Tensioning integral type rigid-flexible mixed rope-driven continuum robot and working method thereof

Abstract

The invention belongs to the technical field of continuum robots, and discloses a stretch-draw integral type rigid-flexible mixed rope-driven continuum robot and a working method thereof. The rope-driven continuum robot comprises a head-end fixed platform, a middle-stage moving platform and a tail-end moving platform, wherein a plurality of middle-stage moving platforms are arranged between the head-end fixed platform and the tail-end moving platform; the rigid framework of the head-end fixed platform and the rigid framework of the adjacent middle-stage motion platform, the rigid frameworks of the two adjacent middle-stage motion platforms, and the rigid framework of the tail-end motion platform and the rigid framework of the adjacent middle-stage motion platform are connected through flexible frameworks; wherein the axial direction of the flexible framework is not parallel to the axial direction of the rope, and the flexible framework can only be bent and cannot be twisted. According to the technical scheme, the adaptability to narrow and complex environments is improved, and flexibility and operation efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of continuum robots, and in particular relates to a tensegrity rigid-flexible hybrid rope-driven continuum robot and a working method thereof. Background Art

[0002] Rigid robots have the advantages of high load capacity, high speed and high precision, and have been widely used in the field of manufacturing automation; however, the above-mentioned rigid robots usually adopt joint-based drive mechanisms, have limited degrees of freedom (DOF) and bulky structures, and face severe challenges when performing tasks in narrow and cluttered workspaces (for example, tasks such as gastrointestinal surgery and cave rescue).

[0003] In order to deal with the problems of rigid robots mentioned above, bionic continuum robots have gradually attracted the attention of the robotics community due to their unique features such as high compliance, lightweight design and adaptability. Explanatory, the concept of continuum robots can be traced back to the 1960s. Such robots are usually defined by ultra-flexible electromechanical structures with unlimited degrees of freedom, which can flexibly manipulate complex curved paths; compared with rigid robots, continuum robots have the ability to continuously deform, can effectively adapt to various environmental conditions and perform corresponding tasks. Examples Explanatory, such as the ability of snake spines to coil and move flexibly, elephant trunks, octopus tentacles, frog tongues and earthworms, etc., have demonstrated the various functions of continuous muscle tissue (for example, such as expansion, coiling, grasping and adsorption, etc.), which inspired the design of a variety of continuum robots. By way of further example and explanation, advances in materials science, sensing technology, and control algorithms have led to a growing interest and research in continuum robots, which are now widely used in a variety of fields, including medicine, rescue operations, manufacturing, aerospace, and nuclear facilities; in medicine, continuum robots enable minimally invasive surgery and endoscopy; in manufacturing, they help with assembly and welding; in aerospace, they assist in space maintenance and satellite servicing; and in marine engineering, they are used for seabed exploration and pipeline maintenance.

[0004] In summary, existing rigid robots have the problem of limited degrees of freedom, lack adaptability in complex environments, and find it difficult to perform tasks flexibly. In addition, rigid robots are inefficient when operating in a small space. The design of existing continuum robots is relatively complex, with a large number of drivers, resulting in high costs. Summary of the invention

