The invention discloses a spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motors. The spherical two-degree-of-freedom rocker operating mechanism comprises a base, a rocker, a mounting frame, two joint motors, two torque sensors, two main rotating arms and two auxiliary rotating arms. The mounting frame is fixed on the base; the two joint motors are fixed onthe mounting frame; the output shafts of the two joint motors are provided with the torque sensors respectively. Output shafts of the two joint motors are fixedly connected with first ends of main rotating arms correspondingly. The second ends of the two main rotating arms are rotationally connected with first ends of the auxiliary rotating arms respectively; the second ends of the two auxiliary rotating arms are rotationally connected with each other and arranged on the outer side of the rocker in a sleeving mode, and the axis of the output shaft of each joint motor, the rotating axis betweenthe main rotating arm and the auxiliary rotating arm and the rotating axis between the two auxiliary rotating arms intersect at the rotating point of the lower end of the rocker. After controlling ofthe rotating angles and the angular speeds of the output shafts of the two joint motors, the moving position and the moving speed of the rocker can be controlled.
本发明公开了一种基于力矩传感器关节电机的球面二自由度摇杆操作机构,包括基座、摇杆、安装架、两个关节电机、两个力矩传感器、两个主转臂和两个从转臂。安装架固定于基座上,两个关节电机固定于安装架上,两个关节电机的输出轴上各安装一个力矩传感器,两个关节电机的输出轴各与一主转臂的第一端固定连接,两个主转臂的第二端各与一从转臂的第一端转动连接,两个从转臂的第二端相互转动连接,两个从转臂的第二端套设于摇杆外侧,关节电机的输出轴的轴线、主转臂与从转臂间的转动轴线以及两个从转臂间的转动轴线交汇于摇杆的下端转动点。本发明通过控制两个关节电机的输出轴的转动角度及角速度,可以控制摇杆的运动位置及速度。
Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor
基于力矩传感器关节电机的球面二自由度摇杆操作机构
2020-07-10
Patent
Electronic Resource
Chinese
IPC: | B64C AEROPLANES , Flugzeuge |