Driving device of bionic variable-rigidity flexible mechanical arm

Abstract

The invention discloses a driving device of a bionic variable-rigidity flexible mechanical arm, the flexible mechanical arm is formed by connecting a plurality of flexible joints with multi-degree-of-freedom bending in series end to end, and the driving device is used for controlling each flexible joint to act. The driving device comprises a first driving sub-module, a second driving sub-module, a third driving sub-module and a closed-loop control system, and the first driving sub-module is connected with the flexible air bag of each flexible joint and works cooperatively with the flexible air bag of each flexible joint so as to achieve flexible adjustment of each flexible joint; the second sub-driving module and the third sub-driving module are used for regulating and controlling the deformation rigidity of the flexible mechanical arm, and the second sub-driving module is a piezoelectric driving module based on voltage regulation and control. By integrating novel rigidity-adjustable materials such as the shape memory alloy and the piezoelectric material, the rigidity of the flexible mechanical arm can be adjusted in real time according to different working environments and task requirements, and the adaptability of the mechanical arm in variable environments is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of flexible robotic arms, and particularly to a driving device for a bionic variable-stiffness flexible robotic arm. Background Art

[0002] With the continuous development of robot technology, robotic arms have been increasingly widely used in various industries, especially in the fields of intelligent manufacturing, industrial automation, and aerospace. In the traditional industrial field, robotic arms are driven by rigid joints, which can achieve high-precision control of the end position and speed, accurately track the motion trajectory, and have a fast response speed. However, this type of robotic arm has disadvantages such as large mass and volume, high output stiffness, and weak adaptability to unknown environments.

[0003] The rigid joints of traditional rigid robotic arms are difficult to work efficiently and flexibly when facing dynamic environments and complex operation tasks. Although the rigid design of the robotic arm can provide precise motion control, when the task environment is uncertain, the excessive stiffness of the rigid joints limits the adaptability of the robotic arm in unknown environments. Especially for applications such as service robots, medical assistance robots, and entertainment robots, the robotic arm usually needs to have close physical contact with the surrounding environment, requiring higher compliance and adaptability. In addition, in tasks such as dangerous environment detection, post-disaster search and rescue, etc., the working environment of the robotic arm often cannot be pre-planned, and it is required to be able to flexibly adapt to different operating conditions. This requires the robotic arm to find a balance between control precision, flexibility, and adaptability, and have the ability to flexibly handle complex tasks.

[0004] Therefore, flexible robotic arms have emerged as the times require. The design inspiration of flexible robotic arms comes from biological structures in nature, and they have the advantages of compact structure, good compliance, a relatively high load-to-self-weight ratio, and good environmental interaction ability. Compared with traditional rigid robotic arms, flexible robotic arms can better adapt to different working environments through the design of flexible joints, and have compliance in contact tasks and high adaptability to uncertain environments. However, the driving and regulation technology of flexible robotic arms still faces many challenges. In the prior art, many flexible robotic arms use cable drive or pneumatic drive to achieve the control of flexible joints. These technologies usually achieve flexible adjustment of joints through means such as cables and airbags. However, they have certain limitations in precise adjustment and dynamic response. For example, although the cable drive system has good flexible control ability in simple tasks, its stability and reliability in precise motion control and complex operating environments are poor; while the pneumatic drive system faces problems such as low air flow control accuracy and high energy consumption.

[0005] Specifically, in existing flexible robotic arm driving devices, some technologies have adopted methods such as combined cable motion and cooperation of driving modules. For example:

[0006] 1) Publication number CN110757441B discloses a driving device for a flexible robotic arm with multi-joint combined motion. This solution drives the motion of multiple joints through multiple driving modules and ropes, and can achieve bending at different angles of the flexible robotic arm. Although this device can adjust the bending angle of the robotic arm through ropes, its control of environmental adaptability and dynamic adjustment ability is relatively simple, and it is difficult to achieve fine stiffness adjustment.

[0007] 2) Publication number CN107139170B discloses a driving device for a rope-driven flexible robotic arm, which improves the accuracy problem of ropes during driving and reduces the error caused by the elastic deformation of ropes through a screw driving method. However, this solution still relies on the coordination of ropes and mechanical structures, and it is difficult to effectively adjust the stiffness of flexible joints, especially in complex or uncertain working environments.