[0005] The object of the present invention is to provide a tensegrity rigid-flexible hybrid rope-driven continuum robot and a working method thereof to solve one or more of the above-mentioned technical problems. The technical solution provided by the present invention improves the adaptability of the robot in a narrow and complex environment, reduces the structural complexity and weight, improves flexibility and operating efficiency, reduces the number of drivers, reduces hardware costs, and improves safety and reliability.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a tensegrity rigid-flexible hybrid rope-driven continuum robot, comprising: a head-end fixed platform, an intermediate-stage motion platform and a terminal motion platform; wherein: The head-end fixed platform comprises a first arm disc and a rigid frame, one side of the first arm disc is used for fixed installation on the base, and the other side of the first arm disc is fixedly provided with a rigid frame; the end motion platform comprises a second arm disc and a rigid frame, one side of the second arm disc is used for fixed installation of the end actuator, and the other side of the second arm disc is fixedly provided with a rigid frame; the intermediate-stage motion platform comprises a third arm disc and a rigid frame, and both sides of the third arm disc are fixedly provided with rigid frames; A plurality of the intermediate-stage motion platforms are arranged between the first-end fixed platform and the terminal motion platform, and the rigid skeleton of the first-end fixed platform and the rigid skeleton of the adjacent intermediate-stage motion platform, the rigid skeletons of two adjacent intermediate-stage motion platforms, and the rigid skeleton of the terminal motion platform and the rigid skeleton of the adjacent intermediate-stage motion platform are all connected by flexible skeletons; Among them, the first arm disc, the second arm disc and the third arm disc are all fixedly provided with ropes, the number of ropes is greater than or equal to 3, the free ends of the ropes are used to connect with the drive, the ropes are arranged obliquely, and maintain a certain angle with the flexible skeleton (that is, the flexible skeleton is not parallel to the ropes); the flexible skeleton can only bend but not twist, and the flexible skeleton can only bend but not twist.

[0007] A further improvement of the rope-driven continuum robot of the present invention is that: The specific structure in which the rigid frame of the head-end fixed platform and the rigid frame of the adjacent intermediate-stage motion platform, the rigid frames of two adjacent intermediate-stage motion platforms, and the rigid frame of the terminal motion platform and the rigid frame of the adjacent intermediate-stage motion platform are connected by flexible frames is as follows: The first-end fixed platform and the adjacent intermediate-level motion platform are connected via a flexible skeleton, one end of the flexible skeleton is fixedly connected to the rigid skeleton of the first-end fixed platform, and the other end of the flexible skeleton is fixedly connected to the rigid skeleton on one side of the intermediate-level motion platform adjacent to the first-end fixed platform, and the flexible skeleton is inside the two rigid skeletons, and the two rigid skeletons remain vertical; Two adjacent intermediate-level motion platforms are connected by a flexible skeleton, one end of the flexible skeleton is fixedly connected to a rigid skeleton on one side of an intermediate-level motion platform, and the other end of the flexible skeleton is fixedly connected to a rigid skeleton on one side of another adjacent intermediate-level motion platform, and the flexible skeleton is inside the two rigid skeletons, and the two rigid skeletons remain vertical; The terminal motion platform is connected to the adjacent intermediate motion platform through a flexible skeleton, one end of the flexible skeleton is fixedly connected to the rigid skeleton of the terminal motion platform, and the other end of the flexible skeleton is fixedly connected to the rigid skeleton on one side of the intermediate motion platform adjacent to the terminal motion platform, and the flexible skeleton is inside the two rigid skeletons, and the two rigid skeletons remain vertical.

[0008] A further improvement of the rope-driven continuum robot of the present invention is that: The first arm plate is provided with a plurality of base connection holes, and the plurality of base connection holes are used to realize fixed installation of the first arm plate on the external base; The first arm disc, the second arm disc and the third arm disc are all provided with a plurality of hanging holes, each of which is used to fix one end of a rope by a hanging hole or a ball lock; The first arm disc, the second arm disc and the third arm disc are all provided with a plurality of rope holes, each rope hole is used to pass a rope of the lower-level motion platform step by step along the direction from the first-end fixed platform to the end motion platform (explanatoryly, the end through which the rope passes is used to connect the drive).

[0009] A further improvement of the rope-driven continuum robot of the present invention is that: The first arm disc, the second arm disc and the third arm disc are all disc-shaped; The plurality of base connection holes on the first arm disc are evenly distributed along the circumferential direction; The plurality of hanging holes of the first arm disc, the second arm disc and the third arm disc are uniformly distributed along the circumferential direction; The multiple rope holes of the first arm disc, the second arm disc and the third arm disc are uniformly distributed along the circumferential direction.

