US 11,951,614 B1
Dual-joint multi-degree-of-freedom mechanical arm and driving method thereof
Ming Xu, Hangzhou (CN); and Hui Liu, Hangzhou (CN)
Assigned to HANGZHOU DIANZI UNIVERSITY, Hangzhou (CN)
Filed by HANGZHOU DIANZI UNIVERSITY, Hangzhou (CN)
Filed on Nov. 10, 2023, as Appl. No. 18/506,914.
Application 18/506,914 is a continuation of application No. PCT/CN2023/108783, filed on Jul. 24, 2023.
Claims priority of application No. 202211613883.4 (CN), filed on Dec. 15, 2022.
Int. Cl. B25J 17/02 (2006.01)
CPC B25J 17/0266 (2013.01) 10 Claims
OG exemplary drawing
 
1. A dual joint multi-degree-of-freedom mechanical arm, comprising a base (1), a driving mechanism, a big arm module and a small arm module; wherein the driving mechanism comprises three bidirectional driving components (2) mounted on the base (1); each of the three bidirectional driving components (2) is capable of outputting a rotary motion and an axial stretching motion; the big arm module comprises three big arm push rods (3), a big arm central rod (4) and an elbow joint universal plate (5); and the elbow joint universal plate (5) is provided with a first central ball socket (5-1) and three ellipse-shaped ball sockets (5-2) surrounding the first central ball socket (5-1);
an inner end of the big arm central rod (4) is fixed with the base (1); a first central sphere (4-1) is fixed at an outer end of the big arm central rod (4); the first central sphere (4-1) and the first central ball socket (5-1) on the elbow joint universal plate (5) form a spherical joint; inner ends of the three big arm push rods (3) are respectively fixed with output shafts of the three bidirectional driving components (2); three connecting balls (3-2) are respectively fixed at outer ends of the three big arm push rods (3); and the three connecting balls (3-2) are respectively constrained in the three ellipse-shaped ball sockets (5-2);
the small arm module comprises a universal joint coupler (12), a small arm central rod (13), three small arm stretching rods and a wrist joint universal plate (10); the wrist joint universal plate (10) is provided with a second central ball socket (10-1); an inner end of the small arm central rod (13) is fixed with the elbow joint universal plate (5); an outer end of the small arm central rod (13) is fixed with a second central ball (13-1); and the second central ball (13-1) and the second central ball socket on the wrist joint universal plate (10) form a spherical joint; and
each of the three small arm stretching rods comprises a first connecting rod (8) and a second connecting rod (9); an outer end of the first connecting rod (8) and an inner end of the second connecting rod (9) form a screw mechanism; an inner end of the first connecting rod (8) of each of the three small arm stretching rods is in transmission connection with a corresponding one of the three connecting balls through the universal joint coupler (12); and an outer end of the second connecting rod (9) of each of the three small arm stretching rods and a corresponding one of three different positions on the wrist joint universal plate (10) form a rotating joint.