Rigid-flexible coupled trunk-shaped continuous robot

Abstract

The invention discloses a rigid-flexible coupled trunk-shaped continuous robot, and relates to the technical fields of robots and advanced manufacturing. The robot comprises a control box and a group of joints which are mounted on one side of the control box, have completely the same structure and are connected end to end, wherein each joint comprises a movable platform, a fixed platform, and a supporting rod and three driving ropes which connect the movable platform and the fixed platform; one end of the supporting rod is fixedly connected with the fixed platform vertically, and the other end of the supporting rod is connected with the movable platform through a ball pair; one ends of the three driving ropes are fixedly connected with three endpoints of the movable platform respectively, and the other ends of the three driving ropes penetrate through three endpoints of the fixed platform to be connected with the ropes in the control box; and the ropes are connected with a motor through a speed reducer. According to the rigid-flexible coupled trunk-shaped continuous robot, working platforms of each joint can achieve motion output of three-dimensional rotation under a cartesian coordinate system; and the motion output of each movable platform is achieved through transmission of the rigid supporting rod and the three driving ropes, so that the rigid-flexible coupled motion characteristic is achieved.

Description

【Technical field】 [0001] The invention relates to the field of robot mechanism and advanced manufacturing technology, in particular to a rigid-flexible coupling elephant trunk type continuous robot. 【Background technique】 [0002] Robot technology is a high-tech formed by integrating computer, cybernetics, mechanism, information and sensor technology, artificial intelligence, bionics and other disciplines. It is very active in contemporary research and its application fields are becoming more and more extensive. In addition to traditional discrete robots such as human-like operating industrial robots, continuous robots have attracted the attention of many scholars at home and abroad because of their excellent flexibility. Continuous robots are inspired by animal organs such as elephant trunks and octopus tentacles. The organs of this type of animal do not have a specific skeleton or cartilage structure, but they have amazing manipulation capabilities. Compared with traditi...

AI Technical Summary

Problems solved by technology

However, compared with traditional industrial robots, continuous robots are immature both in structural design and theoretical research.

[0003] In the current relevant literature, the existing elephant trunk continuous robots are all realized by aerodynamic flexibility, that is, the elephant trunk continuous robot based on pneumatic flexible drives is constructed through pneumatic flexible ball joints, bending joints and other pneumatic joints. Robot-like robots have disadvantages such as complex control technology, inflexible movement, and complex processing and assembly.

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