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Trunk-imitating continuous robot based on tensegrity structure

A technology of tensioning the overall structure and imitating the elephant trunk, which is applied in the field of robotics, can solve the problems of immature technology and the rare research and application of elephant-trunk continuous robots, etc., to achieve enhanced strength, realistic flexible stretching and bending effects, The effect of high driving efficiency

Active Publication Date: 2022-03-08
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the research and application of the continuous robot with imitation elephant trunk based on the tensegrity structure is still rare, and the technology is relatively immature.

Method used

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  • Trunk-imitating continuous robot based on tensegrity structure
  • Trunk-imitating continuous robot based on tensegrity structure
  • Trunk-imitating continuous robot based on tensegrity structure

Examples

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Effect test

Embodiment

[0050] Such as Figures 1 to 12 As shown, an elephant-trunk continuous robot based on a tensegrity structure has an elephant-trunk arm, and the elephant-trunk arm includes a connecting body 10 , an energy storage mechanism 20 and a driving mechanism 30 . The connecting body 10 has an upper layer assembly 11 and a lower layer assembly 12, the lower layer assembly 12 is fixedly arranged below the upper layer assembly 11; the energy storage mechanism 20 is configured to keep the adjacent connecting bodies 10 away from each other, and the adjacent connecting bodies 10 pass through the energy storage The mechanism 20 is connected and formed with a telescopic bending section 13 and a main bending section 14; the driving mechanism 30 is used to drive the telescopic bending section 13 to stretch and drive the main bending section 14 to bend; The flexible operation ability of the nose, the driving efficiency of the entire driving structure is high, and it can achieve flexible stretchin...

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Abstract

The invention discloses a tensegrity structure-based elephant trunk-imitating continuous robot, which is provided with an elephant trunk-imitating arm body, the elephant trunk-imitating arm body comprises at least one connecting body, at least one energy storage mechanism and at least one driving mechanism, and the at least one connecting body is provided with at least one upper layer assembly and at least one lower layer assembly; the at least one energy storage mechanism is configured to enable the at least one adjacent connecting body to be far away from each other, and the at least one adjacent connecting body is connected through the at least one energy storage mechanism and forms at least one telescopic bending section and at least one main bending section; the at least one upper layer assembly in the at least one connector and the at least one upper layer assembly or the at least one lower layer assembly in the at least one connector adjacent to the at least one upper layer assembly are rotationally connected with the at least one energy storage mechanism; the elephant-trunk-imitating continuous robot based on the tensegrity structure can conduct multi-angle freedom-degree movement in the space, and the elephant-trunk-imitating flexible operation capacity is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an elephant-trunk continuous robot based on a tensegrity structure. Background technique [0002] At present, the research of robot technology has become more and more mature, and it is widely used in aerospace, industrial production and many other fields. These applications undoubtedly bring great convenience to human beings. However, the traditional rigid robots widely used at present have only limited degrees of freedom, poor deformation ability, and it is difficult to realize flexible manipulation movements in space. [0003] Aiming at the limitations brought about by traditional rigid robots, continuous robots with compliant creatures as bionic prototypes emerged as the times require. However, the research and application of the continuous robot with imitation elephant trunk based on the tensegrity structure is still rare, and the technology is relatively immature. Therefor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/02
CPCB25J18/025
Inventor 吴嘉宁张捷林浩峰吴明帅牟文迪张瀚月江毅玲吴志刚
Owner SUN YAT SEN UNIV
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