CN110450147B - Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof - Google Patents
Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof Download PDFInfo
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- CN110450147B CN110450147B CN201910765710.6A CN201910765710A CN110450147B CN 110450147 B CN110450147 B CN 110450147B CN 201910765710 A CN201910765710 A CN 201910765710A CN 110450147 B CN110450147 B CN 110450147B
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- 238000004422 calculation algorithm Methods 0.000 title claims abstract description 27
- 230000005484 gravity Effects 0.000 title claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims description 16
- 210000003857 wrist joint Anatomy 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 3
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a crank slide bar mechanical arm with a rear-mounted gravity center of a spring counterweight, which comprises a base, a waist arranged at the top of the base, a large arm arranged at the top end of the waist and a small arm arranged at one end of the large arm, wherein the large arm and the waist are elastically connected through two springs. The design structure is modularized, the output of a motor, an electric cylinder and the like is used as driving force, the working is fast, the fine operation is easy, a thrust bearing, a deep groove ball bearing and an external bearing seat are arranged at the joint, the axial and radial movement is effectively prevented, the friction loss is reduced, the spring counterweight type design effectively reduces the power consumption of the motor, and therefore the whole energy consumption of the robot arm is lower, meanwhile, the elastic connecting piece can effectively buffer the driving force, the stress among the joints is balanced, and the efficient fine grabbing operation is realized. The invention also discloses a motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight.
Description
Technical Field
The invention relates to the field of joints of mechanical arms driven by electric cylinders, in particular to a crank slide bar mechanical arm with a rear-mounted gravity center of a spring counterweight and a motor rotation angle algorithm thereof.
Background
The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the mechanical arm is widely applied to the fields of industrial assembly, safety explosion prevention and the like, and is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists. Therefore, the modeling model of the mechanical arm also has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the end pose is formed by cascading, and the mechanical arm plays an important role in industrial production.
The most applied driving mode of traditional arm is motor acceleration and deceleration ware form, and the arm exhibition of this kind of form and self weight ratio are very little, lead to whole arm weight and volume increase after the arm exhibition extension, and load capacity also increases, and is very unmatched under some light load, the operating mode of long arm exhibition.
The invention aims to solve the problems, and designs the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight for stable and efficient operation under the complex working conditions of heavy load, long arm deployment and the like.
Disclosure of Invention
The invention aims to provide a crank slide bar mechanical arm with a rear-mounted gravity center of a spring counterweight, which solves the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a rear-mounted crank slide bar arm of spring counter weight focus, includes the base, install in the waist at base top, install in big arm on waist top with install in the forearm of big arm one end, big arm with through two spring elastic connection between the waist, the top sliding connection of base has the connecting piece, through connecting piece sliding connection between base and the waist, first electronic jar is installed to one side of waist, first electronic jar with pass through the bearing rotation between the waist and connect, the outside cover of bearing is equipped with the axle sleeve, install the snap ring on the axle sleeve, the both ends of spring respectively fixed connection in big arm with the connecting piece, the top of waist with pass through first deep groove ball bearing rotation connection between the big arm, install first external bearing frame in the outside on waist top, two thrust bearings are installed to the inboard on waist top, two first horizontal optical axis supports are installed to the inboard of big arm.
As a preferable technical scheme of the invention, a second external bearing seat is arranged on the outer side of the bottom end of the large arm, a fourth deep groove ball bearing is arranged on the inner side of the bottom end of the large arm, a second electric cylinder is mounted on the fourth deep groove ball bearing, the telescopic end of the second electric cylinder is rotationally connected with the small arm through a fisheye bearing, and two second horizontal optical axis supports are mounted on the inner side of one end of the small arm.
As a preferable technical scheme of the invention, the top end of the large arm is rotatably connected with the small arm through a third deep groove ball bearing, two third external bearing seats are arranged on the outer side of the top end of the large arm, two third horizontal optical axis supports are arranged on the inner side of the small arm, and a thrust bearing is arranged on the outer side of the small arm.
As a preferable technical scheme of the invention, the telescopic end of the first electric cylinder is rotatably connected with the bottom end of the large arm through a second deep groove ball bearing.
As a preferable technical scheme of the invention, the waist is a closed square tube, two sides of the waist are provided with side plates, and the two side plates are fixedly connected through a connecting optical axis.
