An underactuated flexible robotic arm and working method thereof

Abstract

The present invention discloses an under-actuated flexible manipulator and a working method thereof. The manipulator comprises a driving member, which is provided with a driving wheel; a bending assembly, which comprises a first bending member, a second bending member and a third bending member which are hinged in series in sequence, and a slide groove is provided on the side of the second bending member for a protrusion to slide therein; an adjusting mechanism, which drives the protrusion to move in the slide groove; a rope, which is wound around the driving wheel, the first bending member, the second bending member and the protrusions on the third bending member; an elastic member, which is arranged between the first bending member and the second bending member, or between two first bending members. By adjusting the position of the protrusion on the second bending member through the adjusting mechanism, the direction of the combined force of each protrusion can be changed, thereby switching the grasping and releasing actions of the manipulator; the driving of the bending assembly is completed by the rope. On the one hand, the rope driving increases the clamping force of the manipulator, and on the other hand, the number of power sources is reduced to reduce the difficulty of control system design, production cost and subsequent maintenance cost.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to an under-actuated flexible mechanical arm and a working method thereof. Background Art

[0002] An underactuated manipulator refers to a design in which the number of joints is less than the number of degrees of freedom, thereby reducing the number of power sources and having significant advantages. First, its simplified structure reduces manufacturing and maintenance costs, making it suitable for large-scale applications. Second, the underactuated manipulator can achieve flexible movement at low energy consumption, improves energy utilization efficiency, has strong adaptability, and can adaptively adjust according to changes in the external environment. The bionic design combined with it draws on the movement characteristics of natural organisms, further enhancing the adaptability of the manipulator in complex environments. Due to its simple structure and high energy efficiency, the underactuated manipulator is suitable for occasions that require flexible movement.

[0003] Although the bionic underactuated manipulator has significant advantages, there are still some shortcomings in practical applications. Among the various types of bionic underactuated manipulators currently used in the market, first of all, the existing manipulators have complex structures, the number of power sources is difficult to further reduce, and the control requirements are relatively high. In addition, the manipulator is difficult to flexibly respond to external interference, the grasping force of the driving arm is insufficient, and it is easy to fall off due to interference. The durability and maintenance cost issues of long-term use also affect its large-scale promotion. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an underactuated flexible robotic arm, which can reduce the number of power sources as much as possible, has higher durability and is easy to maintain.

[0005] The present invention also provides a working method for the under-actuated flexible robotic arm.

[0006] According to the first aspect of the present invention, an underactuated flexible robotic arm includes:

[0007] A driving member, a driving wheel is provided on the side of the driving member;

[0008] A bending assembly, comprising a first bending member, a second bending member and a third bending member which are hingedly connected in series in sequence, wherein the first bending member is hingedly connected to the driving member, and a hook-shaped structure is provided at the end of the third bending member; the first bending member, the second bending member and the third bending member are all provided with convex blocks on their sides, wherein a sliding groove is provided on the side of the second bending member for the convex block to slide therein;

[0009] An adjusting mechanism, which is mounted on the second bending member and drives the protrusion to move in the sliding groove;

[0010] A rope, which is wound around the driving wheel, one end of which passes through the convex block on the first bending member and the convex block on the second bending member in sequence, and is fixedly connected to the convex block on the third bending member;

[0011] An elastic member, two ends of which are respectively connected to the first bending member and the second bending member, or two ends of the elastic member are respectively connected to two adjacent first bending members;

[0012] Among them, the driving wheel tightens the rope, and the protrusion on the second bending member slides inward, so that the direction of the resultant force of each protrusion in the bending assembly can be outward; the protrusion on the second bending member slides outward, so that the direction of the resultant force of each protrusion in the bending assembly can be inward.

[0013] The under-actuated flexible robotic arm according to the embodiment of the present invention has at least the following beneficial effects: by adjusting the position of the protrusions on the second bending member through the adjustment mechanism, the direction of the combined force of each protrusion can be changed, thereby switching the grasping and releasing actions of the robotic arm; the bending assembly is driven by a rope, on the one hand, the rope drive increases the clamping force of the robotic arm, and on the other hand, the number of power sources is reduced to reduce the difficulty of control system design, production costs and subsequent maintenance costs.

