Continuous stretch-draw integrated robot driven by multiple sections of ropes

Abstract

The invention provides a continuous stretch-draw integrated robot driven by multiple sections of ropes. The continuous stretch-draw integrated robot comprises a base, a plurality of basic units, a plurality of connecting mechanisms and three driving mechanisms, wherein the center of each basic unit is provided with an elastic connecting piece, and the elastic connecting pieces are elastically connected with the basic units; the three driving mechanisms are arranged front and back; and each driving mechanism comprises a plurality of ropes and a plurality of driving units for driving the ropes to move, and the front ends of the ropes are connected with the driving units. The continuous stretch-draw integrated robot driven by the multiple sections of ropes integrates three deformation modes of stretching, bending and twisting, and has flexible movement capability. The robot body is simple and ingenious in structure and has good reconfigurability. On the basis of the basic units, the connecting mechanisms and the base, springs and the ropes are connected to form the body structure of the robot, the modeling difficulty of kinetic analysis is reduced while assembling is easy, the model accuracy is high, and a better control effect can be achieved.

Description

technical field [0001] The present invention relates to the technical field of multi-degree-of-freedom robots, in particular to a continuous robot capable of winding and grabbing large-sized objects, and in particular to a continuous tensegrity robot driven by multi-segment ropes. Background technique [0002] In recent years, continuous robots have become a research hotspot in the field of robotics, and have a very wide range of applications, such as medical treatment, testing, aerospace and so on. Compared with traditional rigid robots, continuous robots have more degrees of freedom, can realize flexible movements, and are more adaptable to different working environments. In addition to installing actuators at the end to complete operations, the robot body can replace actuators It can complete large deformation actions such as grasping and winding. [0003] The tensegrity structure is composed of compression members and tension members. The combination of tension members ...

AI Technical Summary

Problems solved by technology

However, the research and application of tandem tensegrity robots are still very rare, and its technology is relatively immature, especially in terms of its flexibility in motion.

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