Under-actuated continuum mechanical arm

A continuum and robotic arm technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problems of reducing the overall weight and volume of the robotic arm, simplifying the structure, etc., to achieve load ratio, high load ratio, and simple structure Effect

Active Publication Date: 2022-04-29
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] For this reason, the technical problem to be solved by the present invention is to overcome the defect that the continuum manipulator in the prior art cannot simplify the structure and reduce the overall weight and volume of the manipulator on the basis of ensuring flexibility and load capacity

Method used

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  • Under-actuated continuum mechanical arm
  • Under-actuated continuum mechanical arm
  • Under-actuated continuum mechanical arm

Examples

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0040] refer to figure 1 As shown, this embodiment discloses an underactuated continuum mechanical arm, which includes three driving motors, three driving ropes and a plurality of sequentially connected joints 7, and the driving motors and the driving ropes correspond one-to-one;

[0041] Each joint 7 includes a dynamic platform 71 and a static platform 72, which are connected by a spherical pair between the dynamic platform 71 and the static platform 72; three driven ropes 73 are connected to the dynamic platform 71 in each joint 7 to pass Driven rope 73 transmits power to moving platform 71;

[0042] Each joint 7 is connected with three variable-diameter drive mechanisms 8 to dri...

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Abstract

The invention relates to an under-actuated continuum mechanical arm which comprises three driving motors, three driving ropes and a plurality of joints connected in sequence. Each joint comprises a movable platform and a static platform; the movable platform in each joint is connected with three driven ropes; each joint is connected with three variable-diameter driving mechanisms, the driven ropes in each joint are in one-to-one correspondence with the variable-diameter driving mechanisms, and each driven rope in each joint is connected with the output end of the corresponding variable-diameter driving mechanism; the variable-diameter driving mechanism comprises a variable-diameter pulley, and the variable-diameter pulley comprises a variable-diameter outer ring body; and the outer ring body of the variable-diameter pulley in the variable-diameter driving mechanism at each joint is driven by a corresponding driving rope to rotate. The mechanical arm is simple in structure and small in overall weight and size, and meanwhile the flexibility and the load capacity of the mechanical arm can be effectively guaranteed.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to an underactuated continuum mechanical arm. Background technique [0002] The continuum manipulator shows a long and thin shape as a whole, and is composed of multiple subsections connected in series. The components of each subsection often have greater flexibility, which makes the continuum manipulator have good compliance characteristics and flexibility. In view of the continuum manipulator Due to the above characteristics of the manipulator, the continuum manipulator is widely used in various fields. [0003] The Chinese patent with the publication number of patent application CN108237524A discloses a continuous robot driven by a line. The robot includes a drive system and a mechanical arm. Mechanism and drive line, the linear drive mechanism is set on the support base, one end of the drive line is connected to the linear drive mechanism, the other end passes through t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00
CPCB25J18/00
Inventor 宁传新张庭李阳冯凯祥巩振华唐庆康
Owner SUZHOU UNIV
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