A five-degree-of-freedom flexible arm driven by fluid and tendon rope
A hybrid drive and degree of freedom technology, applied in the field of flexible arms, can solve the problems of low rigidity of flexible arms, lack of ability to carry heavy loads, poor carrying capacity, etc., to enhance the ability to load and load, improve the performance of active variable stiffness, Large deformation effect
Active Publication Date: 2022-04-26
HARBIN INST OF TECH
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Problems solved by technology
Most of these driving methods have high requirements on external environmental conditions, and the rigidity of the flexible arm body is low, the bearing capacity is poor, and it does not have the ability to carry heavy loads
Method used
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[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0019] see Figure 1-Figure 4 As shown, the five-degree-of-freedom flexible arm driven by the mixture of fluid and tendon rope in this embodiment includes a secondary structure;
[0020] The first level structure includes small end connecting flange 1, big end connecting flange 2, airtight hollow tower bellows flexible body 3 and at least three Bowden wire tendon ropes 4; the second level structure includes rigid platform 5 and at least three steel wire ropes...
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A five-degree-of-freedom flexible arm driven by fluid and tendon ropes, which includes a secondary mechanism; the first-level mechanism includes a small-end connecting flange, a large-end connecting flange, a closed hollow tower bellows flexible body, and at least three Bowden wires tendon rope; the second-level mechanism includes a rigid platform and at least three wire rope tendon ropes; the small end and the large end of the airtight hollow tower bellows-shaped flexible body are respectively fixed with a small end connecting flange and a large end connecting flange, and at least three abalone The tendon ropes of the boarding wire are evenly arranged on the outside of the airtight hollow tower bellows-like flexible body along the circumference; at least three steel wire rope tendon ropes are slidably arranged in the Bowden wire tendon rope one by one, and the middle part of the rigid platform is connected to the middle part of the flange with the small end connection, and the rigid platform swings relative to the connecting flange at the small end. The invention can realize the ability of actively changing the stiffness, greatly enhances the load-bearing ability of the flexible arm, and can quickly adjust the position and attitude of the terminal platform.
Description
technical field [0001] The invention relates to a flexible arm, in particular to a five-degree-of-freedom flexible arm driven by fluid and tendon cords. Background technique [0002] In the field of robotics, with the continuous development and maturity of robotic arm technology, research on flexible robotic arms has become a new focus in the field of robotics research. The flexible manipulator is a robot system with many degrees of freedom, generally under-actuated and infinite. The body structure is usually made of flexible materials, which has the characteristics of high compliance, adaptability to complex environments, and safe human-computer interaction. The research involves Materials science, bionics, mechanical design and manufacturing, sensor technology and other multidisciplinary integration, its development provides reference and technical support for the application of flexible materials, bionic robot research, etc. Broad application prospects. The driving meth...
Claims
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IPC IPC(8): B25J18/06B25J9/10B25J9/14B25J9/00
CPCB25J18/06B25J9/104B25J9/14B25J9/0009B25J9/0012
Inventor 朱延河李相龙王天铄赵杰
Owner HARBIN INST OF TECH