Realization Of Robot Joint With More Degrees Of Freedom

Because the new robot structure is still one of the key issues in the current robot researching filed .The paper proposes a new kind of robot joint which had more degrees of freedom. The new joint has not only smaller volume, lighter weigh, but also has bigger action space. Only one such joint can realize the more degrees of freedom, which could be done through more single degree joints linked by rods in many applying fields. The new joint structure can simplify structure, decrease complexity and improve facility. These advantages can make robot-applying fields into microminiaturization and miniaturization. Moreover, due to the new structure's properties for mechanical design, the new joint has bigger action space.In robot realm electromagnetic motors have generally been used to be driven elements, so reduction devices must be connected to electromagnetic motors in order to obtain large torque at low speed, which increases the total volume and weight of the joint. Ultrasonic motors have been used in the joint because of its special working principle. Its rotor and stator have been tightly pressed together to generate big self-lock power when out of the electricity. So joint can move to the appointed position and do not need worm wheel and worm.To be aimed at the joint we proposed, we also do another more workas following:(1) Based on size of the ultrasonic motor we designed the structure and size of the joint.(2) Based on the ultrasonic motor we used the singlechip to control.(3) We designed the hardware circuit and programmed in supervise computer and slave computer respectively, which can control joint to act effectively.