively, and the elbow joint has one degree of freedom. Motors for controlling movement of each joint of the manipulator are mounted in the base drive box (4). Two ends of a corresponding guy wire wound around a corresponding motor winding mechanism (15) pass by a plurality of pulleys and are connected to the corresponding joints, and power of the motor can be transmitted to the manipulator by the guy wires, thus such problem in prior art that the weight of the motors mounted on arms of the manipulator adversely influences a load carrying capacity and a mobility of the manipulator can be solved. The manipulator can be driven to realize a forward and a reverse movement in each degree of freedom by a forward and a reverse rotation of each independent drive motor, thus keeping the guy wire in a tensioned state during the whole movement thereof, and then solving a problem of one-way action that the guy wire can only be stretched and can not be compressed during wire driving. By arranging the pulleys with proper dimensions at proper positions, the manipulator can effectively solves problems that a drive range during the parallel wire driving is limited and the wires are interfered with each other arbitrarily.
Inventors:
ZHANG, Qin (No.381, Wushan Road Tianh, Guangzhou Guangdong 0, 510640, CN)
张勤 (中国广东省广州市天河区五山路381号, Guangdong 0, 510640, CN)
WANG, Manli (No.381, Wushan Road Tianh, Guangzhou Guangdong 0, 510640, CN)
张勤 (中国广东省广州市天河区五山路381号, Guangdong 0, 510640, CN)
WANG, Manli (No.381, Wushan Road Tianh, Guangzhou Guangdong 0, 510640, CN)
Application Number:
CN2010/077202
Publication Date:
July 07, 2011
Filing Date:
September 21, 2010
Export Citation:
Assignee:
SOUTH CHINA UNIVERSITY OF TECHNOLOGY (No.381, Wushan Road Tianh, Guangzhou Guangdong 0, 510640, CN)
华南理工大学 (中国广东省广州市天河区五山路381号, Guangdong 0, 510640, CN)
ZHANG, Qin (No.381, Wushan Road Tianh, Guangzhou Guangdong 0, 510640, CN)
张勤 (中国广东省广州市天河区五山路381号, Guangdong 0, 510640, CN)
华南理工大学 (中国广东省广州市天河区五山路381号, Guangdong 0, 510640, CN)
ZHANG, Qin (No.381, Wushan Road Tianh, Guangzhou Guangdong 0, 510640, CN)
张勤 (中国广东省广州市天河区五山路381号, Guangdong 0, 510640, CN)
International Classes:
B25J3/00; B25J13/00
Attorney, Agent or Firm:
YOGO PATENT & TRADEMARK AGENCY LIMITED COMPANY (Room 3912, BlockB SinopecTower,Tiyuxi Road, Tianhe,Guangzhou, Guangdong 0, 510620, CN)