[0014] According to some embodiments of the present invention, the adjustment mechanism includes a motor, a slider and a connecting rod, the output shaft of the motor is equipped with a gear, the slider is provided with a rack capable of meshing with the gear, and the two ends of the connecting rod are respectively pivotally connected to the slider and the protrusions on the second bending member.

[0015] According to some embodiments of the present invention, the bending assembly further includes a hinge, and the first bending member and the second bending member, the second bending member and the third bending member, and two adjacent first bending members are hinged through the hinge.

[0016] According to some embodiments of the present invention, the hinge is an elastic member and is in the shape of an arc plate. When the hinge is subjected to force, the concave side and the convex side thereof can be transformed into each other.

[0017] According to some embodiments of the present invention, two guide blocks are disposed on the sides of the first bending member and the second bending member, the protrusion is located between the two guide blocks, and the guide blocks are provided with holes for the rope to pass through.

[0018] According to some embodiments of the present invention, the side surfaces of the first bending member are provided with adjustment grooves, and the protrusions of the first bending member can slide in the adjustment grooves to adjust the positions of the protrusions.

[0019] According to some embodiments of the present invention, the cross-section of the adjustment groove is in a "C" shape.

[0020] According to some embodiments of the present invention, driving wheels are provided on both sides of the driving member, protrusions are symmetrically provided on both sides of the first bending member, the second bending member and the third bending member, and the two driving wheels drive the bending assembly through the rope.

[0021] According to some embodiments of the present invention, the first bending member, the second bending member and the third bending member are connected by a spherical hinge structure, the two driving wheels can rotate independently, and the bending assembly can bend laterally by changing the traction force of the two driving wheels on the rope.

[0022] The working method according to the second aspect of the present invention is performed on the underactuated flexible robotic arm, including a grasping mode and a releasing mode, wherein:

[0023] The crawling mode includes the following steps:

[0024] The adjusting mechanism drives the protrusion in the second bending member to move outward;

[0025] The driving wheel rotates and tightens the rope, and the protrusions on the first bending member, the second bending member and the third bending member generate a combined force toward the inside;

[0026] The first bending member, the second bending member and the third bending member are all bent inward, the elastic member stores elastic potential energy, and the grasping action of the under-actuated flexible robotic arm is completed;

[0027] The release mode includes the following steps:

[0028] The adjusting mechanism drives the protrusion in the second bending member to move inwards;

[0029] The driving wheel rotates and tightens the rope, and the protrusions on the first bending member, the second bending member and the third bending member generate a combined force toward the outside;

[0030] The first bending member, the second bending member and the third bending member are all bent outward, the elastic member releases elastic potential energy to assist in unfolding, and the release action of the under-actuated flexible robotic arm is completed.

[0031] The working method according to the embodiment of the present invention has at least the following beneficial effects: by driving the adjustment mechanism, the direction of the resultant force of each protrusion of the under-actuated flexible robotic arm when the rope is tightened can be changed, thereby switching the grasping mode and release mode of the robotic arm to complete the grasping and releasing of the object.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0034] Figure 1 A three-dimensional diagram of an underactuated flexible robotic arm according to an embodiment of the first aspect of the present invention;

[0035] Figure 2 A three-dimensional diagram of a first bending member in an underactuated flexible robotic arm according to an embodiment of the first aspect of the present invention;

[0036] Figure 3 A three-dimensional diagram of a third bending member in an underactuated flexible robotic arm according to an embodiment of the first aspect of the present invention;

[0037] Figure 4 A three-dimensional diagram of a motor in an underactuated flexible robotic arm according to an embodiment of the first aspect of the present invention;

[0038] Figure 5 A three-dimensional diagram of a slider in an underactuated flexible robotic arm according to an embodiment of the first aspect of the present invention;

