Cable-driven continuum robot with tensegrity rigid-flexible hybrid and working method thereof

Abstract

The application belongs to the technical field of continuum robots, and discloses a tensioned integral rigid-flexible hybrid rope-driven continuum robot and a working method thereof. The rope-driven continuum robot comprises a first-end fixed platform, intermediate-level motion platforms and a terminal motion platform. A plurality of intermediate-level motion platforms are arranged between the first-end fixed platform and the terminal motion platform. The rigid skeletons of the first-end fixed platform and the adjacent intermediate-level motion platforms, the rigid skeletons of the adjacent two intermediate-level motion platforms and the rigid skeletons of the terminal motion platform and the adjacent intermediate-level motion platforms are connected through flexible skeletons. The axial direction of the flexible skeleton is not parallel to the axial direction of the rope, and the flexible skeleton can only be bent but not twisted. The technical scheme improves the adaptability to narrow and complex environments and improves flexibility and operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of continuum robots, and particularly relates to a tensegrity rigid-flexible hybrid rope-driven continuum robot and a working method thereof. BACKGROUND

[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 a joint-based driving mechanism, which has limited degrees of freedom (DOF) and a bulky structure, and faces severe challenges when performing tasks in narrow and cluttered workspaces (exemplarily, such as gastrointestinal surgery, cave rescue, etc.).

[0003] In order to solve the problems existing in the above-mentioned rigid robots, bionic continuum robots have gradually attracted attention in the field of robotics due to their unique characteristics such as high compliance, lightweight design and adaptability. Explanatorily, the concept of continuum robots can be traced back to the 1960s, and such robots are usually defined by super-flexible mechatronic structures with infinite degrees of freedom, which can flexibly manipulate complex curved paths; compared with rigid robots, continuum robots have the ability of continuous deformation, which can effectively adapt to various environmental conditions and perform corresponding tasks. Exemplarily, the spine of a snake can flexibly coil and move, and elephant trunks, octopus tentacles, frog tongues and earthworms exhibit various functions of continuous muscle tissue (exemplarily, such as expansion, coiling, gripping and adsorption, etc.), which inspires the design of various continuum robots. Further exemplarily, the progress of material science, sensing technology and control algorithm has gradually increased the interest and research on continuum robots, which are now widely used in many fields such as medicine, rescue operations, manufacturing, aerospace and nuclear facilities; among them, in the medical field, continuum robots can achieve minimally invasive surgery and endoscopy; in manufacturing, they help with assembly and welding; in the field of aerospace, they assist in space maintenance and satellite services; and in marine engineering, they are applied to seabed exploration and pipeline maintenance.

[0004] In summary, the existing rigid robots have the problem of limited degrees of freedom, insufficient adaptability in complex environments, difficulty in flexible task execution, and low efficiency when operating in small spaces; the design of existing continuum robots is relatively complex, and the number of drivers is large, resulting in high cost. SUMMARY

[0005] The present application aims to provide a tensegrity rigid-flexible hybrid rope-driven continuum robot and a working method thereof to solve one or more technical problems existing in the prior art.

[0006] To achieve the above-mentioned purposes, the present application adopts the following technical solutions:

[0007] The present application provides a tensegrity rigid-flexible hybrid rope-driven continuum robot, comprising: a first-end fixed platform, an intermediate-level motion platform and a terminal motion platform, wherein,

[0008] The first-end fixed platform comprises a first arm disc and a rigid skeleton, one side of the first arm disc is used for fixedly mounting on a base, and the other side of the first arm disc is fixedly provided with the rigid skeleton; the terminal motion platform comprises a second arm disc and a rigid skeleton, one side of the second arm disc is used for fixedly mounting a terminal execution mechanism, and the other side of the second arm disc is fixedly provided with the rigid skeleton; the intermediate-level motion platform comprises a third arm disc and a rigid skeleton, both sides of the third arm disc are fixedly provided with the rigid skeleton;