As a preferable technical scheme of the invention, one side of the base is provided with a tank chain, one end of the tank chain is fixedly connected with the first electric cylinder, an electric wire penetrates through the tank chain, and the first electric cylinder is electrically connected with an external power supply through the electric wire.
As a preferable technical scheme of the invention, a wrist joint motor seat used for connecting clamping equipment is arranged at the wrist joint of the tail end of the small arm, and the wrist joint motor seat is fixedly connected with the large arm through bolts.
As the motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight, the algorithm of the corresponding relation between the motor rotation angle and the rotation angle of the robot joint is as follows: step 1: integrating the integral mechanism movement into a triangle;
step 2: obtaining the relation between the length of the electric cylinder and the joint angle of the mechanical arm through cosine theorem;
Step 3; obtaining the relation between the speed of the electric cylinder push rod and the joint angular speed through differentiation;
Step 4; the relation between the speed of the push rod of the electric cylinder and the actual joint angular speed is deduced according to the relation between the speed of the supplementary angle of the actual joint angle and the total length of the electric cylinder rod;
step 5; finally, the number of turns of the motor of the electric cylinder can be obtained through the initial length and the lead of the electric cylinder.
Compared with the prior art, the invention has the beneficial effects that: the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight is modularized in design structure, is output by a motor, an electric cylinder and the like as driving force, is quick to do work and easy to finely operate, is provided with the thrust bearing, the deep groove ball bearing and the external bearing seat at the joint, effectively prevents axial and radial play, reduces friction loss, and is designed to effectively reduce power consumption of the motor, so that the whole energy consumption of the robot arm is lower, and meanwhile, the elastic connecting piece can effectively buffer the driving force, balance stress among joints and realize efficient fine grabbing operation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the waist structure of the present invention;
FIG. 3 is a schematic view of the structure of the big arm in the present invention;
FIG. 4 is a schematic view of the structure of the forearm in the invention;
FIG. 5 is a schematic view of the waist top in the present invention;
FIG. 6 is a diagram showing the structure of a mechanical arm of a calculation algorithm in the invention.
In the figure: 1. a base; 2. a connecting piece; 3. a waist portion; 4. a shaft sleeve; 5. connecting an optical axis; 6. a first electric cylinder; 7. a tank chain; 8. the first external bearing seat; 9. a first horizontal optical axis support; 10. a first deep groove ball bearing; 11. the second external bearing seat; 12. a second electric cylinder; 13. a fish-eye bearing; 14. a second horizontal optical axis support; 15. a forearm; 16. the third external bearing seat; 17. a thrust bearing; 18. a third horizontal optical axis support; 19. wrist joint motor base; 20. a spring; 21. a large arm.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the invention provides a crank slide bar mechanical arm with a rear-mounted gravity center of a spring counterweight, which comprises a base 1, a waist 3 arranged at the top of the base 1, a large arm 21 arranged at the top end of the waist 3, and a small arm 15 arranged at one end of the large arm 21, wherein the large arm 21 and the waist 3 are elastically connected through two springs 20.
Preferably, the top sliding connection of base 1 has connecting piece 2, through connecting piece 2 sliding connection between base 1 and the waist 3, first electronic jar 6 is installed to one side of waist 3, rotates through the bearing between first electronic jar 6 and the waist 3 and is connected, and the outside cover of bearing is equipped with axle sleeve 4, installs the snap ring on the axle sleeve 4, and the both ends of spring 20 are fixed connection in big arm 21 and connecting piece 2 respectively, and the design of spring counter weight reduces motor power.
Preferably, the top of the waist 3 is rotationally connected with the big arm 21 through the first deep groove ball bearing 10, the first external bearing seat 8 is installed on the outside at the top of the waist 3, two thrust bearings 17 are installed on the inside at the top of the waist 3, two first horizontal optical axis supports 9 are installed on the inside at the top of the big arm 21, the second external bearing seat 11 is arranged on the outside at the bottom of the big arm 21, a fourth deep groove ball bearing is arranged on the inside at the bottom of the big arm 21, a second electric cylinder 12 is installed on the fourth deep groove ball bearing, the telescopic end of the second electric cylinder 12 is rotationally connected with the small arm 15 through the fisheye bearing 13, two second horizontal optical axis supports 14 are installed on the inside at one end of the small arm 15, two third horizontal bearing seats 16 are installed on the outside at the top of the big arm 21, two third horizontal optical axis supports 18 are installed on the inside at the inside of the small arm 15, the thrust bearings 17 are installed on the outside at the bottom of the small arm 15, the telescopic end of the first electric cylinder 6 is rotationally connected with the bottom of the big arm 21 through the second deep groove ball bearing, the axial displacement loss of the radial ball bearing is reduced in the design of the large arm 21, and the axial displacement of the radial load of the radial ball bearing is prevented.
