Under-actuated equal-bending linkage joint set and continuous mechanical arm

Abstract

The invention discloses an under-actuated equal-bending linkage joint set and a continuous mechanical arm. The under-actuated equal-bending linkage joint set comprises a base, a driving system, a driving rope and a mechanical arm body, wherein the mechanical arm body is formed by connecting a plurality of linkage joint sets in series, the linkage joint sets are minimum composition units, and eachlinkage joint set comprises a first joint, a connecting arm rod, a second joint, a third joint, a first linkage rope and a second linkage rope; and the mechanical arm body is fixed to the base, the driving rope penetrates through the mechanical arm body, one end of the driving rope is fixed to the rope traction position in the driving system, the other end of the driving rope is fixedly connectedwith the connecting arm rod, and the driving system controls the driving rope to move. According to the under-actuated equal-bending linkage joint set, a joint set mode is adopted, under the conditionthat the freedom degree requirement is met, the arm rod length and the operation radius are increased, and the working space of the quasi-continuous mechanical arm is enlarged; and by the adoption ofthe under-actuated joint set, the number of driving components can be reduced, namely the weight of the whole robot is reduced, and then the structural layout of a driving part is simplified.

Description

technical field [0001] The invention belongs to the technical field of continuous manipulators, and relates to an underactuated equal-bending linkage joint group and a continuous manipulator. Background technique [0002] For the narrow and unstructured working environment, traditional industrial robots mainly use rope-linked joint groups to realize functions in the existing research schemes. The linkage scheme requires additional fixtures, which increases the difficulty of assembly, and after assembly The surplus space at the linkage of the boom is very small, which brings great difficulties to the maintenance of the linkage rope in the later stage. It is necessary to further optimize the design of the boom and the configuration of the linkage rope. Traditional industrial robots are limited by their degrees of freedom and arm structure, making it difficult to complete related tasks and requirements. [0003] As a nearly continuous robot with controllable deformation, the c...

AI Technical Summary

Problems solved by technology

The continuous manipulator is limited by the arm and joint structure, length, weight, drive layout, etc., and it is difficult to meet the requirements of long arm in a narrow and unstructured environment, and proper load movement and handling at the end. It needs to be based on specific working conditions. Propose more targeted joint structures, driving methods and control methods

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