Rope-driven multi-joint flexible mechanical arm and robot

A flexible manipulator and multi-joint technology, applied in the field of robotics, can solve the problems of difficult application of non-cooperative target capture, complex rigid manipulator structure, and prone to rigid collisions, etc., to achieve overall softness, small mass and space ratio, and deformation flexible effects

Inactive Publication Date: 2020-02-18
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a rope-driven multi-joint flexible manipulator to solve the problem that the existing rigid manipulator has complex structure, poor flexibility, is prone to rigid collision, and is difficult to apply to control in complex and unknown environments and capture non-cooperative targets.

Method used

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  • Rope-driven multi-joint flexible mechanical arm and robot
  • Rope-driven multi-joint flexible mechanical arm and robot
  • Rope-driven multi-joint flexible mechanical arm and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] A rope-driven multi-joint flexible mechanical arm, such as figure 1 As shown, it includes several joint rod units 2( figure 1 Two of the adjacent articulated rod units 2) are shown in the drawing. The articulated rod units 2 are connected in series along the axial direction. In any two adjacent articulated rod units 2, the bottom part of a joint rod unit 2 is sleeved At the top end of another joint rod unit 2, and the top end of one joint rod unit 2 and the top end of the other joint rod unit 2 are flexibly connected by a spring assembly 3, the bottom end of one joint rod unit 2 and the other joint rod unit 2 The top end of the rod is flexibly connected by the spring assembly 3, and the joint rod unit 2 is provided with a number of rope holes 4, and the rope holes 4 are evenly distributed along the circumferential direction.

[0041] In the rope-driven multi-joint flexible mechanical arm provided by this embodiment 1, each joint lever unit 2 of the mechanical arm is flexibl...

Embodiment 2

[0048] A rope-driven multi-joint flexible mechanical arm, such as Figure 3~5 As shown, a plurality of joint rod units 2 are included, and the joint rod units 2 are connected in series along the axial direction. In any two adjacent joint rod units 2, the bottom part of one joint rod unit 2 is sleeved on the other joint rod unit 2, and the top end of one joint rod unit 2 and the top end of the other joint rod unit 2 are flexibly connected through the spring assembly 3. The bottom end of one joint rod unit 2 and the top end of the other joint rod unit 2 pass through the spring assembly 3 Make flexible connections.

[0049] Where as Figure 6-8 As shown, the articulating rod unit 2 includes an annular bracket 21, three legs 22, and a concentrated member 23. One end of the leg 22 is connected to the annular bracket 21 and is evenly distributed along the circumferential direction of the annular bracket 21. The other end of the leg 22 is converged and connected to the concentrating pie...

Embodiment 3

[0062] The rope-driven multi-joint flexible manipulator provided in the third embodiment is a modification of the second embodiment. The difference is that the direction of use is opposite to that of the second embodiment, such as Figure 13 As shown, the driving rope 1 is connected downward to the driving device.

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Abstract

The invention discloses a rope-driven multi-joint flexible mechanical arm. The rope-driven multi-joint flexible mechanical arm comprises a plurality of joint rod units connected in series in the axialdirection, wherein in any two adjacent joint rod units, the bottom end part of one joint rod unit is sleeved with the top end of the other joint rod unit, the top end of one joint rod unit is flexibly connected with the top end of the other joint rod unit through a spring assembly, the bottom end of one joint rod unit is flexibly connected with the top end of the other joint rod unit through a spring assembly, and a plurality of rope penetrating holes are formed in each joint rod unit. External contact or collision force of the mechanical arm can be rapidly dispersed through a load path formed by the joint rod units and the spring assemblies, so that rigid collision impact between the mechanical arm and a target is avoided, and the mechanical arm is suitable for non-cooperative target capture; and by elastically deforming the spring assemblies, relative rotation between the joint rod units is driven, so that bending deformation of the mechanical arm is controlled.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a rope-driven multi-joint flexible mechanical arm and a robot. Background technique [0002] The super-redundant manipulator has high flexibility, large deformation, and good flexibility. It can change its shape and size to adapt to the environment and the target. It is often used for obstacle avoidance robots or robots that entangle and capture targets. Existing hyper-redundant manipulators include: pneumatic soft manipulators and multi-joint rigid manipulators. Among them, the pneumatic soft manipulator has high requirements for the performance of the materials and depends on the air source, so the deformation of the manipulator is small and slow. Multi-joint rigid manipulators are usually provided with multiple joint rods, which are connected to each other. Most of the existing manipulator arm joints are rigidly connected. [0003] Traditional manipulators are driven by motors at th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/104B25J9/109
Inventor 冯晓港罗嘉辉徐小明蒋建平王晓明吴志刚
Owner SUN YAT SEN UNIV
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