Preferably, the waist 3 is a closed square tube, two sides of the waist 3 are provided with side plates, the two side plates are fixedly connected through a connecting optical axis 5, the two side plates play a supporting role, and the middle rectangular tube plays a role in resisting torsional deformation.
Preferably, one side of the base 1 is provided with a tank chain 7, one end of the tank chain 7 is fixedly connected with a first electric cylinder 6, an electric wire is penetrated in the tank chain 7 of the first electric cylinder 6, the first electric cylinder 6 is electrically connected with an external power supply through the electric wire, and the tank chain 7 plays roles of wear resistance in threading, high toughness, high-speed operation and the like.
Preferably, the wrist joint motor seat 19 is arranged at the other end of the small arm 15, the wrist joint motor seat 19 is fixedly connected with the large arm 21 through bolts, and the tail end grippers for different workers can be arranged according to different requirements of working conditions such as different fineness and environment by the aid of the separated design of the tail end grippers and the joint arm, so that cost is greatly reduced.
The algorithm for calculating the relation between the motor angle of the electric cylinder and the joint angle of the robot is as follows:
In fig. 1 of the robot arm and fig. 6 of the corresponding calculation algorithm, the purpose of the present invention is to calculate the correspondence between the rotation angle of the motor and the joint angle in the robot arm driven by the electric cylinder. When the joint angles of the mechanical arm, which are required to be achieved by the forward and reverse kinematics of the robot, are known, the corresponding motor rotation angles can be calculated through an algorithm; when the required joint angular velocity of the robot is known, the rotational speed of the corresponding motor can be calculated by an algorithm.
The mechanism principle of the electric cylinder driving robot joint is a crank slide bar mechanism, and the electric cylinder push rod has rotation around a fixed point and linear movement along the push rod direction, so that the movement of the electric cylinder push rod is planar compound movement with fixed shaft rotation and translation; the movement of the robot joint is a fixed axis rotational movement rotating around a fixed axis. The rotation of the motor of the electric cylinder can lead the push rod to generate linear motion, thereby changing the whole length of the electric cylinder, and also generating rotation around a fixed shaft to cause angle change. The whole mechanism movement is integrated in a triangle, and three sides of the triangle are respectively: the length of the electric cylinder is adjusted to cause the angle change in the triangle, and the angle change between the joint rod and the fixed connecting rod is changed, so that the mechanical arm joint moves in a fixed-axis rotation mode.
In the triangle with change, we can get the connection among them through cosine theorem, namely the connection between the length of the electric cylinder and the joint angle of the mechanical arm, can get the angle between the joint rod and the fixed connecting rod in the triangle through the joint angle, and the length of the joint rod and the fixed connecting rod is known, can get the length of the electric cylinder through cosine theorem, finally can get the number of turns of the electric cylinder motor through the initial length and lead of the electric cylinder.
The relation between the speed of the electric cylinder push rod and the joint angular velocity can be obtained by differentiation, the relation between the electric cylinder push rod and the joint angle can be obtained in the changed triangle, then differentiation is carried out, the relation between the speeds can be obtained, and the result shows that the relation between the joint angular velocity and the push rod speed is determined by a coefficient taking the length of the electric cylinder as a variable.
The specific embodiment is as follows:
specific algorithm implementations are described in detail below with reference to the accompanying drawings. As shown in the schematic structure of the mechanical arm in fig. 1, the electric cylinder is a driving device, the joint arm is an executing device, the joint arm is driven to rotate by the expansion and contraction of the electric cylinder, and the joint arm can be driven to reach different angles according to the expansion and contraction amount of the electric cylinder. In the following, the first electric cylinder 6 is simply referred to as electric cylinder 1, and the second electric cylinder 12 is simply referred to as electric cylinder 2.
