Double-degree-of-freedom linkage rope-driven joint group of flexible mechanical arm

Abstract

The invention relates to a double-degree-of-freedom linkage rope-driven joint group of a flexible mechanical arm. The joint group comprises rigid pillars, one-direction bent flexible bodies, linkage ropes, driving ropes and first and second wire access bodies. The rigid pillars and the one-direction bent flexible bodies are alternately connected in the axial direction, the first wire access bodiesare arranged on the peripheral outer walls of the rigid pillars, and the second wire access bodies are arranged on the peripheral outer walls of the one-direction bent flexible bodies. The one-direction bent flexible bodies are linked with the rigid pillars by the linkage ropes through the first and second wire access bodies, forming a movement joint group. Besides, the driving ropes drive the joint group to move through the first wire access bodies, the number of motors distributed on all joints of the flexible mechanical arm is reduced, the mass of the mechanical arm is reduced, the rigidity and load capability of the mechanical arm are improved, the response speed of the flexible mechanical arm is rapid, and the action is stable. At the same time, by arranging the bent direction of theone-direction bent flexible bodies and the distribution mode of the linkage ropes and the driving ropes, the double-degree-of-freedom equal-curvature bending of the flexible mechanical arm is realized.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a double-degree-of-freedom linkage rope-driven flexible manipulator joint group. Background technique [0002] As the robotic arm is used in more and more complex and diverse special occasions, researchers need to improve the flexibility, accuracy, stability and safety performance of the robotic arm on the basis of traditional industrial robotic arms to make it better. It is suitable for various environments, and it is convenient and quick to avoid obstacles in the environment. Therefore, the flexible robotic arm came into being. [0003] According to the records of flexible robotic arms in the prior art, one type of robotic arm is linked by a single joint with a rope, and each joint is driven by a motor, which reduces the stability of the entire robotic arm, reduces the motion accuracy, and increases the cost; the other type The mechanical arm is supported by an elastic body, which ...

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Problems solved by technology

[0003] According to the records of flexible robotic arms in the prior art, one type of robotic arm is linked by a single joint with a rope, and each joint is driven by a motor, which reduces the stability of the entire robotic arm, reduces the motion accuracy,

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