Super-redundant multistable variable stiffness manipulator

Abstract

Disclosed is a super-redundant multi-stable variable stiffness manipulator, in which one end of a whole driving rope is connected to a whole driving device, passes through second through holes of all modules, and is fixed to a farthest module at the other end; one end of a module driving rope is fixed to a module driving device, passes through first through holes of all modules, passes through second through holes of a module before a terminal module is reached, and is finally connected to a second through hole of the terminal module; when a flexible plate does not deform, there is a gap between multi-stable wheel discs of adjacent modules, and a first tooth does not contact a second tooth; when the flexible plate deforms, a first rigid block moves downward, a first tooth of an upper multi-stable wheel disc contacts a second tooth of a lower multi-stable wheel disc, and adjacent modules perform multi-stable motion; the multi-stable motion is a composite motion of single-degree-of-freedom rotation and reciprocating movement; and a profile of the first tooth and a profile of the second tooth are a pair of conjugate curves for the multi-stable motion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a super-redundant multi-stable variable stiffness manipulator. BACKGROUND

[0002] Super-redundant manipulators have wide application prospects in fields such as equipment fault diagnosis, minimally invasive surgery, space and ocean development, etc. Such a manipulator has a large number of links, far exceeding the number of degrees of freedom required to determine the pose of its end, which enables the manipulator to retain sufficient degrees of freedom to achieve flexible deformation while ensuring the pose of the actuator. This flexibility endows the super-redundant manipulator with the ability to adapt to complex structural environments and also enables it to achieve conformal grasping of irregularly shaped objects. However, the large number of links also brings two defects, one of which is that the lateral stiffness of the arm body is low and it is difficult to resist large working loads, and the other of which is that it dramatically increases the complexity of the control system.

[0003] Designing a super-redundant manipulator with mechanical multi-stability can improve the stiffness of the arm body and simplify the complexity of the control system. Multi-stable joints have multiple stable configurations in which the energy is at a minimum. On the one hand, in the stable configuration, a specific force can be applied to improve the stiffness of the joint. On the other hand, since the joint always tends to turn to the stable configuration, it is not necessary to use feedback closed loop to control the joint angle, which greatly simplifies the complexity of the control system. Patent CN109702726 discloses a modular multi-stable variable configuration robot, the module shell is a convex polyhedron, the shell surface closely fits under the tension provided by the rope, when the module rotates around the edge of the convex polyhedron, the rope will provide a force resisting rotation, this principle makes the module have a stable state when the surface is fitted. In the stable configuration, tightening the rope through the fitted surface can improve the stiffness; in the non-stable configuration, the rope will always pull the module closer until the surface is fitted, so there is no need for additional feedback control.

[0004] However, the above multi-stable technical solution has two problems, one of which is that the number of configurations is small, and as the number of configurations increases, the stable state characteristics will continuously weaken until they disappear, which results in the manipulator having only a small number of stable working configurations; the other of which is that the driving devices of the module are all installed inside the module shell, which results in a complex structure and large inertia of the module. This will cause a large momentum when the manipulator jumps between configurations, and if it is not careful and collides with the outside world, it is easy to cause damage to the external environment or the arm body.

[0005] The above information disclosed in the background section is only intended to enhance the understanding of the background of the present application, and therefore can contain information that is not prior art known to those of ordinary skill in the art. SUMMARY

[0006] In view of the problems in the prior art, the application provides a super-redundant multi-stable variable stiffness manipulator, which can actively realize wide-range stiffness regulation and has a sufficient number of stable configurations to ensure flexible deformation.

[0007] The application aims to realize the above technical scheme, and provides a super-redundant multi-stable variable stiffness manipulator.

[0008] The base comprises a whole driving device for driving connection of a whole driving rope and a module driving device for driving connection of a module driving rope.

[0009] The arm body has a root fixedly connected to the base, and comprises modules connected in sequence, and the modules comprise

[0010] Two multi-stable wheels are arranged in a spaced-apart and opposite manner, and each multi-stable wheel comprises a first number of first teeth arranged on a lower side and a second number of second teeth arranged on an upper side.