[0010] A further improvement of the rope-driven continuum robot of the present invention is that: The rigid frame is a "herringbone" connecting ring, and the top of the "herringbone" connecting ring is provided with an assembly hole for connecting the flexible frame. The two bottom ends of the "herringbone" connecting ring are provided with assembly keys for installing the "herringbone" connecting ring on the first arm plate, the second arm plate or the third arm plate. The preset positions of the first arm plate, the second arm plate and the third arm plate are all provided with assembly grooves that cooperate with the assembly keys.

[0011] A further improvement of the rope-driven continuum robot of the present invention is that: The flexible skeleton is a steel wire flexible shaft, a hydraulic hose, a nickel-titanium alloy connecting rod or a glass fiber rod.

[0012] A further improvement of the rope-driven continuum robot of the present invention is that: Also included: linear brake; The number of the linear brakes is the same as the total number of ropes of the rope-driven continuum robot; the fixed end of each linear brake is fixedly installed on the base, and the driving end of each linear brake is connected to the free end of a rope.

[0013] A further improvement of the rope-driven continuum robot of the present invention is that: Also included: end effector; The end actuator is detachably fixedly mounted on a side of the end motion platform where no rigid frame is provided.

[0014] A further improvement of the rope-driven continuum robot of the present invention is that: Also includes: base; The base is a fixed base, a linear slide rail with a single degree of freedom, or an end effector with six degrees of freedom.

[0015] The present invention provides a working method of a tensegrity rigid-flexible hybrid rope-driven continuum robot, comprising the following steps: Acquire the joint angles of the modular joints formed by each intermediate motion platform and the terminal motion platform; wherein the joint angles include a bending angle and a direction angle; Based on the acquired joint angles, the lengths of the ropes are controlled by the driver to form a robot posture that meets the joint angle requirements.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention discloses a tensegrity rigid-flexible hybrid rope-driven continuum robot, which improves the robot's adaptability in narrow and complex environments, reduces structural complexity and weight, improves flexibility and operating efficiency, reduces the number of drivers, reduces hardware costs, and improves safety and reliability. Specifically, the present invention adopts a tensegrity rigid-flexible hybrid structure, and the rope-driven continuum robot can adapt to narrow and complex environments more flexibly, effectively pass through narrow spaces and perform fine operations, greatly expanding its application range and improving its adaptability in narrow and complex environments; in addition, the design of the tensegrity structure enables the robot to have better stability and impact resistance, and can maintain a stable operating state even in a complex environment; compared with the existing traditional continuum robot, the flexible skeleton in the technical solution of the present invention changes from pressure to tension when subjected to force, and this change greatly improves the robot's load capacity, while also reducing the S-shaped deformation of the skeleton, and improving the robot's motion accuracy and stability. Specifically, in the technical solution of the present invention, two adjacent platforms are driven by ropes to form a tensegrity structure. This design greatly improves the flexibility of the robot. At the same time, the rapid response characteristics of the rope drive also improve the operating efficiency of the robot, enabling it to complete tasks more quickly. The redundant design of the rope drive system also improves the safety of the robot. Even if some ropes fail, the robot can continue to work. The arrangement of the ropes is changed from the existing parallel arrangement to the oblique arrangement. This design eliminates the singular position problem that may occur in the horizontal position, and prevents translation between the moving platforms, effectively avoiding the generation of uncontrollable degrees of freedom, and improving the controllability and operating accuracy of the robot.

[0017] The technical solution of the present invention simplifies the structural design of the robot, significantly reduces the overall weight of the robot by optimizing the combination of rigid and flexible skeletons and reducing unnecessary components, making the robot lighter, easier to carry and deploy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below; obviously, the drawings described below are some embodiments of the present invention, and 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 schematic diagram of a tensegrity-type rigid-flexible hybrid rope-driven continuum robot provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of a flexible skeleton and a connecting member in an embodiment of the present invention; Figure 31 is a schematic structural diagram of an arm plate of a head-end fixed platform in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a rigid skeleton in an embodiment of the present invention; Figure 5 is a schematic diagram of posture simulation in an embodiment of the present invention; The explanation of the reference numerals in the figures is as follows: 1. Fixed platform at the first end; 2. Flexible frame; 3. Rigid frame; 4. Rope; 5. Intermediate motion platform; 6. End motion platform; 7. Assembly groove; 8. Base connection hole; 9. Hanging code hole; 10. Rope hole; 11. Flange; 12. Assembly hole; 13. Assembly key. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments and technical solutions are only part of the embodiments of the present invention, not all of the embodiments.

