A tendon-driven robotic arm with adaptive reduction ratio adjustment

Abstract

The present invention discloses a tendon-driven mechanical arm with adaptively adjusted reduction ratio, comprising a speed regulating mechanism, an arm body and a rope retraction mechanism; the speed regulating mechanism comprises a linear telescopic frame and a frame-type telescopic frame arranged on the linear telescopic frame; the opposite ends of the linear telescopic frame are both elastic self-retractable structures; the synchronous telescopic structures on both sides of the frame-type telescopic frame are respectively rotatably connected to the two arm bodies; the two arm bodies are respectively rotatably connected to the opposite sides of the speed regulating mechanism; the two rope retraction mechanisms are respectively arranged at the ends of the two arm bodies, and after the ropes of the two rope retraction mechanisms respectively pass around the two elastic self-retractable structures, the ropes of the two rope retraction mechanisms are respectively connected and fixed to the ends of adjacent arm bodies, so that the two arm bodies become a structure with the same rotation angle; after adopting the above structure, the present invention has speed regulation and compatibility capabilities, and enhances its adaptability under different force and load conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a tendon-driven robotic arm with adaptively adjusted reduction ratio. Background Art

[0002] Space manipulators play a crucial role in the development of space technology. However, conventional manipulators are insufficient for dexterous tasks such as asteroid capture and in-orbit assembly of large spacecraft. This necessitates the use of low-mass, high-torque tethered manipulators to address these tasks. However, conventional tethered space manipulators are often unable to adapt to higher output torques. Existing tethered space manipulators have a fixed structure, a single drive, and poor adaptability, making them difficult to meet a wide range of mission requirements and limiting their performance in space exploration. This necessitates optimizing single-joint tethered manipulator modules to provide speed regulation and compatibility, enable adjustable arm length, and enhance their adaptability under varying force and load conditions. Summary of the Invention

[0003] The purpose of the present invention is to provide a tendon-driven robotic arm with adaptively adjusted reduction ratio, so that it has speed regulation and compatibility capabilities and enhances its adaptability under different force and load conditions.

[0004] In order to solve the above technical problems, the present invention provides a tendon-driven robotic arm with adaptively adjusted reduction ratio, comprising a speed regulation mechanism, an arm body and a rope retraction mechanism; the speed regulation mechanism comprises a linear telescopic frame, and a frame-type telescopic frame arranged on the linear telescopic frame; the opposite ends of the linear telescopic frame are both elastic self-retractable structures; the synchronous telescopic structures on both sides of the frame-type telescopic frame are respectively rotatably connected to the two arm bodies; the two arm bodies are respectively rotatably connected to the opposite sides of the speed regulation mechanism; the two rope retraction mechanisms are respectively arranged at the ends of the two arm bodies, and after the ropes of the two rope retraction mechanisms respectively pass around the two elastic self-retractable structures, the ropes of the two rope retraction mechanisms are respectively connected and fixed to the ends of adjacent arm bodies, so that the two arm bodies become structures with the same rotation angle.

[0005] In one embodiment, the linear telescopic frame includes a base frame, the straight guide rail and the elastic self-telescopic structure, and the elastic self-telescopic structure includes a telescopic rod and a spring; the straight guide rail is provided on the base frame, and the base frame is rotatably connected to the arm body on both sides of the straight guide rail; the telescopic rod is slidably installed at both ends of the straight guide rail; the rope is wrapped around the ends of the two telescopic rods outside the straight guide rail, and the spring is connected between the two telescopic rods and the base frame.

[0006] In one embodiment, the end of the telescopic rod outside the straight guide rail is provided with a first rope winding shaft and a second rope winding shaft, and the first rope winding shaft and the second rope winding shaft are arranged separately in sequence in the direction away from the end of the telescopic rod; after the rope passes around the first rope winding shaft and the second rope winding shaft in sequence, it passes around the first rope winding shaft and is connected and fixed to the end of the adjacent arm body.

[0007] In one embodiment, the base frame is provided with two oppositely arranged straight guide rails, the telescopic rods are slidably mounted on both ends of the two straight guide rails, and the first rope winding shaft and the second rope winding shaft are connected between the two opposite telescopic rods.

