Spoke type flexible mechanical arm based on rope driving

Abstract

A spoke type flexible mechanical arm based on rope driving comprises a base, an arm body mechanism, an end effector and three driving ropes. The arm body mechanism is formed by connecting a plurality of joint units in series, one end of the arm body mechanism is fixed to the base through a connecting disc, and the other end, namely the tail end, of the arm body mechanism is connected with the end effector. The three driving ropes are evenly distributed in the circumferential direction, one end of each rope is fixed to the tail end of the arm body mechanism, and the other end of the rope sequentially penetrates through rope passing holes of all the joint units to be connected to rollers of a motor in the base. Each joint unit comprises an outer frame connecting rack, an inner frame connecting rack, a sliding sleeve, a pull strip and corresponding clamp nuts, wherein the outer frame connecting rack and the inner frame connecting rack are connected through the pull strip, so that the spoke type joint unit is formed. The spoke type flexible mechanical arm based on rope driving has the advantages of being low in arm body weight, high in load and good in maneuverability, the flexibility of the flexible mechanical arm is guaranteed, and the using range of the flexible mechanical arm is expanded.

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 external driving mode of the rope driving method has a higher load-bearing capacity, but the body of this type of mechanical arm is heavier, which affects the further improvement of the flexibility, mobility and carrying capacity of this type of mechanical arm. improve

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