[0021] All other embodiments obtained by those of ordinary skill in the art without creative work based on the technical solutions disclosed in the embodiments of the present invention belong to the scope of protection of the present invention. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] See also Figure 1 The embodiment of the present invention provides a tensegrity rigid-flexible hybrid rope-driven continuum robot, comprising: a head-end fixed platform 1, an intermediate-stage motion platform 5 and a terminal motion platform 6; wherein, The head-end fixed platform 1 includes a first arm disc and a rigid frame 3, one side of the first arm disc is used for fixed installation on the base, and the other side is fixedly provided with the rigid frame 3; the end motion platform 6 includes a second arm disc and a rigid frame 3, one side of the second arm disc is used for fixed installation of the end actuator, and the other side is fixedly provided with the rigid frame 3; the intermediate-level motion platform 5 includes a third arm disc and a rigid frame 3, both sides of the third arm disc are fixedly provided with the rigid frame 3; wherein the first arm disc, the second arm disc, and the third arm disc are all fixedly provided with ropes 4, the number of ropes 4 is greater than or equal to 3, and the other end of the rope 4 is used to connect with the driver; A plurality of intermediate-stage motion platforms 5 are arranged between the head-end fixed platform 1 and the terminal motion platform 6. The head-end fixed platform 1 and an adjacent intermediate-stage motion platform 5, two adjacent intermediate-stage motion platforms 5, and the terminal motion platform 6 and an adjacent intermediate-stage motion platform 5 are all connected via a flexible skeleton 2; wherein the axial direction of the flexible skeleton 2 is not parallel to the axial direction of the rope 4, and the flexible skeleton 2 can only bend but not twist.

[0023] The tensegrity rigid-flexible hybrid rope-driven continuum robot provided by the embodiment of the present invention has many significant advantages and progress, including: 1) Enhanced structural flexibility and adaptability: The robot consists of a head-end fixed platform, an intermediate motion platform, and a terminal motion platform. This multi-stage design enables the robot to adapt to complex and changing environments and task requirements. In addition, the number of intermediate motion platforms can be adjusted according to actual needs, which increases the flexibility and scalability of the robot.

[0024] 2) Rigid-flexible hybrid design improves performance: The robot combines a rigid skeleton with a flexible skeleton. The rigid skeleton provides stability and support, while the flexible skeleton increases the flexibility and agility of the robot. This rigid-flexible hybrid design allows the robot to achieve complex movements while maintaining a certain rigidity. To further explain, compared with the existing traditional continuum robot, the flexible skeleton changes from compression to tension, which greatly improves the robot's load capacity, reduces the S-shaped deformation of the skeleton, and increases the robot's motion accuracy.

[0025] 3) Rope drive system improves control accuracy: The robot is driven by ropes, and the number of ropes is greater than or equal to 3. This multi-rope design provides more control freedom, making the robot's movement more precise and controllable. The rope drive system can also achieve remote control and precise adjustment, which improves the robot's ease of operation and application range. Further explanation, the arrangement of the ropes is also changed from parallel to oblique, eliminating the robot's singular position when it is in a horizontal position, preventing translation between the motion platforms, and avoiding the generation of uncontrollable degrees of freedom. In addition, the axial direction of the flexible skeleton is not parallel to the axial direction of the rope. This design enables the robot to produce more complex deformations and movements during movement, further improving the robot's flexibility. This design also enables the robot to more flexibly adjust its own form and complete tasks when facing obstacles or narrow spaces.