[0008] In one embodiment, the portion of the telescopic rod outside the straight guide rail is provided with a rod-mounted fixed shaft, the base frame is provided with a seat-mounted fixed shaft, and the spring is connected between the rod-mounted fixed shaft and the seat-mounted fixed shaft.

[0009] In one embodiment, the base frame is provided with two oppositely arranged straight guide rails, both ends of the two straight guide rails are slidably mounted with the telescopic rods, and the two opposite telescopic rods are connected with the fixed shaft on the rod.

[0010] In one embodiment, the frame-type telescopic frame is a prismatic frame structure formed by four connecting rods rotatably connected; two of the connecting rods are rotatably connected to form a first synchronous telescopic structure, and the connecting rod rotatably connected to the first arm of the first synchronous telescopic structure; the other two connecting rods are rotatably connected to form a second synchronous telescopic structure, and the connecting rod rotatably connected to the second arm of the second synchronous telescopic structure; the rotating connection between the two synchronous telescopic structures is slidably mounted on the linear telescopic frame.

[0011] In one embodiment, a linear slide rail is provided on the linear telescopic frame, and the arrangement trajectory of the linear slide rail is consistent with the telescopic axis of the linear telescopic frame; a pulley is provided at the rotating connection between the two synchronous telescopic structures, and the pulley is slidably installed in the linear slide rail.

[0012] In one embodiment, at the rotational connection between the arm body and the speed regulating mechanism, the two arms are rotationally connected to the frame-type telescopic frame on opposite sides of the connection for linkage.

[0013] In one embodiment, the arm is a truss structure.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. A truss structure of ropes and arms is used to reduce overall mass. Rope pulling also helps increase the rigidity of the robotic arm, passively ensuring accurate force output at the end. The lightweight truss design not only reduces the overall burden on the robotic arm but also increases its operating speed and flexibility, making it particularly suitable for applications requiring rapid response.

[0016] 2. A combination of ropes and a speed control mechanism is used for rope pulling. The speed control mechanism amplifies the torque output of the motor, achieving relatively high torque at a low mass. This meets the force requirements of a large-span continuum manipulator. By optimizing the relative position and angle of the motor and speed control mechanism, this design further enhances the manipulator's torque output, ensuring high efficiency and stability when performing complex tasks.

[0017] 3. Speed ​​regulation is achieved by extending or shortening the speed control mechanism without changing the overall length of the robotic arm, adapting to varying force and load conditions. This design not only provides a high degree of adaptability but also allows the robotic arm to maintain optimal performance in various operating environments. The introduction of the speed control mechanism allows the robotic arm to more precisely control movement speed and force. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a structural diagram provided by an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 Schematic diagram of the arm swinging state structure;

[0021] Figure 3 yes Figure 1 Schematic diagram of the speed regulating mechanism structure;

[0022] Figure 4 yes Figure 3 Schematic diagram of the telescopic state change of the speed regulating mechanism;

[0023] Figure 5 yes Figure 1 Schematic diagram of the rope winding method.

[0024] The reference numerals are as follows:

[0025] 10. Speed ​​regulating mechanism; 11. Linear telescopic frame; 110. Elastic self-telescopic structure; 111. Base frame; 112. Straight guide rail; 113. Telescopic rod; 114. Spring; 115. First rope winding shaft; 116. Second rope winding shaft; 117. Rod fixed shaft; 118. Base fixed shaft; 12. Frame-type telescopic frame; 120. Synchronous telescopic structure; 121. Connecting rod; 122. Linear guide rail; 123. Pulley;

[0026] 20. Arm body;

[0027] 30. Rope retraction and release mechanism; 31. Rope. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] The present invention provides a tendon-driven robotic arm with adaptively adjusted reduction ratio. Its core technical means lies in that it includes a speed regulation mechanism, an arm body and a rope retraction mechanism; and the speed regulation mechanism includes a linear telescopic frame and a frame-type telescopic frame arranged on the linear telescopic frame; the opposite ends of the linear telescopic frame are both elastic self-retractable structures; the synchronous telescopic structures on both sides of the frame-type telescopic frame are respectively rotatably connected to the two arm bodies; the two arm bodies are respectively rotatably connected to the opposite sides of the speed regulation mechanism; the two rope retraction mechanisms are respectively arranged at the ends of the two arm bodies, and after the ropes of the two rope retraction mechanisms respectively pass around the two elastic self-retractable structures, the ropes of the two rope retraction mechanisms are respectively connected and fixed to the ends of adjacent arm bodies, so that the two arm bodies become a structure with the same rotation angle.

