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

Abstract

The invention relates to a modular high-redundancy multi-degree-of-freedom flexible mechanical arm system. The system comprises a frame, a first mechanical arm module and a second mechanical arm module, wherein the first mechanical arm module is mounted on the frame; a first feeding mechanism is arranged between the first mechanical arm module and the frame and is used for driving the overall first mechanical arm module to feed so as to realize one degree of freedom of feeding; the first mechanical arm module comprises a first function actuating mechanism and a first driving mechanism and two degrees of freedom of bending are realized; the second mechanical arm module is nested in the first mechanical arm module and is driven to carry out feeding motion through a second feeding mechanism between the second mechanical arm module and the first mechanical arm module so as to realize one degree of freedom of feeding; and the second mechanical arm module comprises a second function actuating mechanism and a second driving mechanism and two degrees of freedom of bending are realized. Compared with the prior art, the modular high-redundancy multi-degree-of-freedom flexible mechanical arm system has the advantages of high movement ability, capability of working in complicated narrow space, relatively high load, high precision 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 rigid structure developed by OC Robotics in the UK 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 application ; And some industrial endoscopes have long been widely used in industry. However, due to some limitations of their own, the above-mentioned robotic arms have certain limitations. For example, the robotic arm of OC Robotics is a redundant robotic arm based...

AI Technical Summary

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 OC Robotics is a redundant robotic arm based on a rigid structure. Due to its structural characteristics and defects in driving methods, it makes The movement ability between the structural parts of the manipulator is limited, and it is difficult to work in a complex and narrow space; the fully flexible pneumatic redundant manipulator has low load due to its fully flexible material characteristics, and the control accuracy of the gas drive is also relatively low; However, industrial endoscopes are mostly passive products. Even if there are actively driven parts, 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.

Images