Continuous mechanical arm imitating snake vertebra

Abstract

The invention discloses a continuous mechanical arm imitating a snake vertebra. The continuous mechanical arm imitating the snake vertebra comprises a base joint section, a head joint section and a plurality of driving wires. The continuous mechanical has the advantages that 1, load capacity is strong, and the strength and the load capacity of the spherical hinge joint are enhanced due to the arrangement of spherical hinged joints strong; 2, modeling is easy, the control difficulty is reduced, and the elastic force of a flexible supporting rod not only counteracts the friction force between the driving wires and wire guides, but also provides self-restoring force for the mechanical arm; 3, the mechanical arm is flexible for being capable of rotating by 360 DEG C; and 4, the mechanical armis easy to assemble and expand, wherein a space disc and the spherical hinged joints are combined into one and are directly arranged on the flexible supporting rod in series, the requirements can be met only by fixing a head end disc and a tail end disc, the assembly process is simple and effective, the length of a single-joint mechanical arm can be changed by increasing or decreasing the number of the spherical hinged joints which are arranged in series, and therefore, the mechanical arm has high expansibility.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a continuous mechanical arm imitating a snake spine supported by a ball joint and a central support rod. Background technique [0002] A continuous robot is a bionic robot that can dynamically adapt to environments with structural constraints and complex spaces, and can carry detection devices to complete related tasks in complex environments. [0003] Continuous robots usually use pneumatic drive, wire drive and other drive methods. The structure uses artificial muscles, flexible support rods or joint hinges to form the flexible mechanism of continuous robots, which usually appear as a slender structure. Among the above structures, flexible support rods are usually used in industries that do not require high dimensional load capacity, such as the medical industry. However, when extended to industrial applications, the load capacity is insufficient, easy to break and unreliable, a...

AI Technical Summary

Problems solved by technology

Among the above structures, flexible support rods are usually used in industries that do not require high dimensional load capacity, such as the medical industry. However, when extended to industrial applications, the load capacity is insufficient, easy to break and unreliable, and the flexible arm assembly method is complicated and the size is not accurate. Disadvantages: The continuous mechanism based on joint hinges makes the mechanical arm itself bulky, which limits the increase in the length of the mechanical arm, and the bending mode is closer to irregular polygons, which increases the difficulty of control

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