[0030] In order to better explain the core technology of the present invention, a specific embodiment is provided below. Figure 1 As shown, the robotic arm at this time includes a speed regulating mechanism 10 , an arm body 20 and a rope retracting and releasing mechanism 30 .

[0031] Regarding the speed regulating mechanism 10, Figures 1 to 3 As shown, the speed regulating mechanism 10 includes a linear telescopic frame 11 and a frame-type telescopic frame 12 provided on the linear telescopic frame 11; the linear telescopic frame 11 is arranged vertically in the direction shown in the figure, and both opposite ends of the linear telescopic frame 11 are elastically self-telescopic structures 110, so that the linear telescopic frame 11 can utilize the elastically self-telescopic structure 110 to perform adaptive telescopic changes above and below it; the frame-type telescopic frame 12 is provided with synchronous telescopic structures 120 on both sides of the left and right sides in the direction shown in the figure, and the synchronous telescopic structures 120 on both sides of the frame-type telescopic frame 12 are respectively rotatably connected to the two arms 20, so that when one arm 20 rotates in the up and down direction, it can drive the other arm 20 to rotate synchronously with the same rotation angle.

[0032] To achieve the adaptive upward and downward expansion and contraction of the linear expansion frame 11 , it is only necessary to provide structures capable of upward and downward movement at the upper and lower ends of the linear expansion frame 11 , and use corresponding elastic parts to apply elastic push and pull forces to the upward and downward moving structures.

[0033] To achieve this goal, Figure 1 and Figure 3 As shown, this embodiment provides a linear telescopic frame 11 including a base frame 111 , a straight guide rail 112 and an elastic self-telescopic structure 110 , and the elastic self-telescopic structure 110 includes a telescopic rod 113 and a spring 114 .

[0034] like Figure 1 and Figure 3 As shown, the base frame 111 is roughly a rectangular structure, and the base frame 111 is placed in the middle of the linear telescopic frame 11, which serves as the component connection center of the entire robotic arm; for example, a straight guide rail 112 is provided on the base frame 111, and the two ends of the straight guide rail 112 extend to the top and bottom of the base frame 111 respectively, thereby realizing the vertical connection of the various components of the robotic arm with the base frame 111; and the base frame 111 is rotatably connected to the arm body 20 on both sides of the straight guide rail 112, and the two arm bodies 20 are horizontally arranged on the left and right sides of the base frame 111, thereby realizing the horizontal connection of the various components of the robotic arm with the base frame 111.

[0035] like Figure 1 and Figure 3 As shown, telescopic rods 113 are slidably installed at both ends of the straight guide rail 112, so the upper telescopic rod 113 can be telescoped up and down above the base frame 111, and the lower telescopic rod 113 can be telescoped up and down below the base frame 111, to ensure that no matter the arm body 20 is swung up or down, the telescopic rods 113 in the upper and lower directions can follow the swing of the arm body 20 and adaptively telescope.

[0036] like Figure 1 、 Figure 3 、 Figure 4 and Figure 5When the cam 113 is in the closed position, the spring 114 is in the closed position, and the spring 114 is in the closed position, so that the cam 113 and the base frame 111 are in the closed position.

