A continuous robotic arm combining an origami-shaped shell and a tensegrity structure

Abstract

The invention provides a continuous mechanical arm that combines an origami-shaped shell and a tension structure, which includes a plurality of circular basic units coaxially arranged front and rear, and a straight rod-shaped basic unit is arranged between two adjacent circular basic units. The basic unit, the two ends of the straight rod-shaped basic unit are respectively connected to the circular basic unit through a plurality of elastic connectors; an origami-shaped shell is arranged between two adjacent circular-shaped basic units, and the two ends of the origami-shaped shell are respectively It is fixedly connected with the circular basic unit at its two ends; the front side of the frontmost circular basic unit is fixed with a base, and a driving mechanism is fixed on the base; the driving mechanism includes a plurality of ropes and a drive that drives the movement of the ropes. unit. The manipulator disclosed by the invention is flexible in movement, can simultaneously realize continuous bending and telescopic movement, has the advantages of variable stiffness, high material utilization rate, safer human-computer interaction, etc., and can meet the complex requirements of the manipulator in an unstructured space. Job task requirements.

Description

technical field [0001] The invention belongs to the field of multi-degree-of-freedom redundant continuous manipulators and origami robots, in particular to a skeleton-type origami mechanism continuous robot that realizes winding and grabbing of large-sized objects, especially a fusion of origami-shaped shell and sheet Continuous manipulator with pull structure. Background technique [0002] The R&D, manufacturing, and application of robots are an important indicator of a country's technological innovation capability and high-end manufacturing level. In order to meet the needs of complex work tasks, through the analysis of the movement mechanism of natural molluscs or organ physiological structures, various bionic robotic arms such as elephant trunks, fish, and snakes have emerged as the times require. Compared with traditional rigid robots, it has higher flexibility, compliance, safety and environmental adaptability. It not only has unique advantages in small spaces and mul...

AI Technical Summary

Problems solved by technology

[0004] When the mechanical arm based on the tensegrity structure wraps and grabs the target object, the target object and the tension member in the tensegrity will contact each other or the target object will be stuck between the tension member and the compression member. Scenarios that have a negative impact on the movement of the robotic arm, and at the same time the rigid contact between the compression member and the target object in the tensegrity structure will cause a certain amount of indentation and scratches on the target object

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