Super-redundant flexible mechanical arm based on rope driving

Abstract

The invention discloses a super-redundant flexible mechanical arm based on rope driving. The super-redundant flexible mechanical arm comprises a driving module, a mechanical arm module and a plurality of driving ropes; the mechanical arm module comprises a plurality of joints in serial connection, the adjacent joints are connected through cross and perpendicular rotating shafts arranged between the adjacent joints, and at least three driving ropes are fixedly connected to any joint; the driving ropes can be driven by the driving module to move independently; and the driving ropes arranged on the same joint are arranged in a manner that the joint can be pulled by the driving ropes to rotate around the rotating shafts relative to the adjacent joints. According to the super-redundant flexible mechanical arm, all joints can be adjusted independently and controlled more accurately, the weight of the joints is greatly reduced, the bearing capacity of the mechanical arm is further improved, and the high-speed movement and the quick response of the mechanical arm are achieved. Meanwhile, the distributing work of electric lines is removed, the mechanical arm is only composed of mechanical structures and is not prone to being affected by severe environments, the service life is prolonged, and the mechanical arm is convenient to disassembly, maintain and assemble.

Description

technical field [0001] The invention relates to the field of robots, in particular to the field of mechanical arms. Background technique [0002] The ultra-redundant degree of freedom manipulator is proposed to solve the problem of poor flexibility of traditional series robots. By adding a large number of redundant joints, the dimension of the joint space is much larger than the dimension of the task space. The introduction of redundant joints Make the robot arm more flexible to achieve the desired end pose. Therefore, this kind of robotic arm is especially suitable for use as: 1. Operating equipment in irregular spaces, a large number of redundant joints can make the robotic arm have a strong ability to avoid obstacles, making it especially suitable for special robots, such as earthquake Life-saving robots, nuclear reactor inspection robots, etc. that pass through the rubble and rubble to find survivors after disasters; Used for the removal of explosives and the maintenan...

AI Technical Summary

Problems solved by technology

[0004] 1. The electrical circuit of the robotic arm is very cumbersome, which brings great inconvenience to subsequent maintenance and easily causes safety hazards;

[0005] 2. The inertia and mass of the robotic arm are increased, resulting in a certain limitation in its carrying capacity, which is not conducive to high-speed movement and quick response;

[0006] 3. The motor-driven joints are generally single-degree-of-freedom joints. In order to realize multi-degree-of-freedom movements, it will inevitably lead to the complexity of the control system;

[0007] 4. Increased manufacturing costs

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