[0008] Therefore, although certain progress has been made in some aspects of the prior art, there is still much room for improvement in the stiffness adjustment accuracy, adaptability, and dynamic response ability of flexible robotic arms under different working conditions. Summary of the Invention

[0009] The object of the present invention is to provide a driving device for a bionic variable stiffness flexible robotic arm. By integrating new adjustable stiffness materials such as shape memory alloys and piezoelectric materials, the flexible robotic arm can adjust its stiffness in real time according to different working environments and task requirements, enhancing the adaptability of the robotic arm in a changing environment.

[0010] To achieve the above object, the present invention provides the following technical solution: A driving device for a bionic variable stiffness flexible robotic arm, the flexible robotic arm is formed by connecting multiple flexible joints with multiple degrees of freedom of bending in series end to end, the driving device is used to control the movement of each flexible joint, and the driving device includes a first sub-driving module, a second sub-driving module, a third driving sub-module, and a closed-loop control system, wherein: The first sub-driving module is connected to the flexible airbag of each flexible joint and works together to achieve flexible adjustment of each flexible joint; The second sub-driving module and the third sub-driving module are both used to regulate the deformation stiffness of the flexible robotic arm. The second sub-driving module is a piezoelectric driving module based on voltage regulation, and the second sub-driving module is installed at the connection between two adjacent flexible joints. The second sub-driving module includes a piezoelectric element and a guiding structure; The third sub-driving module is arranged along the head and tail of each flexible joint. The third sub-driving module includes a frame body, a first arm, and a second arm. The frame body is arranged outside the flexible joint and is connected to the two movable ends of the flexible joint. The first arm and the second arm are arranged at the adjacent ends of the two frame bodies; The closed-loop control system is used to adjust the inflation state of the airbag and the joint stiffness in real time to achieve centralized control of the flexible robotic arm, and the closed-loop control system includes a sensor unit, a driving module adjustment unit, and a closed-loop control unit.

[0011] Preferably, the first sub-driving module is a pneumatic driving unit, which controls the gas flow through a valve and an adjusting device to enable flexible transformation of two adjacent flexible joints. The pneumatic driving unit uses compressed gas as the power source and combines a precision control valve and an adjusting device to adjust the gas flow rate and pressure. The valve and the adjusting device are responsible for regulating the inflow and outflow speed of the gas to ensure the stability of the flow control during the inflation of the airbag. At the same time, the adjusting device allows for precise adjustment of the gas pressure according to the externally input control signal to meet the requirements of different tasks for the stiffness and flexibility of the robotic arm. The precise air flow regulation enables very fine adjustment of the inflation of the airbag, ensuring that the flexible transformation of the joint meets the working requirements.

[0012] Preferably, the guiding structure is in the same direction as the movement direction of the flexible joint, and the guiding structure is made of high-strength and wear-resistant materials. When the piezoelectric element is excited by a voltage, it will undergo a small deformation. This deformation is non-linear and is directly related to the magnitude and direction of the voltage. By precisely controlling the voltage applied to the piezoelectric element, the degree of deformation of the piezoelectric element can be precisely adjusted, thereby adjusting the connection state between two adjacent flexible joints of the robotic arm. As the voltage changes, the deformation of the piezoelectric element causes a change in the relative position between adjacent joints, which can effectively adjust the stiffness of the robotic arm. The greater the degree of deformation of the piezoelectric element, the closer the connection between adjacent flexible joints and the higher the stiffness; conversely, the smaller the deformation, the looser the connection and the lower the stiffness. This stiffness control method based on voltage adjustment achieves the balance of flexibility and stiffness of the robotic arm under different tasks.

[0013] Preferably, the front ends of the first arm and the second arm are hinged, and an arc-shaped guiding groove is provided on the first arm.