[0009] A plurality of intermediate-level motion platforms are arranged between the first-end fixed platform and the terminal motion platform, the rigid skeletons of the first-end fixed platform and the adjacent intermediate-level motion platforms, the rigid skeletons of the adjacent two intermediate-level motion platforms and the rigid skeletons of the terminal motion platform and the adjacent intermediate-level motion platforms are connected through flexible skeletons;

[0010] The first arm disc, the second arm disc and the third arm disc are fixedly provided with ropes, the number of the ropes is greater than or equal to 3, the free ends of the ropes are used for being connected with the drivers, the ropes are arranged in a diagonal manner and maintain a certain angle with the flexible skeletons (i.e. the flexible skeletons are not parallel to the ropes); the flexible skeleton can only be bent and cannot be twisted.

[0011] Further improvement of the rope-driven continuum robot of the present application lies in that,

[0012] The specific structure that the rigid skeletons of the first-end fixed platform and the adjacent intermediate-level motion platforms, the rigid skeletons of the adjacent two intermediate-level motion platforms and the rigid skeletons of the terminal motion platform and the adjacent intermediate-level motion platforms are connected through the flexible skeletons is that,

[0013] The first-end fixed platform and the adjacent intermediate-stage motion platform are connected by 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-stage motion platform adjacent to the first-end fixed platform. The flexible skeleton is inside the two rigid skeletons, and the two rigid skeletons remain perpendicular.

[0014] Two adjacent intermediate-level motion platforms are connected by a flexible skeleton, one end of the flexible skeleton is fixedly connected to the rigid skeleton on one side of an intermediate-level motion platform, and the other end of the flexible skeleton is fixedly connected to the rigid skeleton on the other side of the adjacent intermediate-level motion platform, and the flexible skeleton is inside the two rigid skeletons, and the two rigid skeletons remain perpendicular;

[0015] The terminal motion platform and the adjacent intermediate motion platform are connected by 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. The flexible skeleton is inside the two rigid skeletons, and the two rigid skeletons remain vertical.

[0016] A further improvement of the rope-driven continuum robot of the present invention is that:

[0017] 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;

[0018] 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 through a hanging hole or a ball lock;

[0019] 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 (for explanation, the end of the rope passing through is used to connect to the drive).

[0020] A further improvement of the rope-driven continuum robot of the present invention is that:

[0021] The first arm disc, the second arm disc, and the third arm disc are all disc-shaped;

[0022] The plurality of base connection holes on the first arm disc are evenly distributed along the circumferential direction;

[0023] The plurality of hanging code holes of the first arm disc, the second arm disc and the third arm disc are uniformly distributed along the circumferential direction;

[0024] 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.

[0025] A further improvement of the rope-driven continuum robot of the present invention is that:

[0026] 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.

[0027] A further improvement of the rope-driven continuum robot of the present invention is that:

[0028] The flexible skeleton is a steel wire flexible shaft, a hydraulic hose, a nickel-titanium alloy connecting rod or a glass fiber rod.

[0029] A further improvement of the rope-driven continuum robot of the present invention is that:

[0030] Also included: linear brake;

[0031] 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.

[0032] A further improvement of the rope-driven continuum robot of the present invention is that:

[0033] Also included: end effector;

[0034] The end actuator is detachably fixedly mounted on a side of the end motion platform where no rigid frame is provided.

[0035] A further improvement of the rope-driven continuum robot of the present invention is that:

[0036] Also includes: base;

[0037] The base is a fixed base, a linear slide with a single degree of freedom, or an end effector with six degrees of freedom.