[0039] Figure 6 A three-dimensional diagram of a hinge in an underactuated flexible robotic arm according to an embodiment of the first aspect of the present invention;

[0040] Figure 7 It is a first schematic diagram of the under-actuated flexible mechanical arm in the grasping mode in the working method of the embodiment of the second aspect of the present invention;

[0041] Figure 8 It is a second schematic diagram of the under-actuated flexible mechanical arm in the grasping mode in the working method of the embodiment of the second aspect of the present invention;

[0042] Fig. 9 It is a first schematic diagram of the under-actuated flexible mechanical arm in the release mode in the working method of the embodiment of the second aspect of the present invention;

[0043] Fig.10 This is a second schematic diagram of the under-actuated flexible robotic arm in the release mode in the working method of the embodiment of the second aspect of the present invention.

[0044] Figure markings: 100-driving member, 110-driving wheel, 120-guide wheel, 200-bending assembly, 210-first bending member, 211-adjusting groove, 220-second bending member, 221-slide groove, 230-third bending member, 231-hook structure, 240-bump, 250-hinge, 260-guide block, 300-adjusting mechanism, 310-motor, 320-slider, 330-connecting rod, 400-rope, 500-elastic member. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0047] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0048] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0049] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0050] An underactuated manipulator refers to a design in which the number of joints is less than the number of degrees of freedom, thereby reducing the number of power sources and having significant advantages. First, its simplified structure reduces manufacturing and maintenance costs, making it suitable for large-scale applications. Second, the underactuated manipulator can achieve flexible movement at low energy consumption, improves energy utilization efficiency, has strong adaptability, and can adaptively adjust according to changes in the external environment. The bionic design combined with it draws on the movement characteristics of natural organisms, further enhancing the adaptability of the manipulator in complex environments. Due to its simple structure and high energy efficiency, the underactuated manipulator is suitable for occasions that require flexible movement.

[0051] Although the bionic underactuated manipulator has significant advantages, there are still some shortcomings in practical applications. Among the various types of bionic underactuated manipulators currently used in the market, first of all, the existing manipulators have complex structures, the number of power sources is difficult to further reduce, and the control requirements are relatively high. In addition, the manipulator is difficult to flexibly respond to external interference, the grasping force of the driving arm is insufficient, and it is easy to fall off due to interference. The durability and maintenance cost issues of long-term use also affect its large-scale promotion.

[0052] In this regard, the present application proposes an under-actuated flexible robotic arm, which can change the direction of the combined force of each protrusion 240 in the robotic arm by adjusting the position of the protrusion 240 on the second bending member 220 through an adjustment mechanism 300, thereby switching the grasping and releasing actions of the robotic arm; the bending component 200 is driven by a rope 400. On the one hand, the rope 400 drive increases the clamping force of the robotic arm, and on the other hand, reduces the number of power sources to reduce the difficulty of control system design, production costs and subsequent maintenance costs.

[0053] In addition, the present application also proposes a working method for the above-mentioned under-actuated flexible robotic arm. By driving the adjustment mechanism 300, the direction of the combined force of each protrusion 240 of the under-actuated flexible robotic arm can be changed when the rope 400 is tightened, thereby switching the grasping mode and release mode of the robotic arm to complete the grasping and releasing of the object.

[0054] Reference Figure 1 The under-actuated flexible robotic arm in the embodiment of the first aspect of the present application includes a driving member 100, a bending assembly 200, an adjustment mechanism 300, a rope 400 and an elastic member 500. Among them, the driving member 100 is used to drive the opening and closing of the under-actuated flexible robotic arm. The bending assembly 200 is the main structure of the under-actuated flexible robotic arm, which mainly performs the bending action of the robotic arm. The adjustment mechanism 300 is used to adjust the position of the protrusion 240 of the second bending member 220 in the bending assembly 200. The rope 400 is wound around the driving member 100 and the bending assembly 200, serving as a force transmission structure of the under-actuated flexible robotic arm. The elastic member 500 is used to store elastic potential energy, and can assist the robotic arm in opening and closing when the robotic arm switches between grasping action and releasing action.

