Flexible mechanical arm and system

Abstract

The invention provides a flexible mechanical arm which comprises a plurality of arm lever joint sections and corresponding center blocks. Each arm lever joint section is connected with the corresponding center block through a rotary connection mechanism, so that a unit of an arm lever body is formed, and the multiple units form the arm lever body. The flexible mechanical arm further comprises linkage ropes, the adjacent arm lever joint sections are connected through the linkage ropes for linkage, the adjacent center blocks are connected through the linkage ropes for linkage, and part of the linkage ropes are S-shaped. According to the scheme, compared with an existing technical scheme, the unit modular mode and the stress state of the linkage rope linkage process are more reasonable, and the linkage precision is higher.

Description

technical field

[0001] The invention relates to a flexible robot arm, in particular to a flexible robot arm capable of realizing double-degree-of-freedom equal-curvature bending linkage, and a system composed of the flexible robot arm. Background technique

[0002] Different from the traditional joint series manipulator, the flexible manipulator has the advantages of high flexibility and strong obstacle avoidance ability, and has strong movement and operation ability in narrow space and complex environment. important application value. In the prior art, each joint joint of the flexible manipulator is independently driven. Although the redundancy of the whole arm can be improved, the number of driving motors will be correspondingly increased, resulting in the control difficulty, weight and cost of the flexible manipulator. Increase.

[0003] In order to solve the problem of a large number of driving motors, the existing solution is to add elastic elements between the joints...

Images