Modular high-redundancy multi-freedom-degree flexible mechanical arm system

Abstract

The invention relates to a modular high-redundancy multi-freedom-degree flexible mechanical arm system, which comprises N sections of mechanical arm modules, wherein the N is a natural number being greater than 1; each single section of mechanical arm module has three freedom degrees which respectively include two bending freedom degrees and a feeding freedom degree; the adjacent mechanical arm modules are nested and combined together and can oppositely move. The system also comprises a machine frame, a first section of mechanical arm module is arranged on the machine frame and can outwards extend relative to the machine frame; each of other sections of mechanical arm modules can outwards extend stage by stage, and can realize the bending movement in the extending process; feeding mechanisms are arranged between the machine frame and the first section of mechanical arm module and between the adjacent mechanical arm modules; the feeding movement is realized. Compared with the prior art, the modular high-redundancy multi-freedom-degree flexible mechanical arm system has the advantages that the moving capability is high; the modular high-redundancy multi-freedom-degree flexible mechanical arm system can work in a complicated narrow space; the load is higher; the precision is higher, and the like.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a modular high-redundancy multi-degree-of-freedom flexible manipulator system Background technique [0002] In the modern industrial field, it is often necessary to complete some foreign object detection, maintenance and assembly, defect detection and other operational tasks in a complex and narrow space where people cannot enter. In this field, the redundant mechanical arm of the rigid structure developed by OCRobotics in the United Kingdom has been applied in the assembly of commercial aircraft; the fully flexible pneumatic redundant operating arm launched by Festo Pneumatic Components in Germany will also be put into industrial applications; And some industrial endoscopes have been widely used in industry for a long time. However, due to some limitations of their own, the above-mentioned robotic arms have certain limitations. For example, the robotic arm of OCRobotics is a re...

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Problems solved by technology

However, due to some limitations of their own, the above-mentioned robotic arms have certain limitations. For example, the robotic arm of OCRobotics is a redundant robotic arm based on a rigid structure. The movement capacity between the arm structure is limited, and it is difficult to work in a complex and narrow space; the fully flexible pneumatic redundant operating arm has a low load due to its fully flexible material characteristics, and the control accuracy of the gas drive is also relatively low; and Industrial endoscopes are mostly passive products. Even if there are actively driven components, there are only 1 to 2 controllable joints, which lack the ability to fully explore deep cavities with complex structures, and it is even more impossible to realize force-loaded work

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