The specific calculation process comprises the following steps:
The relationship between the electric cylinder 1 and the joint angle θ1 is established by the intermediate angle β1. Firstly, to establish the relation between the electric cylinder and the joint angle, the relation between beta 1 and theta 1 is established first, and is phi in the diagram of the included angle between the connecting rod and the shell: as can be seen from the above figures at joint 1:
α1-theta1-Φ+β1+ψ1＝180°
so that:
theta1＝180°-α1+Φ-β1-ψ1
β1＝180°-α1+Φ-theta1-ψ1
in the solution triangle 1, it is known according to the cosine law that:
cos(β1)＝(b1^2+c1^2–m1^2)/2*b1*c1
the following steps are obtained:
m1＝[b1^2+c1^2-2*b1*c1*cos(β1)]1/2
Substituting β1 to obtain:
m1＝[b1^2+c1^2-2*b1*c1*cos(180°-α1+Φ-theta1-ψ1)]1/2
Since the initial length of the electric cylinder 1 is known, the movement length of the motor 1 can be obtained, and the rotation angle of the motor can be obtained from the movement length and the lead of the motor 1, thereby establishing the relationship between the rotation angle of the motor 1 and the angle of the robot joint 1.
The relationship between the electric cylinder 2 and the joint angle θ2 is established by the intermediate angle β2. First, to establish the relationship between the electric cylinder and the joint angle, the relationship between β2 and θ2 is established: as can be seen from the above figures at joint 2:
α2-theta2+β2+ψ2＝180°
so that:
theta2＝180°-α2-Φ-β2-ψ2
β2＝180°-α2-Φ-theta2-ψ2
in the solution triangle 2, it is known according to the cosine law that:
cos(β2)＝(b2^2+c2^2–m2^2)/2*b2*c2
the following steps are obtained:
m2＝[b2^2+c2^2-2*b2*c2*cos(β2)]1/2
Substituting β2 to obtain:
m2＝[b2^2+c2^2-2*b2*c2*cos(180°-α2-Φ-theta2-ψ2)]1/2
Since the initial length of the electric cylinder 2 is known, the movement length of the motor 2 can be obtained, and the rotation angle of the motor 2 can be obtained from the movement length and the lead of the motor 2, thereby establishing a relationship between the rotation angle of the motor 2 and the angle of the robot joint 2.
The relation between the speed of the push rod of the electric cylinder and the actual joint angular speed is deduced according to the relation between the speed of the supplementary angle of the actual joint angle and the total length of the electric cylinder rod:
1. according to the cosine law:
2. and (5) obtaining a speed relation:
3. Simplifying and obtaining:
From the above, it can be seen that the relationship between the joint angle and the speed of the electric putter is mainly determined by the coefficient:
4. when x is different, it can be seen from the coefficient graph between the joint angular velocity and the speed of the electric lever rod that the coefficient is the minimum value when the joint angle is 90 degrees, and the coefficient is in the ascending trend when the joint angle is increased or decreased from 90 degrees, and two limit values are obtained at the limit positions.