[0014] Preferably, a guide pin extending into the guide groove is provided on the second arm. The second arm is made of a shape memory alloy material, and an electric heating layer is provided on the inner side of the connection surface between the first arm and the second arm. The second arm is made of shape memory alloy (SMA) material. Shape memory alloy is an intelligent material that can undergo reversible deformation within a specific temperature range. When subjected to external stimuli (such as temperature changes), SMA can return to its predetermined original shape. This property of the material enables it to have a good "memory" function in the control system, and can automatically adjust its shape under different temperature conditions, thereby achieving precise motion control and stiffness adjustment. When the electric heating layer is activated, heat will be transferred to the shape memory alloy part of the second arm, causing its temperature to rise and deform. According to the characteristics of SMA, when the temperature rises to its deformation temperature, the material will undergo mechanical deformation, resulting in an angle adjustment of the second arm. The role of the electric heating layer is to control the deformation degree of the shape memory alloy by adjusting the temperature. By precisely controlling the current of the heating layer, the deformation of the second arm can be precisely adjusted, enabling the angle of the flexible robotic arm to be flexibly adjusted according to the task requirements. In addition, the electric heating layer can quickly heat the shape memory alloy, making its deformation speed faster and enabling rapid angle adjustment.

[0015] Preferably, the sensor unit is used to monitor the state changes of each flexible joint. The sensor unit includes, but is not limited to, pressure sensors, displacement sensors, angle sensors, load sensors, strain gauges, and accelerometers. Through the comprehensive application of the sensor unit, efficient control of the flexible robotic arm is achieved, ensuring its precise operation in various complex environments. The real-time data provided by various sensors enables the closed-loop control system to adjust the drive module in a timely manner according to the feedback information, ensuring that the robotic arm has the best performance when performing tasks.

[0016] Preferably, the closed-loop control unit is communicatively associated with the sensor unit. The closed-loop control unit receives the feedback data from the sensor unit, processes and analyzes it, and ensures that the robotic arm achieves the best stiffness and flexibility in different work tasks by adjusting the inflation of the airbag, the deformation of the piezoelectric drive module, the heating of the shape memory alloy, etc.

[0017] Preferably, the drive module adjustment unit is communicatively associated with the control unit. The drive module adjustment unit receives the instructions sent by the closed-loop control unit and adjusts the working states of each sub-drive module.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. By integrating new types of adjustable stiffness materials such as shape memory alloys and piezoelectric materials, the flexible robotic arm of the present invention can adjust its stiffness in real time according to different working environments and task requirements, enhancing the adaptability of the robotic arm in a changing environment. Compared with traditional rigid designs, this adjustment method can better handle complex operation tasks and dynamic changes. In addition, the flexible robotic arm of the present invention has a high load-to-self-weight ratio, capable of providing strong load-bearing capacity while ensuring high flexibility and adaptability.

[0020] 2. Through the combination of a pneumatic drive module and piezoelectric elements, the present invention can provide higher compliance while maintaining high-precision control, and is particularly suitable for tasks such as service robots, medical assistance robots, and hazardous environment detection. This enables the robotic arm to interact more effectively with the environment in contact tasks, enhancing its adaptability to unknown environments. Compared with traditional electric drive or pneumatic drive methods, the flexible robotic arm of the present invention achieves more efficient energy use by precisely controlling gas flow and voltage application, reducing energy consumption while improving control precision. In particular, the application of shape memory alloys and piezoelectric materials can not only adjust the stiffness according to task requirements but also maintain low energy consumption.

[0021] 3. The present invention adopts a closed-loop control system that can provide real-time feedback on the stiffness changes of the robotic arm and automatically adjust the inflation state of the airbag, the deformation of the piezoelectric drive module, etc., to ensure that the robotic arm always maintains the optimal stiffness and flexibility under different loads and working conditions. This closed-loop adjustment method improves the adjustment precision, avoids errors caused by manual intervention, and significantly enhances the precision and automation level of the flexible robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the flexible robotic arm in an embodiment of the present invention;

[0023] Figure 2 is a schematic structural connection diagram of the second sub-drive module and the flexible robotic arm in an embodiment of the present invention;

[0024] Figure 3 is a schematic structural connection diagram of the third sub-drive module and the flexible robotic arm in an embodiment of the present invention;

[0025] Figure 4 is a partially enlarged schematic structural diagram of the third sub-drive module in an embodiment of the present invention;

[0026] Figure 5 is an application schematic diagram of the closed-loop control system in an embodiment of the present invention.

