Wire-driven soft robotic arm for winding motion

Abstract

The invention relates to a wire-driven soft robotic arm capable of realizing winding motion, which solves the technical problems of insufficient load capacity, small winding force, low motion precision, and inability to realize the control of the helix angle of the existing continuous flexible body winding robotic arm. It includes a second motor base, a first motor, a second motor, a turntable connection plate, a reel, a turntable, a spring fixing plate, a spring and a wire rope, the turntable is rotatably connected with the turntable connection plate, the first motor is connected with the turntable connection plate, the first The output shaft of a motor is connected to the turntable through a transmission mechanism, the reel is fixedly connected to the output shaft of the second motor, the spring fixing plate is fixedly connected to the turntable connecting plate, the spring fixing plate is provided with a spring connecting hole, and the end of the spring is fixed to the spring In the connecting hole; the periphery of the turntable is provided with a round hole, the wire rope passes through the hole of the spring, the end of the wire rope is fixedly connected with the end of the spring, and the wire rope passes through the round hole of the turntable and is wound on the drum. The invention is applied in the fields of wrapping object grasping, bionic climbing and the like.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a wire-driven soft robotic arm that can realize winding motion, and the curvature and helix angle of a cylindrical helix formed by winding a manipulator body can be controlled. Background technique [0002] It is well known that rigid robots have relatively bulky mechanical bodies, which restrict their access to unstructured environments with tiny spaces and slender pipes. However, soft robots rely on their characteristics of continuity, high flexibility and high degree of freedom, and have strong environmental adaptability, and have good application prospects in irregular environments, slender pipes and small spaces. [0003] It is a challenge for robotics to realize the grasping and clinging of irregular objects in a small space. At present, the development of soft robotics has realized the continuous flexible body winding manipulator with flexible characteristics. There ar...

AI Technical Summary

Problems solved by technology

[0005] The present invention is to solve the technical problems that the existing continuous flexible body winding manipulator has insufficient load capacity, small winding force, low motion precision, and cannot realize the control of the helix angle, and provides a high load capacity, large winding force, and can realize A wire-driven soft manipulator capable of winding motion controlled by helix angle

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