Flexible mechanical arm for redundant backup of driving rope

Abstract

The invention discloses a flexible mechanical arm for redundant backup of a driving rope. The flexible mechanical arm comprises a mechanical arm body and a driving rope unit, wherein each arm lever isfixedly provided with one set of driving rope unit, and a first end of a first driving rope, a first end of a second driving rope, a first end of a third driving rope and a first end of a fourth driving rope are all fixed to the arm lever; for the driving rope units on the single arm lever, the positions of the first end of the first driving rope and the first end of the third driving rope on thearm lever correspond to two end points of a first rotating shaft of an universal joint respectively; the first end of the second driving rope and the first end of the fourth driving rope are respectively located at two sides of a connecting line of the first end of the first driving rope and the first end of the third driving rope, and the distance between the first end of the second driving ropeand the first end of the first driving rope is less than the distance between the first end of the second driving rope and the first end of the third driving rope. Through the flexible mechanical armdisclosed by the invention, the mechanical arm still can be completely controlled after one rope is broken.

Description

technical field [0001] The invention relates to the field of robots, in particular to a flexible mechanical arm with redundant backup of driving ropes. Background technique [0002] Compared with the traditional industrial manipulator, the rope-driven super-redundant manipulator has the advantages of good bending characteristics, flexibility and fast response of control, which enables the rope-driven super-redundant manipulator to operate in a small space and complete the ruins Difficult missions such as rescues, pipeline repairs, and space repairs. [0003] At present, most of the rope-driven ultra-redundant manipulators use three ropes to drive a two-degree-of-freedom joint. However, in actual use, because the manipulator often shuttles in a small space, the ropes are frequently bent and easily broken. After one rope is broken, the remaining two ropes can only control one degree of freedom of rotation, and the joint loses one degree of freedom, which will reduce the worki...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the rope-driven ultra-redundant manipulators use three ropes to drive a two-degree-of-freedom joint. However, in actual use, because the manipulator often shuttles in a small space, the ropes are frequently bent and easily broken. After one rope breaks, the remaining two ropes can only control one degree of freedom of rotation. The joint loses one degree of freedom, which will reduce the working space of the robotic arm and make it impossible to complete the task normally.

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