[0038] The present invention provides a method for operating a tensegrity-type rigid-flexible hybrid rope-driven continuum robot, comprising the following steps:

[0039] Acquire the joint angles of the modular joints formed by each intermediate motion platform and the terminal motion platform; wherein the joint angles include bending angles and direction angles;

[0040] 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.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The present invention discloses a tensegrity-type rigid-flexible hybrid rope-driven continuum robot, which improves the robot's adaptability in confined and complex environments, reduces structural complexity and weight, enhances flexibility and operational efficiency, reduces the number of drivers, reduces hardware costs, and improves safety and reliability. Specifically, the present invention adopts a tensegrity-type rigid-flexible hybrid structure, and the rope-driven continuum robot can more flexibly adapt to confined and complex environments, effectively traverse narrow spaces and perform delicate operations, greatly expanding its application range and improving its adaptability in confined and complex environments. In addition, the design of the tensegrity structure gives the robot better stability and impact resistance, allowing it to maintain a stable operating state even in complex environments. Compared with existing traditional continuum robots, the flexible skeleton in the technical solution of the present invention changes from pressure to tension when subjected to force. This change greatly improves the robot's load capacity, while also reducing the S-shaped deformation of the skeleton, 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 the generation of translation between the moving platforms, effectively avoiding the generation of uncontrollable degrees of freedom, and improving the controllability and operation accuracy of the robot.

[0043] The technical solution of the present invention simplifies the structural design of the robot. By optimizing the combination of rigid and flexible skeletons and reducing unnecessary components, the overall weight of the robot is significantly reduced, making the robot lighter, easier to carry and deploy. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 1 is a schematic structural diagram of a tensegrity-type rigid-flexible hybrid rope-driven continuum robot provided by an embodiment of the present invention;

[0046] Figure 2Schematic diagram of the structure of the flexible skeleton and the connecting parts in an embodiment of the present invention;

[0047] Figure 3 1 is a schematic structural diagram of the arm plate of the head end fixed platform in an embodiment of the present invention;

[0048] Figure 4 Schematic diagram of the structure of a rigid skeleton in an embodiment of the present invention;

[0049] Figure 5 is a schematic diagram of posture simulation in an embodiment of the present invention;

[0050] The explanation of the reference numerals in the figures is as follows:

[0051] 1. Head end fixed platform; 2. Flexible frame; 3. Rigid frame; 4. Rope; 5. Intermediate motion platform; 6. End motion platform; 7. Assembly slot; 8. Base connection hole; 9. Hanging code hole; 10. Rope hole; 11. Flange; 12. Assembly hole; 13. Assembly key. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of 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.

[0053] All other embodiments obtained by persons of ordinary skill in the art based on the technical solutions disclosed in the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0054] 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 motion platform 5 and a terminal motion platform 6; wherein,

[0055] The first end fixed platform 1 comprises a first arm disc and a rigid framework 3, one side of the first arm disc is used for fixedly mounting on a base, and the other side is fixedly provided with the rigid framework 3; the tail end moving platform 6 comprises a second arm disc and a rigid framework 3, one side of the second arm disc is used for fixedly mounting a tail end executing mechanism, and the other side is fixedly provided with the rigid framework 3; the intermediate stage moving platform 5 comprises a third arm disc and a rigid framework 3, and both sides of the third arm disc are fixedly provided with the rigid framework 3; wherein the first arm disc, the second arm disc and the third arm disc are fixedly provided with a rope 4, the number of the rope 4 is greater than or equal to 3, and the other end of the rope 4 is used for being connected with a driver.

[0056] A plurality of intermediate stage moving platforms 5 are arranged between the first end fixed platform 1 and the tail end moving platform 6, the first end fixed platform 1 and the adjacent intermediate stage moving platform 5, the adjacent two intermediate stage moving platforms 5 and the tail end moving platform 6 and the adjacent intermediate stage moving platform 5 are connected through the flexible framework 2; wherein the axial direction of the flexible framework 2 is not parallel to the axial direction of the rope 4, and the flexible framework 2 can only be bent and cannot be twisted.

