Continuum robot

A robot and continuum technology, applied in the field of robotics, can solve the problems of heavy space utilization of drive system equipment, inability to accurately model and control, difficult to miniaturize and process, and achieve easy miniaturization, easy processing, and axial bearing capacity. big effect

Pending Publication Date: 2021-07-27
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems in the application of continuum robots in the field of medical minimally invasive surgery, such as complex joint structure, difficulty in miniaturization, inability to accurately model and control, heavy drive syste...

Method used

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  • Continuum robot
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Examples

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Embodiment

[0028] The overall structure of a continuum robot with a rollable execution arm according to an embodiment of the present invention can be found in figure 1 , is generally composed of a wire rope drive system 1, a wire tube 2, an actuator arm drive system 3, an actuator arm 4 and several drive wire ropes 5, wherein the drive wire rope 5, the wire pipe 2 and the actuator arm 4 are all flexible structures. Each component is described below.

[0029] 1. Rope drive system

[0030] The overall structure of the wire rope drive system 1 participated in figure 2 , which can control 16 driving wires 5 . The wire rope driving system 1 includes a support composed of several pillars (aluminum square tubes are used in this embodiment) as the supporting skeleton and several fixed plates (10201, 10202, 10203, 10204) layered and fixed between the pillars. frame, 16 wire drive devices 101 evenly distributed in the lower area of ​​the support frame, and 16 force sensors 104 and switching me...

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Abstract

The invention provides a continuum robot which comprises driving ropes, a driving system of the driving ropes, a rope pipe, an execution arm and a driving system of the execution arm. The rope driving system is used for controlling all the driving ropes and comprises a support frame, a plurality of rope driving devices which are uniformly fixed to the support frame and correspond to the driving ropes in number, and a way switching mechanism. The execution arm driving system is used for introducing the driving ropes in the rope pipe into the execution arm and providing driving force for the execution arm through the driving ropes. The execution arm comprises a plurality of joint sections which are connected in sequence, and each joint section is controlled by the corresponding driving rope to move. Each joint section is formed by sequentially connecting a plurality of identical joints in series. Each joint comprises two rolling contact joint bodies of the same structure, connecting bodies fixed to the outer sides of the rolling contact joint bodies correspondingly and two flexible rods fixed to the outer sides of the rolling contact joint bodies through the connecting bodies. The continuum robot has the advantages that a joint model is accurate, miniaturized processing is easy, and a driving structure is simple.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a continuum robot. Background technique [0002] Compared with rigid robots, continuous robots have highly redundant degrees of freedom. The robot body moves flexibly and can produce large deformations, so it has the advantage of being able to move in narrow and unstructured environments, which greatly makes up for the shortcomings of rigid robots. It has gradually become the focus and hotspot of robot research. [0003] At present, continuum robots have been widely used in bionic motion, industrial inspection and repair, disaster prevention and rescue, object grasping, minimally invasive surgery, medical rehabilitation and human-computer interaction, but there are still some shortcomings: 1. Accurate perception Due to the difficulty of integrating the system into the narrow cavity space of the continuum robot and the highly compliant execution arm of the continuum robot, the rea...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/10B25J9/16B25J13/08B25J17/02B25J18/00
CPCB25J11/00B25J9/10B25J9/1679B25J13/085B25J17/02B25J18/00
Inventor 刘磊孙富春郭娜
Owner TSINGHUA UNIV
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