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

An integral tensioning, rope-driven technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increased flexibility and immature technology, and achieves the advantages of increased flexibility, good control effect, and high material utilization rate. Effect

Inactive Publication Date: 2021-06-01
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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.

Method used

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

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Embodiment Construction

[0039] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordina...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/104B25J9/1045
Inventor 彭海军李飞杨浩阚子云陈飙松张盛
Owner DALIAN UNIV OF TECH
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