[0011] A connector is arranged between the two multi-stable wheels, and the connector comprises a first rigid block arranged on the upper side and a second rigid block arranged on the lower side, the two multi-stable wheels are symmetrically fixed to the two sides of the second rigid block, the first rigid block is connected to the second rigid block via a pair of parallel flexible plates, the first rigid block can move in a vertical direction relative to the second rigid block, a first through hole penetrates the first rigid block and the second rigid block, and a second through hole is arranged on the two sides of the second rigid block.

[0012] One end of the whole driving rope is connected to the whole driving device, penetrates the second through holes of all the modules, and the other end is fixedly connected to the most distal module.

[0013] One end of the module driving rope is fixedly connected to the module driving device, penetrates the first through holes of all the modules, penetrates the second through holes of the module before the terminal module when reaching the module, and is finally connected to the second through hole of the terminal module.

[0014] When the flexible plate does not deform, there is a gap between the multi-stable wheels of adjacent modules, and the first teeth do not contact the second teeth, when the flexible plate deforms, the first rigid block moves downward, the first teeth of the upper multi-stable wheel contact the second teeth of the lower multi-stable wheel, the adjacent modules perform multi-stable motion, the multi-stable motion is a composite motion of single-degree-of-freedom rotation and reciprocating movement, and the profile of the first teeth and the profile of the second teeth are a pair of conjugate curves of the multi-stable motion.

[0015] The super-redundant multi-stable variable stiffness manipulator further comprises a stiffness adjusting device arranged on the base, which includes a motor, a torsional spring and a winding reel, the winding reel is connected in series with the motor output end through the torsional spring, a tensioning rope passes through the first through hole of each connector, one end of the tensioning rope is connected to the farthest module, and the other end of the tensioning rope is connected to the winding reel.

[0016] In the super-redundant multi-stable variable stiffness manipulator, the tooth profile of the first gear tooth is an arc segment, and the tooth profile of the second gear tooth is an equidistant curve generated by the center of the first gear tooth under multi-stable motion.

[0017] In the super-redundant multi-stable variable stiffness manipulator, the height of the first gear tooth and the second gear tooth is adjusted to adjust the stiffness range.

[0018] In the super-redundant multi-stable variable stiffness manipulator, the first rigid block is hingedly connected to a driving rod, a torsional spring is arranged between the driving rod and the first rigid block, and a whole driving rope passes through all the driving rods.

[0019] In the super-redundant multi-stable variable stiffness manipulator, the first gear tooth and the second gear tooth are corrugated teeth, and the first number is greater than the second number.

[0020] In the super-redundant multi-stable variable stiffness manipulator, a limiting block is arranged between the two flexible plates to limit the upward movement stroke of the first rigid block.

[0021] In the super-redundant multi-stable variable stiffness manipulator, the first rigid block and the second rigid block are respectively provided with pin holes to hingedly connect adjacent modules.

[0022] In the super-redundant multi-stable variable stiffness manipulator, the second rigid block is respectively provided with mounting holes for arranging reinforcing members on both sides.

[0023] In the super-redundant multi-stable variable stiffness manipulator, the arm body is a multi-stable variable stiffness finger, which includes five modules connected in series.

[0024] Compared with the prior art, the application has the following advantages: the multi-stable motion of the application adds a moving component to the module during rotation, the tensioning rope is arranged in the moving direction of the moving component, and a force is provided to hinder the motion of the module, so that the mechanical arm can obtain a large enough variable stiffness ratio. The module has a first through hole for passing through the tensioning rope and a second through hole for passing through the driving rope, so that the stiffness and deformation of the mechanical arm are effectively controlled. In particular, when the driving rope is arranged on the distal module, the first through holes of all the proximal modules are first passed through, and finally the second through hole position of the target module is fixed, which prevents the driving rope from causing unexpected motion of the proximal module and improves the control accuracy. The first and second gear teeth have a corrugated shape, so that the module has a sufficient number of stable states, ensuring the flexible deformation capability of the mechanical arm. The mechanical arm body only includes the modules and the ropes, and the overall structure is simple and has low inertia. BRIEF DESCRIPTION OF DRAWINGS

[0025] Various other advantages and benefits of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a better understanding of the preferred embodiments and are not to be considered as limitations on the present application. It should be readily understood that the drawings are merely illustrative of the present application and that they, therefore, do not limit the present application, as claimed. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained from these drawings without creative labor for those of ordinary skill in the art. Moreover, the same reference numerals are used to denote the same components throughout the drawings.

