Bionic crossed fishbone-shaped continuum robot mechanical arm

Abstract

The invention provides a bionic crossed fishbone-shaped continuum robot mechanical arm. The bionic crossed fishbone-shaped continuum robot mechanical arm comprises a box body, a flexible mechanical arm, a driving rope, a driving motor module and a control module, and the control module controls the driving rope to drive the flexible mechanical arm to act through the driving motor module; the flexible mechanical arm comprises an end cover, a plurality of fishbone-imitating basic modules and a plurality of middle connecting discs, and every two adjacent fishbone-imitating basic modules are connected in series in a crossed mode through the corresponding middle connecting disc; and the fishbone-imitating basic module comprises a rigid-flexible bionic fish skeleton and a spring steel sheet. According to the mechanical arm, bending movement in all directions can be completed, deformation of the driving rope in the movement process of the mechanical arm is closer to a circular arc through a specific rigid-flexible mixed bionic fish skeleton structure, the deformation is better matched with a theoretical model assumption condition, therefore the tail end position of the mechanical arm is more accurate, and the problem that a mechanical arm of a traditional continuum robot is large in motion error is well solved.

Description

technical field [0001] The invention relates to a mechanical arm of a continuum robot, in particular to a bionic crossed herringbone-shaped continuum robot mechanical arm imitating a fishbone structure. The invention belongs to the technical field of robots. Background technique [0002] Traditional industrial robots are mostly rigid robots, and their mechanical arms are mostly composed of multiple rigid structural parts in series. They have the advantages of large load capacity, high motion precision, fast system response, and mature control technology. They have been widely used in automobile assembly, logistics, etc. Sorting and component welding and other fields. However, such robots usually work in a wide and structured environment, and it is difficult to adapt to narrow and complex working environments, such as inside living organisms and narrow and long pipelines. With the emergence of emerging continuum robots in recent years, due to their highly deformable structu...

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Problems solved by technology

[0004] At present, the common problem of this type of continuum robotic arm is that during the bending deformation process of the mechanical arm, the bending of the mechanical arm is approximately circular, but the driving rope on the outside is straight, resulting in When learning modeling, it is necessary to establish the corresponding relationship between the length of the driving rope and the position of the end of the manipulator, that is, if the driving rope is a strai

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