[0027] In the figure: 1. Flexible joint; 2. Flexible airbag; 3. Second sub-driving module; 4. Third sub-driving module; 401. Frame; 402. First arm; 403. Second arm; 404. Guide groove; 405. Guide pin; 5. Closed-loop control system. Detailed implementation manners

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0030] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] Please refer to Figure 5 , the present invention provides a technical solution: a driving device for a bionic variable stiffness flexible robotic arm. The flexible robotic arm is formed by connecting a plurality of flexible joints 1 with multiple degrees of freedom of bending in series end to end. The driving device is used to control the movement of each flexible joint 1. The driving device includes a first sub-driving module, a second sub-driving module 3, a third driving sub-module and a closed-loop control system 5.

[0032] Please refer to Figure 1, in this embodiment, a first sub-driving module (not shown in the figure) is connected to and works in cooperation with the flexible airbag 2 of each flexible joint 1 to achieve flexible adjustment of each flexible joint 1. The first sub-driving module is a pneumatic driving unit, which uses compressed gas as a power source and combines precise control valves and regulating devices to adjust the flow rate and pressure of the gas. The valves and regulating devices are responsible for adjusting the inflow and outflow speed of the gas to ensure the stability of the flow control during the inflation of the airbag. At the same time, the regulating device allows for precise adjustment of the gas pressure according to the externally input control signal to meet the requirements of different tasks for the stiffness and flexibility of the robotic arm. The precise air flow regulation enables the inflation of the airbag to be adjusted very finely, ensuring that the flexible transformation of the joint meets the working requirements.

[0033] Please refer to Figure 2 , in this embodiment, both the second sub-driving module 3 and the third sub-driving module 4 are used to regulate the deformation stiffness of the flexible robotic arm. The second sub-driving module 3 is a piezoelectric driving module based on voltage regulation. The second sub-driving module 3 is installed at the connection between two adjacent flexible joints 1. The second sub-driving module 3 includes a piezoelectric element and a guiding structure. The guiding structure is in the same direction as the movement direction of the flexible joint 1 and is made of high-strength and wear-resistant materials. When a voltage is applied to the piezoelectric element, the piezoelectric element will deform, changing the connection state between two adjacent flexible joints 1, thereby adjusting the stiffness of the robotic arm. When the piezoelectric element is excited by a voltage, it will undergo a small deformation. This deformation is non-linear and is directly related to the magnitude and direction of the voltage. By precisely controlling the voltage applied to the piezoelectric element, the deformation degree of the piezoelectric element can be precisely adjusted, thereby adjusting the connection state between two adjacent flexible joints 1 of the robotic arm. As the voltage changes, the deformation of the piezoelectric element causes a change in the relative position between adjacent joints, which can effectively adjust the stiffness of the robotic arm. The greater the degree of deformation of the piezoelectric element, the closer the connection between adjacent flexible joints 1, and the higher the stiffness; conversely, the smaller the deformation, the looser the connection, and the lower the stiffness. This voltage-regulated stiffness control method achieves the balance of flexibility and stiffness of the robotic arm under different tasks.

[0034] Please refer to Figures 3 - 4, in this embodiment, a bellows sleeve is provided outside the flexible joint 1 of the flexible robotic arm. The third sub-driving module 4 is arranged at the head and tail of each flexible joint 1 of the flexible robotic arm. The third sub-driving module 4 includes a frame body 401, a first arm 402, and a second arm 403. The frame body 401 is arranged outside the flexible joint 1 and connected to the two movable ends of the flexible joint 1. The first arm 402 and the second arm 403 are arranged at the adjacent ends of the two frame bodies 401. The front ends of the first arm 402 and the second arm 403 are hinged. An arc-shaped guide groove 404 is provided on the first arm 402, and a guide pin 405 extending into the guide groove 404 is provided on the second arm 403. The second arm 403 is made of shape memory alloy material. An electric heating layer is arranged on the inner side of the joint surface between the first arm 402 and the second arm 403. After the electric heating layer is activated, the second arm 403 is heated and deformed to drive the guide pin 405 to move along the guide groove 404 and adjust the angles of the first arm 402 and the second arm 403.

