Fluid skeleton flexible manipulator device

Abstract

The invention discloses a fluid skeleton flexible manipulator device and belongs to the technical field of robots. The fluid skeleton flexible manipulator device comprises a base, drivers, transmission mechanisms, fluid skeleton units, tail end parts and the like. The fluid skeleton flexible manipulator device is provided with multiple degrees of freedom, can bend, stretch and draw back in multiple directions, can form various bent space shapes to enable a tool connected onto the tail end of an imitated trunk manipulator device to reach certain space position, is excellent in maneuverability, has better flexibility, is high in safety during the interactive process with people, is light in dead weight, small in size, compact in structure and low in cost, and can be widely applied to various automatic systems needing manipulators.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of a fluid skeleton flexible mechanical arm device. Background technique [0002] Robots are designed to perform tasks in place of humans and usually require a pair of arms. The human arm has seven degrees of freedom, belongs to the series cantilever structure, has well-developed muscles, can generate a lot of force and move at a high speed, all of which make the development of the mechanical arm very difficult. Whether it is the CMU / Sarcos robot developed by Carnegie Mellon University in the United States, the HUBO robot developed by the Korean High Technology Research Institute, and the ASIMO robot developed by Japan's Honda Corporation...these have a common feature: these traditional robot arms are all A plurality of rigid connecting rods are composed of joints in series or in parallel, which have the disadvantages of complex structure, large ...

AI Technical Summary

Problems solved by technology

[0009] 1) The drive mechanism is relatively complex

Such as Air-Octor and FESTO's flexible elephant trunk robotic arm requires special equipment for controlling gas, which makes the whole system larger in mass, higher in energy consumption and cost; In the arm, since each tendon rope or flexible rod corresponds to a driver, the number of drivers required to achieve multi-directional bending significantly increases the cost and complexity of the system

[0010] 2) Limited carrying capacity and stability

Due to the widespread use of flexible components such as springs as supporting structures, some flexible manipulators are prone to deformation caused by loads, resulting in instability or decreased accuracy

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