Bionic rigid-flexible coupling variable-rigidity continuum robot and control method

Abstract

The invention discloses a bionic rigid-flexible coupling variable-rigidity continuum robot and a control method, the continuum robot comprises a machine body, continuum mechanisms, a main framework, a rigidity adjusting mechanism, a driving mechanism, a sensor unit, a control processing module and a power module, and the continuum mechanisms comprise a first continuum mechanism, a second continuum mechanism and a third continuum mechanism; each rigid mechanism is composed of a plurality of circular rigid section pieces, an elastic rod and a compression spring, each rigidity adjusting mechanism is composed of a plurality of sets of friction sliding blocks, springs, pressing blocks, pull rods, connecting rods, connecting shafts, rotating discs, torsional springs and pull ropes, and the control method comprises a pose control method and a rigidity control method. The continuum robot has the advantages of being compact in structure, light, flexible, controllable in rigidity and the like, and winding and grabbing of objects can be achieved.

Description

technical field [0001] The invention belongs to the intersection field of robotics, control science, computer science and sensing technology, and is specifically a bionic rigid-flexible coupling variable stiffness continuum robot and a control method. Background technique [0002] Traditional industrial manipulators are composed of rigid links and discrete joints, simulating the human arm to achieve a given trajectory in a large working space so that the end of the manipulator reaches the designated working position. However, this type of rigid manipulator has less degrees of freedom and insufficient flexibility. In the face of complex working environments, inevitable rigid collisions will occur, posing safety hazards. The continuum robot is a new type of bionic robot. Different from the traditional manipulator arm, the bionic continuum robot imitates flexible biological organs such as elephant trunks and octopus tentacles. The main movement form of the bionic continuum rob...

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Problems solved by technology

[0003] Aiming at the problem that the bionic continuous robot cannot bear too high load when facing some contact operations with precision requirements, and people have invented a variety of variable stiffness continuous robots by using internal antagonism, negative pressure blocking mechanism, shape memory alloy, etc. type mechanism, but most of them have defects such as inconvenient control, small variable stiffness, and slow response speed. A bionic rigid-flexible coupling variable stiffness continuum robot and its control method are designed, which have the adaptability and characteristics of continuum robots. Flexibility, able to carry a certain load, large change in stiffness, fast response, and convenient control

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