Cam-assisted flexible continuum robot unit and robot

Abstract

A cam-assisted flexible continuum robot unit comprises an upper unit block, a flexible structure, a cam higher pair and a lower unit block; the upper unit block and a lower unit block are connected through the flexible structure; the cam higher pair is arranged between the upper unit block and the lower unit block; and a plurality of threading through holes for wire driving are uniformly distributed on the peripheries of the upper unit block and the lower unit block. After the tail end of the continuum robot is subjected to pressure applied by driving wires, every two adjacent unit blocks are pressed, the unit blocks rotate around cylindrical contact auxiliary units, meanwhile, the corresponding flexible structures are bent and deformed, and therefore relative movement is generated between every two adjacent unit blocks. Furthermore, the deformation of the whole continuum robot in a larger space can be realized through the tightening and loosening of the driving wires.

Description

technical field [0001] The invention relates to the field of continuum robots, in particular to a cam-assisted flexible continuum robot unit and a robot. Background technique [0002] Compared with traditional rigid joint robots, continuum robots have the advantages of good flexibility and easy realization of super-redundant degrees of freedom, and are more suitable for working in small and limited spaces. The flexible unit has a series of advantages such as easy miniaturization, no need for lubrication, and smooth and continuous motion. Therefore, the combination design of the flexible unit and the continuum robot can break through some technical shackles, and has a very broad application in fields such as aviation and medical treatment. Application prospects. However, since the flexible continuum robot is elastic and easy to bend, it is often difficult to withstand large torsional and compressive loads, which affects the operating accuracy of the robot. Therefore, it is u...

AI Technical Summary

Problems solved by technology

However, since the flexible continuum robot is elastic and easy to bend, it is often difficult to withstand large torsional and compressive loads, which affects the operating accuracy of the robot. Therefore, it is urgent to study and design a new type of continuum robot to solve related problems.

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