Flexible mechanical arm of series-parallel mixed structure

Abstract

The invention discloses a flexible mechanical arm of a series-parallel mixed structure, and relates to the technical field of soft robots. The flexible mechanical arm comprises a base constraint disc, a tail end constraint disc, a tail end executor, at least two bent section rod systems and at least one bent section ending constraint disc, wherein the lower ends of the tail end constraint disc and the bent section ending constraint disc are each fixedly provided with one bent section rod system; the lower ends of the bent section rod systems sequentially and movably penetrate through the bent section ending constraint disc below and are movably installed on the base constraint disc; and each bent section rod system is sleeved with a bent section middle constraint disc, at least one flexible rod of each bent section rod system is fixedly connected with the corresponding bent section middle constraint disc, and the lower ends of the bent section rod systems sequentially and movably penetrate through the bent section middle constraint discs on the bent section rod systems below the bent section rod systems. According to the flexible mechanical arm of the series-parallel mixed structure, large-range movement of the flexible mechanical arm relative to the size of the flexible mechanical arm is achieved through the simple and low-cost series-parallel structure design, and the rigidity brought by a parallel structure is guaranteed.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a flexible mechanical arm with a series-parallel hybrid structure. Background technique [0002] Today, the multi-degree-of-freedom flexible manipulator expands the application range of traditional rigid manipulators by virtue of its softness and compactness. It has broad application prospects in fields such as medical care, light object grasping, narrow space operation, and human-machine cooperation. A large number of different types of structure designs and corresponding researches have been carried out on this type of robotic arm at home and abroad. Among them, the structure with flexible dielectric rods as the skeleton is a large class of important structures. This type of flexible structure often requires ropes or thin rods to drive. Its main rod bends to enable motion, and the structural body has compliant passive degrees of freedom. [0003] Existing structures of th...

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Problems solved by technology

[0003] Existing structures of this type usually take the stiffness of the central main rod as the main stiffness of the flexible robotic arm. It is necessary to realize the degree of freedom of bending on the main rod and to rely on the main rod to ensure that the mechanical arm has a certain stiffness. To a certain extent, it will lead to certain restrictions on its working space and degree of freedom, coupled with the difficulties in the specific design and practical application of the electromechanical control system of the robotic arm, such as the difficulty of solving efficiency, manufacturing cost and structural complexity, which limits the Properties and applications of flexible arms

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