[0026] In the drawings:

[0027] Figure 1 is a structural schematic diagram of a super-redundant multi-stable variable stiffness mechanical arm according to an embodiment of the present application;

[0028] Figure 2 is a structural schematic diagram of a super-redundant multi-stable variable stiffness mechanical arm according to an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of two adjacent module assemblies of a super-redundant multi-stable variable stiffness mechanical arm according to an embodiment of the present application;

[0030] Figure 4 is a cross-sectional schematic diagram of a connector of a super-redundant multi-stable variable stiffness mechanical arm according to an embodiment of the present application;

[0031] Figure 5 is a schematic diagram of a module of a super-redundant multi-stable variable stiffness mechanical arm performing free rotation according to an embodiment of the present application;

[0032] Figure 6 is a schematic diagram of a module of a super-redundant multi-stable variable stiffness mechanical arm performing multi-stable motion according to an embodiment of the present application;

[0033] Figure 7 Figure 1 is a schematic diagram of a tensioned cable and integral drive cable of a super-redundant multi-stable variable stiffness manipulator according to one embodiment of the present application;

[0034] Figure 8 Figure 2 is a schematic diagram of an integral deformation of a super-redundant multi-stable variable stiffness manipulator according to one embodiment of the present application;

[0035] Figure 9 Figure 3 is a schematic diagram of a modular drive cable of a super-redundant multi-stable variable stiffness manipulator according to one embodiment of the present application;

[0036] Figure 10 Figure 4 is a schematic diagram of an end module individual motion of a super-redundant multi-stable variable stiffness manipulator according to one embodiment of the present application;

[0037] Figure 11 Figure 5 is a schematic diagram of a multi-stable variable stiffness manipulator finger structure assembly according to one embodiment of the present application;

[0038] Figure 12 Figure 6 is a schematic diagram of a finger drive cable of a multi-stable variable stiffness manipulator finger according to one embodiment of the present application;

[0039] Figure 13 Figure 7 is a schematic diagram of a finger motion of a multi-stable variable stiffness manipulator finger according to one embodiment of the present application.

[0040] The present application will be further explained with reference to the drawings and embodiments. DETAILED DESCRIPTION

[0041] Reference will now be made to the drawings and embodiments illustrated in the drawings. There can be many variations made to the Figures 1 to 13 Embodiments of the present application are described in more detail below. While the present application is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that it is not intended to limit the application to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application as defined by the appended claims.

[0042] It should be noted that some terms are used in the description and claims to refer to particular components. One of skill in the art will understand that a skilled person can use different names to refer to the same component. The description and claims do not differentiate components based on the difference in names, but rather on the difference in functions. "Include" or "comprise" as used throughout the specification and claims is an open term that is intended to encompass both the explicit and implicit inclusion of the stated components. The subsequent description is a preferred embodiment of implementing the present application, which is for the purpose of illustrating the general principles of the application, and is not intended to limit the scope of the application. The scope of protection of the present application is defined by the appended claims.

[0043] In order to facilitate the understanding of the embodiments of the present application, the following will be further explained and described with specific examples combined with the accompanying drawings, and each drawing does not constitute a limitation on the embodiments of the present application.

[0044] In order to better understand, Figures 1 to 10 As shown in the figure, the super-redundant multi-stable variable stiffness manipulator comprises,

[0045] a base comprising a whole driving device drivingly connecting a whole driving rope and a module driving device drivingly connecting a module driving rope;

[0046] an arm body having a root fixedly connected to the base, the arm body comprising modules connected in series, the modules comprising,

[0047] two multi-stable wheel discs oppositely arranged at intervals, the multi-stable wheel discs comprising a first number of first teeth arranged below and a second number of second teeth arranged above;

[0048] a connector between the two multi-stable wheel discs, the connector comprising a first rigid block above and a second rigid block below, the two multi-stable wheel discs being symmetrically fixed to the two sides of the second rigid block, the first rigid block being connected to the second rigid block via a pair of parallel flexible plates, so that the first rigid block can move vertically relative to the second rigid block, a first through hole penetrating the first rigid block and the second rigid block, and a second through hole being opened on the two sides of the second rigid block;