[0037] In order to achieve the winding and fixing between the telescopic rod 113 and the rope 31, it is only necessary to ensure that the part where the rope 31 is wound does not produce knots or dislocations. In order to ensure the winding state between the telescopic rod 113 and the rope 31 is stable, as shown in FIG. Figure 1 、 Figure 3 and Figure 5 As shown, in this embodiment, a first rope winding shaft 115 and a second rope winding shaft 116 are provided at the end of the telescopic rod 113 placed outside the straight guide rail 112. In the direction away from the end of the telescopic rod 113, the first rope winding shaft 115 and the second rope winding shaft 116 are arranged separately in sequence, and the first rope winding shaft 115 and the second rope winding shaft 116 are both a light rod structure with a thin middle and thick sides, so that the rope 31 can be stably wound in the light rod structure with a thin middle; and after the rope 31 passes around the first rope winding shaft 115 and the second rope winding shaft 116 in sequence, it passes around the first rope winding shaft 115 and is connected and fixed to the end of the adjacent arm body 20.

[0038] For example, Figure 1 and Figure 5 The shown direction is for reference only. The rope 31 of the right-side rope retracting mechanism 30 is stretched from right to left to the top of the upper first rope winding shaft 115, and then stretched downward from the left side of the upper first rope winding shaft 115, and passed around the bottom of the upper second rope winding shaft 116 from left to right, and then stretched upward from the right side of the upper second rope winding shaft 116, and finally passed around the upper first rope winding shaft 115 from right to left until it is connected and fixed to the left end of the left arm body 20; similarly, the left-side rope retracting mechanism 30 is also wound around the lower first rope winding shaft 115 and the lower second rope winding shaft 116 in a similar manner, and finally connected and fixed to the right end of the right arm body 20, so it will not be described again.

[0039] In order to realize the connection between the telescopic rod 113, the spring 114 and the base frame 111, it is only necessary to set a mounting point of the spring 114 on each of the telescopic rod 113 and the base frame 111, so as to connect and fix the two ends of the spring 114 to the two mounting points respectively; for example, in this embodiment, the spring 114 is connected to the two mounting points. Figure 3 In the structure shown, the telescopic rod 113 is placed outside the straight guide rail 112 and is provided with a rod fixed shaft 117, the base frame 111 is provided with a seat fixed shaft 118, and a spring 114 is connected between the rod fixed shaft 117 and the seat fixed shaft 118; specifically, at this time, the rod fixed shaft 117 and the seat fixed shaft 118 are both light rod structures that are thin in the middle and thick on both sides, so that the spring 114 can be stably buckled in the thin light rod structure in the middle.

[0040] It should also be pointed out that the configuration of the single straight guide rail 112, the telescopic rod 113 and other structures can actually realize the basic core idea of ​​the present invention, but in order to further improve the structural stability and strength of the product, such as Figure 3 As shown, this embodiment is provided with two oppositely arranged straight guide rails 112 on the base frame 111, and telescopic rods 113 are slidably installed at both ends of the two straight guide rails 112. Not only are the first rope winding shaft 115 and the second rope winding shaft 116 connected between the two opposite telescopic rods 113, but also a rod fixed shaft 117 is connected between the two opposite telescopic rods 113, thereby making the overall structure of the robotic arm more stable and reliable.

[0041] In addition, in order to realize the left and right adaptive extension of the frame-type telescopic frame 12 , it is only necessary to set a structure capable of lateral reciprocating movement at the left and right ends of the frame-type telescopic frame 12 and use the structure to rotatably connect with the two arms 20 .

[0042] To achieve this goal, Figure 1 and Figure 3 As shown, in this embodiment, the frame-type telescopic frame 12 is configured as a prismatic frame structure formed by rotatably connecting four connecting rods 121; two of the connecting rods 121 are rotatably connected to form a first synchronous telescopic structure 120, and the connecting rods 121 of the first synchronous telescopic structure 120 are rotatably connected to the first arm 20; the other two connecting rods 121 are rotatably connected to form a second synchronous telescopic structure 120, and the connecting rods 121 of the second synchronous telescopic structure 120 are rotatably connected to the second arm 20; the rotating connection between the two synchronous telescopic structures 120 is slidably mounted on the linear telescopic frame 11.

[0043] For example, in this embodiment, the two left-side connecting rods 121 are rotatably connected to form a first synchronous telescopic structure 120, and the rotating connection of the two left-side connecting rods 121 is rotatably connected to the left arm 20; while the two right-side connecting rods 121 are rotatably connected to form a second synchronous telescopic structure 120, and the rotating connection of the two right-side connecting rods 121 is rotatably connected to the right arm 20; and the rotating connection of the upper left and right connecting rods 121, as well as the rotating connection of the lower left and right connecting rods 121, are all slidably mounted on the linear telescopic frame 11.

