A hyper-redundant robotic arm

Abstract

The invention discloses a super-redundant mechanical arm, which includes an upper arm, a middle arm, a lower arm and a mechanical claw, provides multiple degrees of freedom, improves the extensibility and rotation angle range of the mechanical arm, and increases the The electronic control module also makes the super-redundant manipulator easier to control. At the same time, the super-redundant manipulator can be loaded with other claw machine modules, which improves the applicability of the super-redundant manipulator.

Description

technical field [0001] The present invention relates to the design of a hyper-redundant robotic arm capable of supporting at least three redundant degrees of freedom of motion. Background technique [0002] A hyper-redundant manipulator refers to a manipulator with redundant degrees of freedom of motion. Compared with ordinary manipulators, super-redundant manipulators have more flexible motion characteristics, and can complete additional tasks such as changing the rotation angle of the manipulator while completing the task of extending up and down. Its application range is very wide, ranging from the exploration of the deep sea and space, to product processing and home services. Due to the redundant degrees of freedom, it is guaranteed that the end of the manipulator can complete the required tasks and at the same time select different optimization indicators according to different task requirements and working environments. [0003] The control and angle transformation o...

AI Technical Summary

Problems solved by technology

[0003] The control and angle transformation of the super-redundant manipulator's motion trajectory are the core research contents of the super-redundant manipulator, but the previous super-redundant manipulator can't better expand its motion track and transform angle, so that it has the advantages in application. certain limitations

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