[0049] wherein one end of the whole driving rope is connected to the whole driving device, penetrates the second through holes of all the modules, and the other end is fixedly connected to the most distal module;

[0050] one end of the module driving rope is fixedly connected to the module driving device, penetrates the first through holes of all the modules, penetrates the second through holes of the module before the last module when reaching the last module, and is finally connected to the second through hole of the last module;

[0051] When the flexible plate does not deform, there is a gap between the multistable disks of adjacent modules, and the first and second teeth do not contact each other. When the flexible plate deforms, the first rigid block moves downward, and the first tooth of the upper multistable disk contacts the second tooth of the lower multistable disk. The adjacent modules perform multistable motion, which is a composite motion of single-degree-of-freedom rotation and reciprocating motion. The profiles of the first and second teeth are a pair of conjugate curves of the multistable motion.

[0052] In a preferred embodiment of the super-redundant multi-steady variable stiffness manipulator, there is a degree of freedom of movement between the first rigid block and the second rigid block, while simultaneously providing a constraint force to maintain contact between adjacent modules.

[0053] In a preferred embodiment of the super-redundant multi-stable variable stiffness manipulator, the maximum distance of the reciprocating motion in the multi-stable motion is the steady-state distance, and the rotation angle accompanying each reciprocating motion is the steady-state angle. The pitch circle radius, the number of first gear teeth, and the radius of the multi-stable wheel are determined based on the steady-state distance and the steady-state angle.

[0054] In a preferred embodiment of the super-redundant multi-stable variable stiffness manipulator, the second tooth generation point is selected on the pitch circle, the trajectory of the generation point is calculated according to the multi-stable motion equation, and the trajectory of the generation point is plotted as an equidistant curve with a distance equal to the radius of the first tooth. The equidistant curve is used as the profile of the second tooth.

[0055] In a preferred embodiment of the super-redundant multi-steady variable stiffness manipulator, the first gear tooth and the second gear tooth are corrugated teeth.

[0056] In a preferred embodiment of the super-redundant multi-steady variable stiffness robotic arm, the first number is twenty-four and the second number is eleven.

[0057] In one embodiment, the second number is less than the first number.

[0058] like Figures 1 to 2 The robotic arm shown consists of 21 modules 1 connected in series, with the base of the robotic arm fixedly connected to the base 2. The base 2 includes a stiffness adjustment device 21, an overall drive device 22, and a module drive device 23.

[0059] The stiffness adjustment device 21 includes a drive motor 211, a torsion spring 212, a tensioning winding disc 213, and the tensioning rope 3 is connected to the tensioning winding disc 213 at its end. The torsion spring 212 is connected in series between the output end of the drive motor 211 and the tensioning winding disc 213, and the tension of the tensioning rope 3 can be adjusted over a wide range by changing the deformation of the torsion spring 212.

[0060] The end of the overall drive rope 4 is connected to the overall drive device 22, and the end of the module drive rope 5 is connected to the module drive device 23.

[0061] The modules constituting the mechanical arm body are shown in Fig. 1. Module 1 comprises a pair of multi-stable disks 11 and a connector 12. Disk 11 has a first tooth 111 below and a second tooth 112 above. Connector 12 comprises a first rigid block 121, a second rigid block 122, and a parallel flexible plate 123 connecting the two blocks. The deformation of the flexible plate 123 allows the first rigid block 121 to move vertically relative to the second rigid block 122. Multi-stable disk 11 is fixed to the second rigid block 122 of connector 12. Figures 3 to 4

[0062] A first hole 124 passes through the first rigid block 121 and the second rigid block 122 of connector 12. The second rigid block 122 has a second hole 125 on each side. A limiting block 126 is between the two parallel flexible plates 123 to prevent the first rigid block 121 from moving upward excessively. A first pin hole 127 and a second pin hole 128 are used to hinge adjacent modules. A third pin hole 129 is used to install a reinforcing pin, which can strengthen the structure of the outer wall of the second hole 125.