[0026] Application explanatory, the technical solution of the embodiment of the present invention has a wide range of applicability and can be applied to multiple fields such as medical treatment, rescue, detection, and industry. Specifically, in the medical field, robots can be used for minimally invasive surgery, rehabilitation therapy, etc.; in the rescue field, robots can enter dangerous areas for search and rescue; in the detection field, robots can enter narrow or difficult-to-reach places for detection; in the industrial field, robots can be used for precision machining, assembly and other operations. In summary, the tensegrity-integrated rigid-flexible hybrid rope-driven continuum robot provided by the embodiment of the present invention has the advantages and progress of flexible structure, rigid-flexible hybrid, precise control, high flexibility and wide application, providing new ideas and methods for the development of continuum robots.

[0027] In one embodiment of the present invention, a plurality of intermediate motion platforms 5 are arranged between the head-end fixed platform 1 and the terminal motion platform 6, and the head-end fixed platform 1 and the adjacent intermediate motion platform 5, the two adjacent intermediate motion platforms 5, and the terminal motion platform 6 and the adjacent intermediate motion platform 5 are all connected by the flexible skeleton 2. The first-end fixed platform 1 is connected to the adjacent intermediate-stage motion platform 5 via a flexible skeleton 2, one end of the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 of the first-end fixed platform 1, and the other end of the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 on one side of the intermediate-stage motion platform 5 adjacent to the first-end fixed platform 1, and the flexible skeleton 2 is inside the two rigid skeletons 3; Two adjacent intermediate-level motion platforms 5 are connected via a flexible skeleton 2, one end of the flexible skeleton 2 is fixedly connected to a rigid skeleton 3 on one side of an intermediate-level motion platform 5, and the other end of the flexible skeleton 2 is fixedly connected to a rigid skeleton 3 on one side of another adjacent intermediate-level motion platform 5, and the flexible skeleton 2 is inside the two rigid skeletons 3; The terminal motion platform 6 is connected to the adjacent intermediate motion platform 5 via a flexible skeleton 2, one end of the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 of the terminal motion platform 6, and the other end of the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 on one side of the intermediate motion platform 5 adjacent to the terminal motion platform 6, and the flexible skeleton 2 is inside the two rigid skeletons 3; In a further preferred technical solution, the flexible skeleton 2 is a steel wire flexible shaft, a hydraulic hose, a nickel-titanium alloy connecting rod or a glass fiber rod.

[0028] In the technical solution of the embodiment of the present invention, the introduction of the flexible skeleton enables the robot's various motion platforms to move and rotate relatively flexibly, adapting to the complex and changing environment and task requirements. This design allows the robot to have higher flexibility and adaptability while maintaining the stability of the overall structure. The flexible skeleton is located in two rigid skeletons. This layout helps to limit the excessive deformation of the flexible skeleton, thereby improving the robot's motion accuracy. At the same time, the rigid skeleton provides support for the flexible skeleton and enhances the stability of the entire structure. The flexible skeleton can absorb and disperse part of the force when subjected to force, reduce the burden of the rigid skeleton, and optimize the mechanical properties of the robot. This design enables the robot to withstand a larger load while maintaining a lighter overall weight. Through the connection of the flexible skeleton, more complex relative motions such as bending and twisting can be achieved between the robot's various motion platforms. This design enables the robot to perform more delicate and complex tasks, improving its application range and functionality. In summary, the technical solution of the embodiment of the present invention not only enhances the flexibility and adaptability of the robot through the combination of a flexible skeleton and a rigid skeleton, but also improves the motion accuracy and stability, simplifies assembly and maintenance, optimizes mechanical properties, enhances durability, and facilitates the realization of complex motions.

[0029] See also Figure 2 In one embodiment of the present invention, the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 via a flange 11 .

[0030] See also Figure 3 In one embodiment of the present invention, the first arm disc is provided with a plurality of base connection holes 8 for realizing the fixed installation of the first arm disc on the external base; the first arm disc, the second arm disc and the third arm disc are all provided with hanging holes 9, and the hanging holes 9 are used to fix one end of the rope 4 through a hanging hole or a ball lock; the first arm disc, the second arm disc and the third arm disc are all provided with rope holes 10 for passing the rope 4 of the lower moving platform step by step from the first end fixed platform 1 to the end moving platform 6.