[0057] The tension integral type rigid-flexible mixed rope-driven continuum robot provided by the embodiment of the application has a plurality of significant advantages and progress, and specifically includes:

[0058] 1) The structural flexibility and adaptability are enhanced: the robot is composed of a first end fixed platform, intermediate stage moving platforms and a tail end moving platform, the multi-section design enables the robot to adapt to complex and variable environments and task requirements; in addition, the number of the intermediate stage moving platforms can be adjusted according to actual requirements, thereby increasing the flexibility and expandability of the robot.

[0059] 2) The rigid-flexible mixed design improves performance: the robot combines rigid frameworks and flexible frameworks, the rigid frameworks provide stability and support force, and the flexible frameworks increase the flexibility and flexibility of the robot, the rigid-flexible mixed design enables the robot to maintain a certain rigidity while also realizing complex actions. Further explanatory, compared with the existing conventional continuum robot, the flexible framework is changed to tension, which greatly improves the load capacity of the robot, reduces the S-shaped deformation of the framework and increases the motion accuracy of the robot.

[0060] 3) Rope-Drive System Improves Control Precision: The robot is driven by ropes, with the number of ropes being greater than or equal to three. This multi-rope design provides more degrees of control freedom, making the robot's movements more precise and controllable. The rope-drive system also enables remote control and precise adjustment, improving the robot's ease of operation and range of applications. Specifically, the rope arrangement has shifted from a parallel to an oblique arrangement, eliminating the robot's unusual horizontal positions, preventing translational motion between the motion platforms, and avoiding the generation of uncontrollable degrees of freedom. Furthermore, the axial direction of the flexible skeleton is nonparallel to the axial direction of the ropes. This design allows the robot to produce more complex deformations and movements during movement, further enhancing its flexibility. This design also allows the robot to more flexibly adjust its form and complete tasks when faced with obstacles or confined spaces.

[0061] Application-explanatory, the technical solutions of the embodiments of the present invention have 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 treatment, 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 processing, 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.

[0062] In one embodiment of the present invention, a plurality of intermediate motion platforms 5 are provided between the head-end fixed platform 1 and the terminal motion platform 6. The head-end fixed platform 1 and adjacent intermediate motion platforms 5, two adjacent intermediate motion platforms 5, and the terminal motion platform 6 and adjacent intermediate motion platforms 5 are all connected by a flexible skeleton 2.

[0063] The head-end fixed platform 1 and the adjacent intermediate-stage 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 head-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-stage motion platform 5 adjacent to the head-end fixed platform 1. The flexible skeleton 2 is located inside the two rigid skeletons 3.

[0064] Two adjacent intermediate-level motion platforms 5 are connected by a flexible skeleton 2. One end of the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 on one side of one intermediate-level motion platform 5. The other end of the flexible skeleton 2 is fixedly connected to the rigid skeleton 3 on the other side of the adjacent intermediate-level motion platform 5. The flexible skeleton 2 is located inside the two rigid skeletons 3.

[0065] 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.

[0066] 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.

[0067] In the technical solutions of the embodiments of the present invention, the introduction of a flexible skeleton enables relatively flexible movement and rotation between the robot's various motion platforms, adapting to complex and ever-changing environments and task requirements. This design allows the robot to possess greater flexibility and adaptability while maintaining overall structural stability. The flexible skeleton is positioned within two rigid skeletons. This layout helps limit excessive deformation of the flexible skeletons, thereby improving the robot's motion precision. Simultaneously, the rigid skeleton provides support for the flexible skeleton, enhancing the stability of the entire structure. When subjected to force, the flexible skeleton can absorb and distribute some of the force, reducing the burden on the rigid skeleton and optimizing the robot's mechanical properties. This design enables the robot to withstand greater loads while maintaining a relatively low overall weight. The connection of the flexible skeleton enables more complex relative motions, such as bending and twisting, between the robot's various motion platforms. This design enables the robot to perform more delicate and complex tasks, expanding its application range and functionality. In summary, the technical solutions of the embodiments of the present invention, through the combination of a flexible skeleton and a rigid skeleton, not only enhance the robot's flexibility and adaptability, but also improve motion precision and stability, simplify assembly and maintenance, optimize mechanical properties, enhance durability, and facilitate the implementation of complex motions.