[0055] Specifically, a driving wheel 110 is disposed on the side of the driving member 100 to pull the rope 400 .

[0056] The bending assembly 200 includes a first bending member 210, a second bending member 220 and a third bending member 230 which are hinged in series in sequence. The first bending member 210 is hinged to the driving member 100, and a hook structure 231 is provided at the end of the third bending member 230. The sides of the first bending member 210, the second bending member 220 and the third bending member 230 are all provided with a protrusion 240, and the side of the second bending member 220 is provided with a sliding groove 221 for the protrusion 240 to slide therein.

[0057] The adjusting mechanism 300 is installed on the second bending member 220 and drives the protrusion 240 to move in the sliding groove 221 .

[0058] The rope 400 is wound around the drive wheel (refer to Figure 7 ), one end of the rope 400 passes through the protrusion 240 on the first bending member 210 and the protrusion 240 on the second bending member 220 in sequence, and is fixedly connected to the protrusion 240 on the third bending member 230. Therefore, when the rope 400 is tightened, the first bending member 210, the second bending member 220 and the third bending member 230 connected in series can rotate, and the robot arm can be curled and bent as a whole.

[0059] The two ends of the elastic member 500 are respectively connected to the first bending member 210 and the second bending member 220, or the two ends of the elastic member 500 are respectively connected to two adjacent first bending members 210, which are used to store the elastic potential energy when the robotic arm is bent. When the robotic arm performs the transition between grasping action and releasing action, the elastic potential energy can be released to assist the robotic arm to complete the action transition.

[0060] Among them, refer to Figure 7 The driving wheel 110 tightens the rope 400, and the protrusion 240 on the second bending member 220 slides outward, so that the combined force direction of each protrusion 240 in the bending assembly 200 is inward, thereby completing the grabbing action of the robot arm. Fig. 9 , the driving wheel 110 tightens the rope 400, and the protrusion 240 on the second bending member 220 slides inward, so that the combined force direction of each protrusion 240 in the bending assembly 200 is outward, thereby completing the release action of the robot arm. In this application, the inner side refers to the side where the bending assembly 200 bends when the under-actuated flexible robot arm grabs, and the outer side refers to the other side bounded by the under-actuated flexible robot arm and opposite to the inner side. Figures 7 to 10 In the figure, N represents the force, and the corresponding arrow represents the direction of the force.

[0061] Furthermore, a guide wheel 120 is disposed on the driving member 100 , and the rope 400 is wound around the guide wheel 120 . The guide wheel 120 is used to assist in guiding the rope 400 to extend toward the first bending member 210 .

[0062] Specifically, two guide blocks 260 are provided on the sides of the first bending member 210 and the second bending member 220, and the protrusion 240 is located between the two guide blocks 260. The guide blocks 260 have holes for the rope 400 to pass through, thereby preventing the rope 400 from swinging randomly and interfering with obstacles in the external environment.

[0063] Further, refer to Figure 2 The side of the first bending member 210 is provided with an adjustment groove 211, and the protrusion 240 of the first bending member 210 can slide in the adjustment groove 211 to adjust the position of the protrusion 240, and the protrusion 240 can be locked after the position is adjusted. In this way, the force magnitude and direction of the protrusion 240 in each first bending member 210 can be finely adjusted when the rope 400 is tightened.

[0064] Specifically, the cross-sectional shape of the adjustment groove 211 is “C”-shaped.

[0065] Specifically, refer to Figure 3 A hook structure 231 is provided at the end of the third bending member 230 to assist in grasping items. The hook structure 231 can be provided as an elastic member or a silicone layer can be provided on the surface to increase the friction between it and the item to prevent the item from falling after being grasped.

