Hyper-redundant snakelike robot driving device

Abstract

The invention discloses a hyper-redundant snakelike robot driving device which is characterized by comprising a structural framework and n groups of driving components, wherein n is greater than 8; the driving components comprise driving motors and transmission devices; the driving motors and the transmission devices are mutually connected; the n groups of driving components are divided into an inner layer and an outer layer which are arranged around the central axis of the structural framework; the distances from all the groups of driving components positioned on the inner layer to the central axis are the same; the distances from all the groups of driving components positioned on the outer layer to the central axis are the same; the driving components on the inner layer and those on theouter layer are arranged in a staggered manner along the circumferential direction; and n can further be equal to 36, that is, the n groups of driving components can be divided into 12 groups of driving components on the inner layer and 24 groups of driving components on the outer layer. According to the hyper-redundant snakelike robot driving device disclosed by the invention, both the driving motors and the transmission devices adopt the structural mode of inner and outer double-layer arrangement, so that the outline dimension of the hyper-redundant snakelike robot driving device can be greatly reduced under the circumstances of the same load and the same number of joints, and great significance can be brought to the miniaturization of the hyper-redundant snakelike robot driving device.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a driving device for a super-redundancy snake-like robot. Background technique [0002] The research on super-redundant snake-like robots abroad is earlier, and there are more in-depth researches on the structural design and motion control of snake-like robots. [0003] British OC Robotics is currently the most in-depth research on super-redundant snake robots at home and abroad, and the engineering is relatively successful. It has developed a series of snake robots for security inspection, aviation manufacturing, nuclear facility inspection and other fields. Most of its snake-like robots are driven by rigid hinges and wire ropes, and the joint rotation angle is measured by the built-in fiber optic sensor FBG to achieve closed-loop control, so that the robot can achieve high motion accuracy. At present, the company's snake robot has broad application prospects in the...

AI Technical Summary

Problems solved by technology

[0007] Defects and deficiencies of existing super-redundant snake-like robots: super-redundant snake-like robots often adopt the design of external driving devices

The disadvantage is that under the same load and the same number of 12 joints, the diameter of the driving device is too large to be miniaturized, and it is not convenient for flexible use and transportation of the product

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