A multi-degree-of-freedom continuous robot with the function of grabbing objects flexibly

A technology of robot and degree of freedom, applied in the field of robotics, can solve problems such as immature technology, and achieve the effect of high flexibility and easy and flexible grasping

Active Publication Date: 2021-08-06
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Nowadays, the research and application of tensegrity robot is still very rare, and the technology is relatively immature

Method used

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  • A multi-degree-of-freedom continuous robot with the function of grabbing objects flexibly
  • A multi-degree-of-freedom continuous robot with the function of grabbing objects flexibly
  • A multi-degree-of-freedom continuous robot with the function of grabbing objects flexibly

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Embodiment Construction

[0035] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0036] Such as figure 1 , a multi-degree-of-freedom continuous robot with the function of flexibly grasping objects, including a driving device module I, a rotating and compressing module II, a bending and compressing module III, and a dexterous finger module IV. A stepper motor is preferably used as the driving device of the driving device module I; the driving device module I and the rotary compression module II are connected through the upper connecting plate 2, and the rotating compression module II and the bending compression module III ...

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Abstract

A multi-degree-of-freedom continuous robot with the function of flexibly grasping a target belongs to the field of robot technology, and is a multi-degree-of-freedom continuous robot capable of flexibly grasping small-volume objects and curling and winding large-volume objects. It includes a driving device module, an imitation elephant trunk module, and a dexterous finger module, and the imitation elephant trunk module is composed of a rotating compression module and a bending compression module. The end of each module retains a unified connection interface, which can be combined and assembled according to actual needs. The driving device module is placed on the base of the robot to realize the driving work of all the ropes and control the movement of the robot; the rotary compression module can generate rotation and compression movements at the same time, which makes up for the dead angle defect of the bending compression module; the bending compression module can be independent The compression deformation and bending deformation of the module can be effectively realized; the dexterous finger module realizes the grasping function with multi-finger cooperation. The invention is simple in structure, flexible in use, and the robot structure presents the characteristics of light weight.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular a continuous robot capable of performing multi-degree-of-freedom movements in space and realizing the functions of flexible grasping of small-sized targets and curling and winding of large-sized targets, specifically a kind of flexible grasping target Functional multi-degree-of-freedom continuous robot. Background technique [0002] At present, the research of robot technology is becoming mature, and has been widely used in many fields such as industrial production, aerospace, people's livelihood and medical treatment. The application of robots has brought great convenience to human production and life. However, traditional rigid robots, such as industrial robotic arms, are the most used in the market. This type of robot has only limited degrees of freedom, and its deformation ability is poor, so it is difficult to complete the curling and winding function with multiple degrees of f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/06B25J9/08B25J9/10B25J18/02
CPCB25J9/0009B25J9/065B25J9/08B25J9/104B25J18/025
Inventor 彭海军张捷吴志刚阚子云李飞杨今朝
Owner DALIAN UNIV OF TECH
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