[0066] Specifically, the adjustment mechanism 300 includes a motor 310, a slider 320 and a connecting rod 330. Figure 4 , the output shaft of the motor 310 is equipped with a gear; Figure 5 The slider 320 is provided with a rack that can mesh with the gear. Therefore, when the output shaft of the motor 310 rotates, the gear can drive the slider 320 to move. The two ends of the connecting rod 330 are respectively pivoted to the slider 320 and the protrusion 240 on the second bending member 220.

[0067] Further, refer to Figure 6 The bending assembly 200 further includes a hinge 250 , and the first bending member 210 and the second bending member 220 , the second bending member 220 and the third bending member 230 , and two adjacent first bending members 210 are all hinged via the hinge 250 .

[0068] Specifically, the hinge 250 is an elastic member and is in the shape of an arc plate. When the hinge 250 is subjected to force, its concave side and convex side can be transformed into each other. For example, during installation, the concave side of the hinge 250 faces the outside of the under-driven flexible mechanical arm, and the convex side of the hinge 250 faces the inside of the under-driven flexible mechanical arm. When the rope 400 is tightened and the hinge 250 is subjected to force, the hinge 250 undergoes elastic deformation, and the deformed concave side faces the inside of the under-driven flexible mechanical arm, and the convex side faces the outside of the under-driven flexible mechanical arm. It is easy to understand that during the force-bearing process, due to the different installation positions of the various hinges 250 in the under-driven flexible mechanical arm, the same or opposite deformation modes may occur, which will not be repeated here.

[0069] The hinge 250 presents a three-dimensional dome bistable structure, which is a thin shell bistable structure with a larger curvature radius. The three-dimensional dome bistable structure is characterized by maintaining structural stability in both the grabbing and releasing states of the robot arm through material and geometric design. When released, the inner surface of the dome structure can be quickly turned outward, so that the robot arm can be transformed to the released state through the elastic potential energy stored in the elastic member 500 after a slight disturbance is applied by the rope 400, realizing an instantaneous state conversion.

[0070] Furthermore, driving wheels 110 are provided on both sides of the driving member 100, and bumps 240 are symmetrically provided on both sides of the first bending member 210, the second bending member 220 and the third bending member 230, and the two driving wheels 110 drive the bending assembly 200 through the rope 400. Thus, through the common drive of the two driving wheels 110, the movement of the under-actuated flexible robotic arm is more stable and reliable.

[0071] Furthermore, the first bending member 210, the second bending member 220 and the third bending member 230 are connected by a spherical hinge structure, and the two driving wheels 110 can rotate independently. By changing the traction force of the two driving wheels 110 on the rope 400, the bending assembly 200 is bent laterally, thereby increasing the degree of freedom of the under-actuated flexible robotic arm.

[0072] The working method in the second aspect of the present application is performed on the underactuated flexible robotic arm, including a grasping mode and a releasing mode, wherein:

[0073] The crawling mode consists of the following steps:

[0074] S110. The adjustment mechanism 300 drives the protrusion 240 in the second bending member 220 to move outward;

[0075] S120. Reference Figure 7, the driving wheel 110 rotates and tightens the rope 400, and the protrusions 240 on the first bending member 210, the second bending member 220 and the third bending member 230 generate a combined force toward the inside;

[0076] S130. Reference Figure 8 , the first bending member 210, the second bending member 220 and the third bending member 230 are all bent inward, the elastic member 500 stores elastic potential energy, and the grasping action of the under-actuated flexible robotic arm is completed;

[0077] Release mode includes the following steps:

[0078] S210. The adjustment mechanism 300 drives the second bending member 220 of the protrusion 240 to move inward;

[0079] S220. Reference Fig. 9 , the driving wheel 110 rotates and tightens the rope 400, and the protrusions 240 on the first bending member 210, the second bending member 220 and the third bending member 230 generate a combined force toward the outside;

[0080] S230. Reference Fig.10 The first bending member 210, the second bending member 220 and the third bending member 230 are all bent outward, and the elastic member 500 releases elastic potential energy to assist in unfolding, and the release action of the under-actuated flexible robotic arm is completed.