[0035] In this embodiment, by precisely controlling the temperature of the electric heating layer (not shown in the figure), the shape memory alloy can be quickly heated, prompting it to deform rapidly. This rapid response ability enables the flexible robotic arm to quickly adjust its angle to meet the requirements of efficient tasks. When the electric heating layer is activated, the temperature of the shape memory alloy rises and it deforms, driving the guide pin 405 to move along the guide groove 404, thereby precisely adjusting the angles of the first arm 402 and the second arm 403. In this way, the angle of the flexible robotic arm can be precisely adjusted, optimizing the movement trajectory of the robotic arm. The shape memory alloy has high controllability and can flexibly adjust the angle according to task requirements in different working environments, making the robotic arm have strong adaptability and flexibility, especially suitable for tasks in uncertain or dynamic environments.

[0036] Please refer to Figure 5 , in this embodiment, the closed-loop control system 5 is used to adjust the inflation state of the airbag and the joint stiffness in real time to achieve centralized control of the flexible robotic arm. The closed-loop control system 5 includes a sensor unit, a driving module adjustment unit, and a closed-loop control unit. The sensor unit is used to monitor the state changes of each flexible joint 1. The sensor unit includes, but is not limited to, pressure sensors, displacement sensors, angle sensors, load sensors, strain gauges, and accelerometers. The closed-loop control unit is communicatively associated with the sensor unit. The closed-loop control unit receives the feedback data from the sensor unit, processes and analyzes it. The closed-loop control unit ensures that the robotic arm achieves the best stiffness and flexibility in different working tasks by adjusting the airbag inflation, the deformation of the piezoelectric driving module, and the heating of the shape memory alloy, etc. The driving module adjustment unit is communicatively associated with the control unit. The driving module adjustment unit receives the instructions sent by the closed-loop control unit and adjusts the working states of each sub-driving module.

[0037] Combined with the above embodiments, the principle of the driving device provided by the present invention for realizing the stiffness adjustment of the flexible robotic arm includes the following steps:

[0038] The pneumatic driving module adjusts the deformation of the flexible joint 1: First, the pneumatic driving unit in the first sub-driving module adjusts the expansion state of each flexible joint 1 by controlling the gas flow rate. The pneumatic driving unit precisely controls the gas flow, so that adjacent flexible joints 1 undergo flexible deformation. By adjusting the expansion state of the airbag, the deformation degree of the flexible joint 1 is controlled to achieve the compliance adjustment of the robotic arm;

[0039] The piezoelectric driving module adjusts the stiffness of the robotic arm: Next, the piezoelectric element in the second sub-driving module 3 generates a controllable deformation through voltage adjustment. After being acted upon by the voltage, the piezoelectric element deforms, changing the connection state between two adjacent flexible joints 1, thereby adjusting the stiffness of the flexible robotic arm. The magnitude of the voltage determines the deformation degree of the piezoelectric element, further adjusting the stiffness of the robotic arm to adapt to different working conditions and task requirements;

[0040] The shape memory alloy module performs angle adjustment: The third sub-driving module 4 utilizes the thermal response characteristics of the shape memory alloy (SMA) to adjust the temperature of the shape memory alloy part of the second arm 403 through the electrothermal layer. When the electrothermal layer is activated, the shape memory alloy part of the second arm 403 deforms after being heated, driving the guide pin 405 to slide along the guide groove 404, thereby adjusting the angle between the first arm 402 and the second arm 403. By adjusting the temperature of the electrothermal layer, the speed and amplitude of the angle adjustment can be precisely controlled;

[0041] The closed-loop control system 5 performs real-time monitoring and adjustment: The closed-loop control system 5 monitors the state changes (such as pressure, displacement, angle, etc.) of the flexible joint 1 in real time through the sensor unit, and transmits the feedback information to the closed-loop control unit. The closed-loop control unit precisely adjusts the pneumatic driving module, piezoelectric driving module, and shape memory alloy driving module according to the sensor data to ensure that the robotic arm always maintains the best stiffness and flexibility in different working tasks.