[0044] In order to realize the sliding connection between the frame type telescopic frame 12 and the linear telescopic frame 11, this embodiment adopts Figure 1 and Figure 3 In the structure shown, a linear slide rail 122 is provided on the linear telescopic frame 11, and the arrangement trajectory of the linear slide rail 122 is consistent with the telescopic axis of the linear telescopic frame 11; a pulley 123 is provided at the rotating connection between the two synchronous telescopic structures 120, and the pulley 123 is slidably installed in the linear slide rail 122.

[0045] Furthermore, the two arms 20 are linked by a frame-type telescopic frame 12, which can already achieve synchronous swing of the two arms 20. However, in order to further improve the structural stability and strength of the product, Figure 1 As shown, in this embodiment, two arms 20 are provided at the rotational connection between the arm 20 and the speed regulating mechanism 10, and both sides of the arms 20 are rotationally connected to the frame-type telescopic frames 12 for linkage, that is, the two frame-type telescopic frames 12 are used to realize the linkage connection between the two arms 20, so that the overall structure of the robotic arm becomes more stable and reliable.

[0046] It should also be pointed out that after adopting the above structure, the purpose of simultaneous rotation of the arm body 20 at equal angles can be achieved. The cooperation of these components can ensure the coordination and consistency between the joints of the robotic arm during multi-axis rotation, thereby optimizing the overall movement performance of the robotic arm.

[0047] Since the two arms 20 are not directly connected but indirectly connected through the speed regulating mechanism 10, the movement of each arm 20 relative to the speed regulating mechanism 10 will be independent without external constraints, which will result in inconsistent rotation angles of each arm 20 relative to its own rotating shaft, making the motion control of the robotic arm extremely complicated. At the same time, it also introduces unstable factors to the mechanical structure of the speed regulating mechanism 10 and the arm 20, greatly reducing its reliability. Therefore, in order to reduce the bending load borne by the speed regulating mechanism 10 due to the asymmetric distribution of the tension of the ropes 31 on both sides of the speed regulating mechanism 10, it is necessary to ensure that the rotation angles of the two rotating shafts are always equal.

[0048] Therefore, a frame-type telescopic frame 12 is provided on the two arms 20 and the speed regulating mechanism 10 to achieve synchronous swinging of the two arms 20, thereby avoiding these problems.

[0049] Regarding the arm 20, the overall structure of the arm 20 determines the size and range of the robot arm as a whole, and also affects the overall kinematic and mechanical parameters. Figure 1 As shown, in this embodiment, the two arms 20 are rotatably connected to the opposite sides of the speed regulating mechanism 10 , and the arms 20 are configured as a truss structure to reduce the weight of the arms 20 .

[0050] Regarding the rope retracting mechanism 30, Figure 1 As shown, in this embodiment, two rope retraction mechanisms 30 are respectively arranged at the ends of the two arms 20. After the ropes 31 of the two rope retraction mechanisms 30 are respectively passed around the two elastic self-retractable structures 110, the ropes 31 of the two rope retraction mechanisms 30 are respectively connected and fixed to the ends of the adjacent arms 20, so that the two arms 20 become a structure with the same rotation angle; wherein, the tension of the rope 31 of the rope retraction mechanism 30 during the rotation of the robotic arm is realized, thereby realizing dynamic adjustment of the joint torque.

[0051] 2. At the joints of the robotic arm, telescopic rods 113 serve as anchor points for the transmission cables 31. When the tension of cables 31 acts on the ends of telescopic rods 113, the length of the moment arm between cables 31 and the joint axis is increased, thereby enhancing the joint's output torque. In applications where a high output torque is required, the telescopic rods 113's retractable function increases the length of the moment arm as they extend, further amplifying the joint's output torque.

[0052] 3. The Z-type winding method of the rope 31 can effectively disperse the tension of the rope 31 on each rope winding shaft, reduce the energy loss caused by friction and wear, and ensure that the tension of the rope 31 in all directions is more uniform, making it smoother and more controllable. Moreover, through the precise tension distribution, the response speed and reliability of the entire system are improved.

