Air joint type flexible mechanical arm based on rope drive

Abstract

An air joint type flexible mechanical arm based on rope drive comprises a machine base, three motors, a power source, a control system, an arm body mechanism, a tail end actuator and a driving rope. The machine base is a shell body. The motors, the power source and the control system are arranged in the machine base. The arm body mechanism is formed by connecting a plurality of sets of joint units which are the same in structure in series. One end of the arm body mechanism is connected to the machine base, and the other end, that is, the tail end of the arm body mechanism is connected with the tail end actuator. Each joint unit comprises end covers, an air bag, sliding sleeves, clamping rings, a drawing wire and air nozzles. The arm body mechanism can be manually filled with gas through each joint unit and achieves connecting and supporting effects, and the arm body mechanism also can be manually compressed and folded by releasing gas of each joint unit, so that packaging and transportation are convenient. The air joint type flexible mechanical arm based on rope drive has the advantages of being good in flexibility, light in mass, large in bearing capacity, capable of being folded and convenient to package and transport.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a mechanical arm. Background technique [0002] The mechanical arm is a kind of robot. The traditional mechanical arm is composed of rigid links, and usually has three structures: series, parallel or series-parallel. This type of robotic arm is characterized by discrete joints and rigid connections, and there is also a type of continuum robotic arm based on biological organs such as octopus arms and elephant trunks. Since the continuum manipulator can produce flexible deformation at any position, it has a strong obstacle avoidance ability, can better adapt to non-structural environments, and can better grasp irregular objects. This type of robotic arm can either be equipped with a gripping device at the end to grab objects like a traditional robotic arm, or it can use the robotic arm itself to roll up objects. From the structural point of view of this type of robotic arm, it has powerful ...

AI Technical Summary

Problems solved by technology

At present, in terms of load-carrying capacity, the drive method adopts the external drive method of rope, which has a higher load-bearing capacity, but the mechanical arm body of this type of mechanical arm is relatively heavy, and most of them are composed of rigid joints, which affects the flexibility of this type of mechanical arm. , mobility, man-machine cooperation, safety and carrying capacity are further improved

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