[0042] Through the coordinated work of the above multiple driving modules, the present invention can achieve precise adjustment of the stiffness of the flexible robotic arm. According to the task requirements, the control system can flexibly change the stiffness and compliance of the flexible robotic arm by adjusting the working states of each module in real time, so that it can adapt to various complex working environments and task requirements.

[0043] It should be noted that: The entire device is controlled by the total control system. Since the devices matched by the control system are common devices and belong to the existing mature technologies, the electrical connection relationships and specific circuit structures are not described in detail herein.

[0044] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A driving device for a bionic variable stiffness flexible robotic arm. The flexible robotic arm is formed by connecting multiple flexible joints (1) with multiple degrees of freedom of bending in series end to end. The driving device is used to control the movement of each flexible joint (1). The driving device includes a first sub-driving module, a second sub-driving module (3), a third driving sub-module, and a closed-loop control system (5), and is characterized in that: The first sub-driving module is connected to the flexible airbag (2) of each flexible joint (1) and works in cooperation to achieve flexible adjustment of each flexible joint (1); Both the second sub-driving module (3) and the third sub-driving module (4) are used to regulate the deformation stiffness of the flexible robotic arm. Among them, the second sub-driving module (3) is a piezoelectric driving module based on voltage regulation. The second sub-driving module (3) is installed at the connection of two adjacent flexible joints (1). The second sub-driving module (3) includes a piezoelectric element and a guiding structure; The third sub-driving module (4) is arranged along the head and tail of each flexible joint (1). The third sub-driving module (4) includes a frame body (401), a first arm (402), and a second arm (403). The frame body (401) is arranged outside the flexible joint (1) and is connected to the two movable ends of the flexible joint (1). The first arm (402) and the second arm (403) are arranged at the adjacent ends of the two frame bodies (401); The closed-loop control system (5) is used to adjust the inflation state of the airbag and the joint stiffness in real time to achieve centralized control of the flexible robotic arm. The closed-loop control system (5) includes a sensor unit, a driving module adjustment unit, and a closed-loop control unit.

2. The driving device of a bionic variable stiffness flexible robotic arm according to claim 1, characterized in that: The first sub-driving module is a pneumatic driving unit. The pneumatic driving unit controls the gas flow through a valve and an adjustment device to make two adjacent flexible joints (1) perform flexible transformation.

3. The driving device of a bionic variable stiffness flexible robotic arm according to claim 1, characterized in that: The guiding structure is consistent with the movement direction of the flexible joint (1), and the guiding structure is made of high-strength and wear-resistant materials.

4. The driving device of a bionic variable stiffness flexible robotic arm according to claim 1, characterized in that: The front ends of the first arm (402) and the second arm (403) are hinged, and an arc-shaped guiding groove (404) is arranged on the first arm (402).

5. The driving device of a bionic variable stiffness flexible robotic arm according to claim 4, characterized in that: A guiding pin (405) extending into the guiding groove (404) is arranged on the second arm (403). The second arm (403) is made of shape memory alloy material. An electric heating layer is arranged on the inner side of the joint surface between the first arm (402) and the second arm (403). After the electric heating layer is started, the second arm (403) is deformed by heat to drive the guiding pin (405) to move along the guiding groove (404) and adjust the angles of the first arm (402) and the second arm (403).

6. The driving device of a bionic variable stiffness flexible robotic arm according to claim 1, characterized in that: The sensor unit is used to monitor the state changes of each flexible joint (1). The sensor unit includes, but is not limited to, pressure sensors, displacement sensors, angle sensors, load sensors, strain gauges, and accelerometers.

7. The driving device of a bionic variable stiffness flexible robotic arm according to claim 1, characterized in that: The closed-loop control unit is communicatively connected to the sensor unit. The closed-loop control unit receives the feedback data from the sensor unit and performs processing and analysis.

8. The driving device of a bionic variable stiffness flexible robotic arm according to claim 1, characterized in that: The driving module adjustment unit is communicatively connected to the control unit. The driving module adjustment unit receives the instructions issued by the closed-loop control unit and adjusts the working states of each sub-driving module.

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