[0068] 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 .

[0069] 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, which are used to pass the rope 4 of the lower moving platform step by step from the first end fixed platform 1 to the end moving platform 6.

[0070] See also Figure 3 and Figure 4In 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 to 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.

[0071] 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 four hanging holes 9, four rope holes 10, and four assembly slots 7 (two on each side); the number of base connection holes 8 on the first arm disc is three, and they are evenly distributed circumferentially along the center of the circle. Explanatoryally, the four ropes 4 of each joint pass through the rope hole 10 and are fixed to the adjacent motion platform by a hanging hook. The hanging hook is placed in the hanging hook hole 9. The radial angle between the hanging hook 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.

[0072] In the technical solution of the present invention, the flexible skeleton is connected to two connecting rings that serve 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 form a tensegrity structure, which makes the joint more stable when subjected to external loads. The flanges are crimped at both ends of the flexible skeleton and fixed to the connecting rings through assembly holes. In a specific exemplary technical solution, various platforms (the first-end fixed platform, the intermediate motion platform, or the end motion platform) and the connecting rings are made of aluminum alloy powder through a selective laser sintering process (SLS). The flexible skeleton can use a steel wire shaft that can only bend but not twist, the rope can use a steel wire cable, and the flange is made of aluminum alloy.

[0073] In one embodiment of the present invention, the actuators are linear actuators, the number of which is equal to the number of ropes. The fixed ends of the linear actuators are mounted on the base, and the driving ends are connected to the free ends of the ropes. Furthermore, depending on the actual needs of the task, the end effector can be fixedly mounted on the side of the end motion platform that does not have a rigid frame.

[0074] 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. It adopts a rigid-flexible hybrid structure, with both flexible parts to realize continuous deformation of the skeleton and rigid parts to increase the stiffness of the body. Its kinematic and dynamic modeling involves establishing a mapping relationship between the drive space, joint space and task space, and taking into account the influence of factors such as rope tension, friction, gravity, etc.

[0075] The technical solution provided by an embodiment of the present invention is a robot supported by a flexible skeleton, driven by multiple ropes, and capable of continuous deformation. Compared to traditional rope-driven continuum robots, the present invention adopts a tensegrity design, transforming the flexible skeleton's stress state from compression to tension, significantly reducing the skeleton's S-shaped deformation under external loads. Furthermore, the diagonal rope arrangement eliminates the effects of singular joint positions in the initial position (unbent skeleton state). In the exemplary technical solution, the robot consists of four modular joints, each with two degrees of freedom (bending only, not twisting), resulting in a total of eight degrees of freedom for the entire robot arm. The entire arm has a mass of 2.5 kg, an estimated speed of 300 deg / s, and a length of 417 mm. The entire arm is driven by a linear brake and steel ropes.

[0076] In this exemplary embodiment, the ball pendant has three degrees of freedom at pendant hole 9, ensuring that the rope 4 remains straight even when the robotic arm is bent at any angle. Assembly slot 7 cooperates with assembly key 13 to secure the connecting ring, which serves as the rigid frame 3, to the arm plate. The entire robotic arm can be connected to the base via three base connection holes 8. The base can be fixed, a single-degree-of-freedom linear slide, or a six-degree-of-freedom end effector.

[0077] 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; for example, Figure 5 The simulation shows the situation where the joint angles of each module (including bending angle and direction angle) are all 30°.