[0063] As shown in Fig. 2, when the parallel flexible plate 123 is not deformed, there is a gap between the multi-stable disks 11 of adjacent modules 1, and the first tooth 111 and the second tooth 112 do not contact each other. Module 1 performs a pure rotational motion under the action of pin hole hinging. From left to right, they are the neutral position diagram, the clockwise rotation diagram, and the counterclockwise rotation diagram. Figure 5

[0064] As shown in Fig. 3, if the tensioning rope provides a tension T sufficient to overcome the deformation resistance of the parallel flexible plate 123, the first rigid block 121 will move downward, and the first tooth 111 of the upper multi-stable disk will begin to contact the second tooth 112 of the lower multi-stable disk. At this time, the adjacent modules perform a combined motion of rotation and up-down translation, which is called multi-stable motion. Figure 6 From left to right, they are the state of the parallel flexible plate 123 not being deformed, a stable configuration when the teeth are engaged, a non-stable configuration when the upper module rotates and lifts, and the next stable configuration. During the lifting process, the direction of the tension T is opposite to the direction of motion, which hinders the motion. Therefore, compared with the freely rotating module, the multi-stable motion module has higher stiffness. On this basis, adjusting the tension can further change the stiffness of the module. In the design stage, by adjusting the height of the first tooth 111 and the second tooth 112, the range of stiffness change can be fundamentally determined. Figure 6

[0065] ​​​Because the teeth have a corrugated shape, the number of steady-state configurations of the module of this invention is significantly greater than that of the multistable module based on regular polygons. The profile equation of the teeth can be easily obtained by the conjugate method. For example, the profile of the first tooth 111 can be determined as a multi-segment circular arc, and then the equidistant curves of the trajectory generated by the center of the circular arc under multistable motion can be calculated to obtain the profile of the second tooth 112.

[0066] The rigidity and shape control of the robotic arm are achieved through ropes, such as... Figure 7 As shown. The tension rope 3 is connected at one end to the stiffness adjustment device 21, passes through the first through-hole 124 of all modules 1, and is fixed at the other end to the farthest module. This allows tension to be applied to the center of each module. The drive rope 4 is connected at one end to the overall drive device 22, passes through the second through-hole 125 of all modules 1, and is fixed at the other end to the farthest module. This allows a driving torque to be applied to each module, causing it to rotate.

[0067] like Figure 8 As shown, when the overall drive device 22 rotates counterclockwise, the drive rope 4 on the upper side is retracted and the drive rope 4 on the lower side is released, the entire robotic arm undergoes an upward bending deformation. Since its degrees of freedom are redundant and the drive rope 4 can apply driving force to the entire arm, the distal end of the arm can still move when it encounters an obstacle at the root of the arm.

[0068] Figure 9 The winding method shown allows for individual driving of specific distal modules without affecting the movement of proximal modules. Taking the driving of the farthest module as an example, one end of the module drive rope 5 is fixed to the module drive device 23, passes through the first through-hole 124 of all proximal modules, and upon reaching the module preceding the end module, passes through its second through-hole 125, finally connecting to the second through-hole 125 of the end module. For modules passing through all the first through-holes 124, the module drive rope 5 only serves to increase stiffness, therefore these modules will not move. For the module preceding the end module, the module drive rope 5 has no lever arm about its center of rotation, therefore this module will also not move. Only the end module moves under the torque generated by the module drive rope 5, such as... Figure 10 As shown. More module driver devices 23 can be set to increase the number of independently controllable modules.

[0069] like Figures 11 to 13A multi-stable variable stiffness finger is shown, which is composed of five modules 1 in series. The first rigid block 121 on the connector of each module 1 is hinged with the driving rod 130, and a torsion spring 131 is installed between the first rigid block 121 and the driving rod 130. The second driving rope 6 passes through all the driving rods 130 and is connected with the driving device 24 on the base. When the driving device 24 retracts the second driving rope 6, each module 1 rotates under the torque transmitted by the torsion spring 131 of the driving rod 130, so that the finger is bent. When the finger is in contact with the object, as the second driving rope 6 continues to tighten, the second driving rope 6 will drive the driving rod 130 to further rotate relative to the first rigid block 121, further compress the torsion spring 131, until all the driving rods 130 are folded and directed to the axial direction of the finger, as shown in Figure 13 At this time, all the modules 1 are closely attached under the tension of the second driving rope 6, and the stiffness is improved through the meshing multi-stable gear.