[0053] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A tendon-driven robotic arm with adaptive reduction ratio adjustment, characterized in that: It includes a speed regulating mechanism, an arm body and a rope retracting and releasing mechanism; The speed regulating mechanism includes a linear telescopic frame and a frame-type telescopic frame provided on the linear telescopic frame; both opposite ends of the linear telescopic frame are elastic self-telescopic structures; the synchronous telescopic structures on both sides of the frame-type telescopic frame are respectively rotatably connected to the two arms; The two arms are rotatably connected to opposite sides of the speed regulating mechanism respectively; The two rope retracting and releasing mechanisms are respectively arranged at the ends of the two arms. After the ropes of the two rope retracting and releasing mechanisms are respectively passed around the two elastic self-retractable structures, the ropes of the two rope retracting and releasing mechanisms are respectively connected and fixed to the ends of the adjacent arms, so that the two arms become a structure with the same rotation angle.

2. The tendon-driven robotic arm according to claim 1, characterized in that: The linear telescopic frame includes a base frame, a straight guide rail and the elastic self-telescopic structure, and the elastic self-telescopic structure includes a telescopic rod and a spring; The base frame is provided with the straight guide rail, and the base frame is rotatably connected to the arm body on both sides of the straight guide rail; The telescopic rods are slidably mounted on both ends of the straight guide rail; The rope is wound around the ends of the two telescopic rods outside the straight guide rails, and the springs are connected between the two telescopic rods and the base frame.

3. The tendon-driven robotic arm according to claim 2, characterized in that: The end of the telescopic rod outside the straight guide rail is provided with a first rope winding shaft and a second rope winding shaft, and the first rope winding shaft and the second rope winding shaft are arranged in sequence and separated in a direction away from the end of the telescopic rod; After the rope is wound around the first rope winding shaft and the second rope winding shaft in sequence, the rope is wound around the first rope winding shaft again and connected and fixed to the end portion of the adjacent arm body.

4. The tendon-driven robotic arm according to claim 3, characterized in that: The base frame is provided with two oppositely arranged straight guide rails, both ends of the two straight guide rails are slidably mounted with the telescopic rods, and the first rope winding shaft and the second rope winding shaft are connected between the two opposite telescopic rods.

5. The tendon-driven robotic arm according to claim 2, characterized in that: The portion of the telescopic rod outside the straight guide rail is provided with a rod fixed shaft, the base frame is provided with a seat fixed shaft, and the spring is connected between the rod fixed shaft and the seat fixed shaft.

6. The tendon-driven robotic arm according to claim 5, characterized in that: The base frame is provided with two oppositely arranged straight guide rails, both ends of the two straight guide rails are slidably mounted with the telescopic rods, and the two opposite telescopic rods are connected with the fixed shaft on the rod.

7. The tendon-driven robotic arm according to claim 1, wherein: The frame-type telescopic frame is a prismatic frame structure formed by rotating four connecting rods; The two connecting rods are rotatably connected to form the first synchronous telescopic structure, and the connecting rod rotatably connected to the first arm body at the connecting rod rotatably connected to the first synchronous telescopic structure; The other two connecting rods are rotatably connected to form a second synchronous telescopic structure, and the connecting rod rotatably connected to the second arm body at a rotationally connected position of the second synchronous telescopic structure; The rotation connection between the two synchronous telescopic structures is slidably mounted on the linear telescopic frame.

8. The tendon-driven robotic arm according to claim 7, characterized in that: The linear telescopic frame is provided with a linear slide rail, and the arrangement track of the linear slide rail is consistent with the telescopic axis of the linear telescopic frame; A pulley is provided at the rotation connection between the two synchronous telescopic structures, and the pulley is slidably installed in the linear slide rail.

9. The tendon-driven robotic arm according to claim 1, wherein: At the rotation connection between the arm body and the speed regulating mechanism, the two arms are rotationally connected to the frame-type telescopic frame on opposite sides of the arm body for linkage.

10. The tendon-driven robotic arm according to claim 1, wherein: The arm body is a truss structure.

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