A wire-driven snake-arm robot capable of decoupling bending motion

Abstract

The invention discloses a wire-driven serpentine arm robot capable of decoupling bending motion, which includes a proximal joint, a distal joint, a driving wire and a driving device, wherein the proximal joint includes a first rotating pair and a second rotating joint. For the proximal joint of the two rotating pairs, the rotation axis of the first rotating pair coincides with the end face of the proximal base plate, and the rotating axis of the second rotating pair coincides with the end face of the proximal end plate; the distal joint includes a third rotating joint For the distal joints of the pair and the fourth rotation pair, the rotation axis of the third rotation pair coincides with the end face of the distal base plate, and the rotation axis of the fourth rotation pair coincides with the end face of the distal end plate, and each drive is controlled by the driving device The elongation or shortening of the wire controls the bending of the wire-driven snake-like arm robot. During the bending process, the decoupling of the bending motion is realized, which can effectively simplify the robot kinematics and reduce the difficulty of control.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wire-driven serpentine-arm robot capable of decoupling bending motion. Background technique [0002] Since the wire-driven serpentine arm robot can realize multi-degree-of-freedom bending motion, it can work flexibly in a complex environment with limited height, and is widely used in maintenance inspection, minimally invasive surgery and other fields. In recent years, the types of joints that can be used to construct wire-driven snake-arm robots are rich and diverse. According to the joint degrees of freedom, they can be divided into single-degree-of-freedom or two-degree-of-freedom. The common single-degree-of-freedom joints include single-degree-of-freedom fixed-axis rotary joints, Plate and cylindrical rolling joints, etc.; two-degree-of-freedom joints include axis intersecting type (universal joint / ball joint) fixed axis rotating joint, axis non-intersecting fixed axis rotating joint,...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the joints of the wire-driven robot are coupled to each other during the driving process, the control difficulty is increased due to the coupling of the wires on the two degrees of freedom. The present invention provides a wire-driven snake-arm robot that realizes decoupling of bending motion

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