[0031] See also Figure 3 and Figure 4 In one embodiment of the present invention, the rigid frame 3 is a "herringbone" connecting ring, the top of the "herringbone" connecting ring is provided with an assembly hole 12 for connecting the flexible frame 2, and the two bottom ends are provided with assembly keys 13 for installing the "herringbone" connecting ring on the first arm disc, the second arm disc or the third arm disc, and the first arm disc, the second arm disc and the third arm disc are correspondingly provided with assembly grooves 7.

[0032] In the specific exemplary technical solution of the present invention, the first arm disc, the second arm disc, and the third arm disc are all disc-shaped, and are evenly distributed circumferentially with 4 hanging holes 9, 4 rope holes 10, and 4 assembly slots 7 (2 on each side); the number of base connection holes 8 on the first arm disc is 3, and they are evenly distributed circumferentially along the center of the circle. Explanatoryally, the 4 ropes 4 of each joint pass through the rope hole 10 and are fixed to the adjacent motion platform by the hanging weight. The hanging weight is placed in the hanging weight hole 9. The radial angle between the hanging weight hole 9 and the rope hole 10 can be 44°. The assembly slot 7 is used to insert the assembly key 13 to fix the rigid frame 3. The front and rear rigid frames 3 remain vertical to avoid interference. The slot position ensures that the joint bending angle is exactly 45°. The base connection hole 8 is used to connect the robot to the base.

[0033] In the technical solution of the present invention, the flexible skeleton is connected to two connecting rings as rigid skeletons. In a single modular joint, it and four ropes bear the tension together, and the connecting ring bears the pressure. These parts together constitute a tensegrity structure, so that the joint can be more stable when subjected to external loads. The flange is crimped at both ends of the flexible skeleton and fixed to the connecting ring through the assembly hole. In the specific exemplary technical solution, various platforms (the first end fixed platform, the intermediate stage motion platform or the end motion platform) and the connecting ring are made of aluminum alloy powder by selective laser sintering (SLS). The flexible skeleton can use a steel wire soft shaft that can only bend but not twist, the rope can use a steel wire cable, and the flange is made of aluminum alloy.

[0034] In one embodiment of the present invention, the driver uses a linear brake, the number of which is the same as the number of ropes, the fixed end of the linear brake is installed on the base, and the driving end is connected to the free end of each rope. In addition, according to the actual needs of the task, the end actuator can be fixedly installed on the side of the end motion platform where the rigid frame is not set.

[0035] The motion principle of the technical solution of the present invention mainly relies on the rope transmission mechanism. The position and posture of the motion platform connected to the rope are adjusted by controlling the linear brake. A rigid-flexible hybrid structure is adopted, which has both a flexible part to realize the continuous deformation of the skeleton and a rigid part to increase the body stiffness. Its kinematic and dynamic modeling involves establishing a mapping relationship between the drive space, joint space and task space, and considering the influence of factors such as rope tension, friction, and gravity.

[0036] The technical solution provided by the embodiment of the present invention is a robot supported by a flexible skeleton, driven by multiple ropes, and capable of continuous deformation. Compared with the traditional rope-driven continuum robot, the present invention adopts a tensegrity design to change the stress state of the flexible skeleton from compression to tension, which can significantly reduce the S-shaped deformation of the skeleton under external loads. At the same time, the inclined rope arrangement enables the joints to eliminate the influence of singular positions in the initial position (unbent skeleton state). In the exemplary technical solution, the robot is composed of four modular joints, each joint has two degrees of freedom (can only bend, not twist), and the robot arm has a total of eight degrees of freedom. Among them, the mass of the whole arm is 2.5kg, the speed is expected to reach 300 deg / s, the length of the whole arm is 417mm, and the whole arm is driven by a linear brake in conjunction with a steel wire rope.

