Flexible robotic arm and system assembly

Abstract

Disclosed is a flexible mechanical arm, comprising multiple arm lever joint segments (11, 12, 13) and corresponding central blocks (21, 22), wherein each arm lever joint segment is connected to the central block by means of a rotary connection mechanism to form a unit of an arm lever main body; and a plurality of units form the arm lever main body. The flexible mechanical arm further comprises linkage ropes (51, 52), wherein the linkage between adjacent arm lever joint segments and between adjacent central blocks is realized by means of the linkage ropes; and at least part of the linkage rope is S-shaped. In the solution, the method with a modularized unit and the stress state of a linkage process of the linkage rope are more rational than the existing technical solutions, and the linkage accuracy thereof is higher.

Description

technical field [0001] The invention relates to a flexible robotic arm, in particular to a flexible robotic arm capable of realizing double-degree-of-freedom equal-curvature bending linkage, and a system assembly composed of the flexible robotic 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 bet...

AI Technical Summary

Problems solved by technology

[0005] Disadvantage 1: The gear transmission mechanism takes up a lot of space, which affects the applicable scenarios of the flexible arm

[0006] Disadvantage 2: The large and small bevel gears rotate in the direction of two degrees of freedom, and the angle of rotation is the gear ratio of the large and small bevel gears

[0008] Disadvantage 1: The number of joint rods in the arm segment of this scheme must be a multiple of 4, which is not convenient for the configuration of the number of joint segments in the arm rod

[0009] Disadvantage 2: During the linkage process of the remote linkage rope in this scheme, the pitch and yaw angles will affect the shape of the remote linkage rope

And then affect the effect of linkage

[0010] Disadvantage 3: The remote linkage rope in this scheme greatly occupies the internal space of the boom, which affects the wiring of the actuator cable at the end of the boom scheme, which is not conducive to the practical application of the scheme

[0011] Disadvantage 4: In this scheme, the shape of the remote linkage rope will be deformed during the movement process, which will cause the change of the cable pre-tightening force, which will lead to the change of the positive pressure between the joint rod of the arm segment and the center block

As a result, during the movement of the arm, the eccentric load caused by the difference in positive pressure on both sides will also affect the accuracy of the equal-angle linkage of the arm

Thereby reducing the overall control accuracy of the boom

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