A multi-degree-of-freedom multi-channel auxiliary operation flexible manipulator system

Abstract

The invention provides a multi-degree of freedom and multichannel auxiliary operation flexible mechanical arm system. The multi-degree of freedom and multichannel auxiliary operation flexible mechanical arm system is formed by connecting a plurality of joints in a head-to-tail manner in series, wherein each joint has two plane turning degrees of freedom, and therefore multiple degrees of freedom of the flexible mechanical arm is achieved. Each single joint is provided with a plurality of first hollow through hole sets, at the straight state of the flexible mechanical arm, the first through hole sets at the corresponding positions of the single joints are coaxial, and therefore multiple operation channels of the flexible mechanical arm are formed. Each single joint is provided with at leastfour drive wires, wherein the at least four drive wires are divided into two sets, the same drive wire set comprises at least two drive wires, one ends of the drive wires in one set are connected with a first sub-drive device, one ends of the drive wires in the other set are connected with a second sub-drive device, the advancing and retreating amounts are kept equal all the time when the drive wires in the same set move, in the single joint, the first sub-drive device and the second sub-drive device drive the advancing and retreading motions of the two drive wire sets correspondingly, bending motions in two directions are achieved, and the two plane turning degrees of freedom of the single joint are achieved.

Description

technical field [0001] The invention relates to mechanical equipment, in particular to a multi-degree-of-freedom and multi-channel auxiliary operation flexible manipulator system. Background technique [0002] With the continuous development of robotics and robot technology, robots are more and more widely used in various fields of industry and technology. Among them, the flexible manipulator is an emerging robot, and many countries have begun to get involved in the research and development of the flexible manipulator. Compared with developed countries such as Japan and the United States, my country's research and development of flexible robotic arms started relatively late, but it has also carried out a lot of work and achieved certain results. [0003] A typical application of flexible robotic arms is in the medical field, especially in the field of minimally invasive medicine. Its functional end is usually a flexible robotic arm in series, which is used to replace the d...

AI Technical Summary

Problems solved by technology

The flexible robot disclosed in Chinese invention patents with publication numbers 105313112A and 103948435A completes a specific single operation by setting an operating tool at the end of the mechanical arm. The function is limited, and the latter has a complex structure and high cost

The Chinese invention patents with publication numbers 108393924A and 103948435A disclose that the motion of the soft robot is coupled with each other, and the motion control is relatively complicated

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