[0037] In the specific exemplary technical solution of the present invention, the ball pendant has three degrees of freedom at the pendant hole 9, so that when the robot arm is bent at any angle, the rope 4 always remains in a straight state. The assembly groove 7 cooperates with the assembly key 13 to fix the connecting ring as the rigid skeleton 3 on the arm plate. The entire robot arm can be connected to the base through three base connection holes 8. The base can be fixed, or it can be a linear slide with a single degree of freedom, or an end effector with 6 degrees of freedom.

[0038] See also Figure 5 In the control scheme of the embodiment of the present invention, after obtaining the bending angle and direction angle requirements of each modular joint, the length of each rope can be controlled by a linear brake, thereby controlling the posture of the robot; illustratively, Figure 5 The simulation shows the situation where the joint angles of each module (including bending angle and direction angle) are 30°.

[0039] In summary, the embodiment of the present invention discloses a rope-driven continuum robot using the principle of tensegrity. By combining a flexible skeleton with a rigid skeleton support, a modular joint is designed. This design effectively solves the problems of limited degrees of freedom, insufficient stability and low load-bearing capacity existing in the prior art. In particular, combined with the self-stability characteristics of the tensegrity structure, the new joint design enables the integration of flexible and rigid elements to form a structural system similar to biological muscles and bones, thereby reducing the risk of S-shaped deformation under high loads. This design changes the stress state of the skeleton from compression to tension, significantly reducing the deformation under external loads; at the same time, the inclined cable arrangement enables the joint to eliminate the influence of singular positions in the initial position (unbent skeleton state). Therefore, the improved technical solution of the present invention has the following advantages: simple structure, reduced number of complex drivers, thereby reducing costs; improved performance, enhanced stability and load-bearing capacity of the robot, making it more suitable for tasks in complex environments; easy to use, and improved assembly and maintenance efficiency through modular design.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A tensegrity-type rigid-flexible hybrid rope-driven continuum robot, characterized in that: include: A first end fixed platform (1), an intermediate stage motion platform (5) and a terminal motion platform (6); wherein: The head-end fixed platform (1) comprises a first arm disc and a rigid frame (3), one side of the first arm disc is used for fixed installation on a base, and the other side of the first arm disc is fixedly provided with the rigid frame (3); the end motion platform (6) comprises a second arm disc and a rigid frame (3), one side of the second arm disc is used for fixed installation of the end actuator, and the other side of the second arm disc is fixedly provided with the rigid frame (3); the intermediate-stage motion platform (5) comprises a third arm disc and a rigid frame (3), and both sides of the third arm disc are fixedly provided with the rigid frame (3); A plurality of the intermediate-stage motion platforms (5) are arranged between the head-end fixed platform (1) and the terminal motion platform (6); the rigid frame (3) of the head-end fixed platform (1) and the rigid frame (3) of an adjacent intermediate-stage motion platform (5), the rigid frames (3) of two adjacent intermediate-stage motion platforms (5), and the rigid frame (3) of the terminal motion platform (6) and the rigid frames (3) of the adjacent intermediate-stage motion platforms (5) are all connected via a flexible frame (2); The first arm disc, the second arm disc and the third arm disc are all fixedly provided with ropes (4), the number of the ropes (4) is greater than or equal to 3, the free ends of the ropes (4) are used to connect to the driver, and the ropes are arranged in an oblique manner, maintaining a certain angle with the flexible skeleton (2); the flexible skeleton (2) can only be bent but not twisted.