[0081] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. An underactuated flexible robotic arm, characterized in that: include: A driving member, a driving wheel is provided on the side of the driving member; A bending assembly, comprising a first bending member, a second bending member and a third bending member which are hingedly connected in series in sequence, wherein the first bending member is hingedly connected to the driving member, and a hook-shaped structure is provided at the end of the third bending member; the first bending member, the second bending member and the third bending member are all provided with convex blocks on their sides, wherein a sliding groove is provided on the side of the second bending member for the convex block to slide therein; An adjusting mechanism, which is mounted on the second bending member and drives the protrusion to move in the sliding groove; A rope, which is wound around the driving wheel, one end of which passes through the convex block on the first bending member and the convex block on the second bending member in sequence, and is fixedly connected to the convex block on the third bending member; An elastic member, two ends of which are respectively connected to the first bending member and the second bending member, or two ends of the elastic member are respectively connected to two adjacent first bending members; Among them, the driving wheel tightens the rope, and the protrusion on the second bending member slides inward, so that the direction of the resultant force of each protrusion in the bending assembly can be outward; the protrusion on the second bending member slides outward, so that the direction of the resultant force of each protrusion in the bending assembly can be inward.

2. The underactuated flexible robotic arm according to claim 1, characterized in that: The adjusting mechanism comprises a motor, a slider and a connecting rod, the output shaft of the motor is provided with a gear, the slider is provided with a rack capable of meshing with the gear, and the two ends of the connecting rod are respectively pivotally connected to the slider and the protrusions on the second bending member.

3. The underactuated flexible robotic arm according to claim 1, characterized in that: The bending assembly further includes a hinge, and the first bending member and the second bending member, the second bending member and the third bending member, and two adjacent first bending members are hinged via the hinge.

4. The underactuated flexible robotic arm according to claim 3, characterized in that: The hinge is an elastic member in the shape of an arc plate. When the hinge is subjected to force, the concave side and the convex side thereof can be transformed into each other.

5. The underactuated flexible robotic arm according to claim 1, characterized in that: Two guide blocks are arranged on the side surfaces of the first bending member and the second bending member, the protrusion is located between the two guide blocks, and the guide blocks are provided with holes through which the rope can pass.

6. The underactuated flexible robotic arm according to claim 1, characterized in that: The side surfaces of the first bending member are each provided with an adjustment groove, and the protrusion of the first bending member can slide in the adjustment groove to adjust the position of the protrusion.

7. The underactuated flexible robotic arm according to claim 6, characterized in that: The cross-sectional shape of the adjusting groove is "C"-shaped.

8. The underactuated flexible robotic arm according to any one of claims 1 to 7, characterized in that: Driving wheels are arranged on both sides of the driving member, and protrusions are symmetrically arranged on both sides of the first bending member, the second bending member and the third bending member, and the two driving wheels drive the bending assembly through the rope.

9. The underactuated flexible robotic arm according to claim 8, characterized in that: The first bending member, the second bending member and the third bending member are connected by a spherical hinge structure, and the two driving wheels can rotate independently. The bending assembly can bend laterally by changing the traction force of the two driving wheels on the rope.

10. A working method for the underactuated flexible robotic arm according to any one of claims 1 to 9, characterized in that: Includes grab mode and release mode, where: The crawling mode includes the following steps: The adjusting mechanism drives the protrusion in the second bending member to move outward; The driving wheel rotates and tightens the rope, and the protrusions on the first bending member, the second bending member and the third bending member generate a combined force toward the inside; The first bending member, the second bending member and the third bending member are all bent inward, the elastic member stores elastic potential energy, and the grasping action of the under-actuated flexible robotic arm is completed; The release mode includes the following steps: The adjusting mechanism drives the protrusion in the second bending member to move inwards; The driving wheel rotates and tightens the rope, and the protrusions on the first bending member, the second bending member and the third bending member generate a combined force toward the outside; The first bending member, the second bending member and the third bending member are all bent outward, the elastic member releases elastic potential energy to assist in unfolding, and the release action of the under-actuated flexible robotic arm is completed.

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