[0070] This multi-stable variable stiffness finger can realize the bending of the finger by only one driving rope without sensor, and automatically improve the stiffness after grabbing the object. On the one hand, it can realize the grabbing of large mass objects, and on the other hand, it can prevent the surface damage of the grabbed object caused by excessive extrusion force. This is because the driving rod designed as above plays a guiding role on the driving rope. When the rope force is too large, the driving rod will change the direction of the rope force by rotating motion, and automatically convert the driving force of the rope into the tension force for variable stiffness.

[0071] Although the embodiments of the present application are described above in combination with the drawings, the present application is not limited to the above specific embodiments and application fields, and the above specific embodiments are only illustrative and guiding, but not limiting. Those skilled in the art can make many forms under the guidance of the present specification and without departing from the scope protected by the claims of the present application, which all belong to the protection of the present application.

Claims

1. A super-redundant, multi-steady, variable stiffness robotic arm, characterized in that, It includes, The base includes an overall drive device that drives the overall drive rope and a modular drive device that drives the modular drive rope. The arm body is fixedly connected to the base at its root. The arm body includes modules connected in series. Each module includes... Two multistable disks are arranged opposite each other at a distance, and the multistable disks include a first number of first teeth disposed below and a second number of second teeth disposed above; A connector is located between two multistable disks. The connector includes a first rigid block located above and a second rigid block located below. The two multistable disks are symmetrically fixed to both sides of the second rigid block. The first rigid block is connected to the second rigid block via a pair of parallel flexible plates, so that the first rigid block can move vertically relative to the second rigid block. A first through hole passes through the first rigid block and the second rigid block. Second through holes are opened on both sides of the second rigid block. One end of the overall drive rope is connected to the overall drive device, passes through the second through hole of all modules, and the other end is fixed to the farthest module. One end of the module drive rope is fixed to the module drive device, passes through the first through hole of all modules, and when it reaches the module before the end module, it passes through its second through hole and finally connects to the second through hole of the end module. When the flexible plate does not deform, there is a gap between the multistable disks of adjacent modules, and the first and second teeth do not contact each other. When the flexible plate deforms, the first rigid block moves downward, and the first tooth of the upper multistable disk contacts the second tooth of the lower multistable disk. The adjacent modules perform multistable motion, which is a composite motion of single-degree-of-freedom rotation and reciprocating motion. The profiles of the first and second teeth are a pair of conjugate curves of the multistable motion.

2. The super-redundant multi-steady variable stiffness robotic arm according to claim 1, characterized in that, It also includes a stiffness adjustment device provided on the base, which includes a motor, a torsion spring and a winding reel. The winding reel is connected in series with the motor output end through the torsion spring. The tension rope passes through the first through hole of each connector, with one end connected to the farthest module and the other end connected to the winding reel.

3. The super-redundant multi-stable variable stiffness robotic arm according to claim 1, characterized in that, The tooth profile of the first gear is a circular arc segment, and the tooth profile of the second gear is an equidistant curve of the trajectory generated by the center of the first gear under multiple steady-state motions.

4. The super-redundant multi-steady variable stiffness robotic arm according to claim 1, characterized in that, The stiffness range can be adjusted by adjusting the height of the first and second gear teeth.

5. The super-redundant multi-steady variable stiffness robotic arm according to claim 1, characterized in that, The first rigid block is hinged to the drive rod, and a torsion spring is installed between the drive rod and the first rigid block. The overall drive rope passes through all the drive rods.

6. The super-redundant multi-steady variable stiffness robotic arm according to claim 1, characterized in that, The first gear tooth and the second gear tooth are corrugated teeth, and the first number is greater than the second number.

7. The super-redundant multi-stable variable stiffness robotic arm according to claim 1, characterized in that, A limiting block is provided between the two flexible plates to restrict the upward movement of the first rigid block.

8. The super-redundant multi-steady variable stiffness robotic arm according to claim 1, characterized in that, The first rigid block and the second rigid block are respectively provided with pin holes to hinge adjacent modules.

9. The super-redundant multi-stable variable stiffness robotic arm according to claim 1, characterized in that, The second rigid block has mounting holes on both sides for arranging reinforcing members.

10. The super-redundant multi-stable variable stiffness robotic arm according to claim 1, characterized in that, The arm body is a multi-stable variable stiffness finger, which consists of 5 modules connected in series.

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