2. The tensegrity rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: The specific structure in which the rigid frame (3) of the head-end fixed platform (1) and the rigid frame (3) of the adjacent intermediate-stage motion platform (5), the rigid frames (3) of two adjacent intermediate-stage motion platforms (5), and the rigid frame (3) of the terminal motion platform (6) and the rigid frames (3) of the adjacent intermediate-stage motion platforms (5) are all connected via the flexible frame (2) is as follows: The first end fixed platform (1) and the adjacent intermediate level motion platform (5) are connected via a flexible skeleton (2); one end of the flexible skeleton (2) is fixedly connected to the rigid skeleton (3) of the first end fixed platform (1); the other end of the flexible skeleton (2) is fixedly connected to the rigid skeleton (3) on one side of the intermediate level motion platform (5) adjacent to the first end fixed platform (1); the flexible skeleton (2) is located inside the two rigid skeletons (3), and the two rigid skeletons (3) are kept vertical; Two adjacent intermediate-level motion platforms (5) are connected via a flexible skeleton (2), one end of the flexible skeleton (2) is fixedly connected to a rigid skeleton (3) on one side of an intermediate-level motion platform (5), and the other end of the flexible skeleton (2) is fixedly connected to a rigid skeleton (3) on one side of another adjacent intermediate-level motion platform (5), and the flexible skeleton (2) is located inside the two rigid skeletons (3), and the two rigid skeletons (3) are kept vertical; The terminal motion platform (6) is connected to the adjacent intermediate motion platform (5) via a flexible skeleton (2); one end of the flexible skeleton (2) is fixedly connected to the rigid skeleton (3) of the terminal motion platform (6); the other end of the flexible skeleton (2) is fixedly connected to the rigid skeleton (3) on one side of the intermediate motion platform (5) adjacent to the terminal motion platform (6); the flexible skeleton (2) is located inside the two rigid skeletons (3), and the two rigid skeletons (3) are kept vertical.

3. The tensegrity rigid-flexible hybrid rope-driven continuum robot according to claim 1, characterized in that: The first arm plate is provided with a plurality of base connection holes (8), and the plurality of base connection holes (8) are used to realize fixed installation of the first arm plate on the external base; The first arm disc, the second arm disc and the third arm disc are all provided with a plurality of hanging holes (9), and each hanging hole (9) is used to fix one end of a rope (4) by means of a hanging hook or a ball lock; The first arm disc, the second arm disc and the third arm disc are all provided with a plurality of rope holes (10), and each rope hole (10) is used to pass a rope (4) of a lower-level moving platform step by step along the direction from the head-end fixed platform (1) to the end moving platform (6).

4. The tensegrity rigid-flexible hybrid rope-driven continuum robot according to claim 3, characterized in that: The first arm disc, the second arm disc and the third arm disc are all disc-shaped; The plurality of base connection holes (8) on the first arm plate are evenly distributed along the circumferential direction; The plurality of hanging holes (9) of the first arm disc, the second arm disc and the third arm disc are uniformly distributed along the circumferential direction; The multiple rope holes (10) of the first arm disc, the second arm disc and the third arm disc are evenly distributed along the circumferential direction.

5. The tensegrity rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: The rigid frame (3) is a "herringbone" connecting ring, the top of the "herringbone" connecting ring is provided with an assembly hole (12) for connecting to the flexible frame (2), the two bottom ends of the "herringbone" connecting ring are provided with assembly keys (13) for installing the "herringbone" connecting ring on the first arm disc, the second arm disc or the third arm disc, and the preset positions of the first arm disc, the second arm disc and the third arm disc are provided with assembly grooves (7) that cooperate with the assembly keys (13).

6. The tensegrity rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: The flexible skeleton (2) is a steel wire flexible shaft, a hydraulic hose, a nickel-titanium alloy connecting rod or a glass fiber rod.

7. The tensegrity rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: Also included: linear brake; The number of linear brakes is the same as the total number of ropes (4) of the rope-driven continuum robot; the fixed end of each linear brake is fixedly mounted on the base, and the driving end of each linear brake is connected to the free end of a rope (4).

8. The tensegrity rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: Also included: end effector; The end actuator is detachably fixedly mounted on a side of the end motion platform (6) where the rigid frame (3) is not provided.

9. The tensegrity rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: Also includes: base; The base is a fixed base, a linear slide rail with a single degree of freedom, or an end effector with six degrees of freedom.

10. A working method of the tensegrity rigid-flexible hybrid rope-driven continuum robot according to claim 1, characterized in that: The following steps are involved: Acquire the joint angles of the modular joints formed by each intermediate motion platform and the terminal motion platform; wherein the joint angles include a bending angle and a direction angle; Based on the acquired joint angles, the lengths of the ropes are controlled by the driver to form a robot posture that meets the joint angle requirements.

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