When the mechanical arm is specifically used, the telescopic end of the first electric cylinder 6 moves downwards when being extended, one end of the large arm 21 moves upwards when the telescopic end of the first electric cylinder 6 is shortened, the small arm 15 tightens inwards when the telescopic end of the second electric cylinder 12 is extended, the small arm 15 opens outwards when being shortened, a thrust bearing, a deep groove ball bearing and an external bearing seat are arranged at the joint, axial and radial play are effectively prevented, friction loss is reduced, the design of the spring balance is effective to reduce motor power consumption, therefore, the whole energy consumption of the mechanical arm is lower, meanwhile, the elastic connecting piece can effectively buffer driving force, balance stress among joints is realized, efficient fine grabbing operation is realized, the mechanical arm not only simplifies work flow and improves work efficiency, but also can operate with larger load in larger working space, meanwhile, motion precision is ensured, and the corresponding relation between the rotation angle of the joint of the mechanical arm driven by the electric cylinder and the rotation angle of the joint of the mechanical arm is designed for solving the nonlinear algorithm of the mechanical arm.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, and is merely for convenience in describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and defined otherwise, for example, it may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring balance weight is characterized by comprising a base (1), a waist (3) arranged at the top of the base (1), a big arm (21) arranged at the top end of the waist (3) and a small arm (15) arranged at one end of the big arm (21), wherein the big arm (21) is elastically connected with the waist (3) through two springs (20), a connecting piece (2) is slidably connected at the top of the base (1), a first electric cylinder (6) is arranged at one side of the waist (3) and is in sliding connection with the waist (3) through the connecting piece (2), a shaft sleeve (4) is sleeved at the outer side of the bearing and is provided with a clamping ring, two ends of the springs (20) are fixedly connected with the big arm (21) and the waist (3) respectively, a bearing seat (3) is arranged at the outer side of the waist (3) and is provided with a bearing seat (10) which is connected with the top end of the waist (3) through a deep groove (17), two first horizontal optical axis supports (9) are arranged on the inner side of the large arm (21);
the algorithm of the corresponding relation between the rotation angle of the motor and the rotation angle of the robot joint is as follows:
Step 1: integrating the integral mechanism movement into a triangle;
step 2: through cosine theorem formula Obtaining the relation between the length of the electric cylinder and the joint angle of the mechanical arm;
Step 3; by differential formula Obtaining the relation between the speed of the push rod of the electric cylinder and the angular speed of the joint;
Step 4; the relation between the speed of the push rod of the electric cylinder and the actual joint angular speed is deduced according to the relation between the speed of the supplementary angle of the actual joint angle and the total length of the electric cylinder rod;
step 5; finally, the number of turns of the motor of the electric cylinder can be obtained through the initial length and the lead of the electric cylinder.
2. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight according to claim 1, wherein the motor rotation angle algorithm is characterized in that: the outside of big arm (21) bottom sets up second external bearing frame (11), the inboard of big arm (21) bottom is provided with fourth deep groove ball bearing, second electronic jar (12) are installed to fourth deep groove ball bearing, the flexible end of second electronic jar (12) with rotate through fisheye bearing (13) between forearm (15) and be connected, two second horizontal optical axis supports (14) are installed to the inboard of forearm (15) one end.
3. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight according to claim 1, wherein the motor rotation angle algorithm is characterized in that: the top end of the big arm (21) is rotationally connected with the small arm (15) through a third deep groove ball bearing, two third external bearing seats (16) are arranged on the outer side of the top end of the big arm (21), two third horizontal optical axis supports (18) are arranged on the inner side of the small arm (15), and a thrust bearing (17) is arranged on the outer side of the small arm (15).
4. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring weight according to claim 2, wherein the motor rotation angle algorithm is characterized in that: the telescopic end of the first electric cylinder (6) is rotatably connected with the bottom end of the large arm (21) through a second deep groove ball bearing.
5. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight according to claim 1, wherein the motor rotation angle algorithm is characterized in that: the waist (3) is a closed square tube, two sides of the waist (3) are provided with side plates, and the two side plates are fixedly connected through a connecting optical axis (5).
6. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring weight according to claim 2, wherein the motor rotation angle algorithm is characterized in that: one side of base (1) is provided with tank chain (7), the one end of tank chain (7) with first electronic jar (6) fixed connection, the inside of tank chain (7) is worn the electric wire, first electronic jar (6) are through electric wire and external power source electric connection.
7. The motor rotation angle algorithm of the crank slide bar mechanical arm with the rear-mounted gravity center of the spring counterweight according to claim 1, wherein the motor rotation angle algorithm is characterized in that: the wrist joint motor seat (19) used for connecting clamping equipment is arranged at the wrist joint of the tail end of the small arm (15), and the wrist joint motor seat (19) is fixedly connected with the large arm (21) through bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910765710.6A CN110450147B (en) | 2019-08-19 | 2019-08-19 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
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| CN201910765710.6A CN110450147B (en) | 2019-08-19 | 2019-08-19 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
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| CN110774316B (en) * | 2019-11-18 | 2022-08-12 | 山东大学 | FBG-based joint rotation angle measurement device for large-size and heavy-duty manipulators |
| CN113340259B (en) * | 2021-06-08 | 2022-12-20 | 南京信息工程大学 | Device and method for measuring joint angle |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | self-balancing robotic arm |
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