[0078] In summary, the present invention discloses a cable-driven continuum robot utilizing the principles of tensegrity. By combining a flexible skeleton with a rigid support frame, modular joints are designed. This design effectively addresses the limitations of existing technologies, including limited degrees of freedom, insufficient stability, and low load-bearing capacity. Specifically, by leveraging the self-stability of the tensegrity structure, the novel joint design integrates flexible and rigid elements to form a structural system similar to biological muscle and bone, thereby reducing the risk of S-shaped deformation under high loads. This design shifts the skeleton's load state from compression to tension, significantly reducing deformation under external loads. Furthermore, the diagonal cable arrangement eliminates the effects of singular joint positions in the initial position (unbent skeleton). Therefore, the improved technical solution of the present invention offers the following advantages: a simple structure, which reduces the number of complex actuators and thus reduces costs; improved performance, enhanced stability and load-bearing capacity, making the robot more suitable for tasks in complex environments; and ease of use, with a modular design that improves assembly and maintenance efficiency.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the 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 by 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 level 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 the 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 intermediate motion platforms (5) are provided between the head-end fixed platform (1) and the terminal motion platform (6); the rigid skeleton (3) of the head-end fixed platform (1) and the rigid skeleton (3) of the adjacent intermediate motion platform (5), the rigid skeletons (3) of two adjacent intermediate motion platforms (5), and the rigid skeleton (3) of the terminal motion platform (6) and the rigid skeleton (3) of the adjacent intermediate motion platform (5) are all connected via flexible skeletons (2); the flexible skeleton (2) is located within the two rigid skeletons (3), and the two rigid skeletons (3) are kept vertical; the rigid skeleton (3) is a "herringbone" connecting ring, the top end of the "herringbone" connecting ring is provided with an assembly hole (12) for connecting to the flexible skeleton (2), and both bottom ends of the "herringbone" connecting ring are provided with assembly keys (13) for mounting the "herringbone" connecting ring on the first arm disc, the second arm disc, or the third arm disc; 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-type rigid-flexible hybrid rope-driven continuum robot according to claim 1, characterized in that: The specific structure in which the rigid skeleton (3) of the head-end fixed platform (1) and the rigid skeleton (3) of the adjacent intermediate-stage motion platform (5), the rigid skeletons (3) of two adjacent intermediate-stage motion platforms (5), and the rigid skeleton (3) of the terminal motion platform (6) and the rigid skeleton (3) of the adjacent intermediate-stage motion platform (5) are all connected via the flexible skeleton (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), and 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), and the flexible skeleton (2) is located inside the two rigid skeletons (3), and the two rigid skeletons (3) remain 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 one 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 within the two rigid skeletons (3), and the two rigid skeletons (3) remain 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), 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 located inside the two rigid skeletons (3), and the two rigid skeletons (3) remain vertical.

3. The tensegrity-type rigid-flexible hybrid rope-driven continuum robot according to claim 1, characterized in that: The first arm disc is provided with a plurality of base connection holes (8), and the plurality of base connection holes (8) are used to achieve 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 a plurality of hanging holes (9), and each hanging hole (9) is used to fix one end of a 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 a plurality of rope holes (10), and each rope hole (10) is used to pass a rope (4) of a lower-level motion platform step by step along the direction from the first-end fixed platform (1) to the terminal motion platform (6).

4. The tensegrity-type rigid-flexible hybrid cable-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 disc are evenly distributed along the circumference; The plurality of hanging code 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 uniformly distributed along the circumferential direction.

5. The tensegrity-type rigid-flexible hybrid rope-driven continuum robot according to claim 1, characterized in that: Preset positions of the first arm disc, the second arm disc, and the third arm disc are all provided with assembly slots (7) that cooperate with the assembly keys (13).

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

7. The tensegrity-type rigid-flexible hybrid cable-driven continuum robot according to claim 1, characterized in that: Also included: linear brake; The number of the linear brakes is the same as the total number of the 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-type 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-type 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 with a single degree of freedom, or an end effector with six degrees of freedom.

10. A method for operating the tensegrity rigid-flexible hybrid cable-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 bending angles and direction angles; 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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