Rope-driven flexible manipulator capable of realizing bending and twisting combined deformation and manufacturing method thereof

Abstract

The application discloses a rope-driven flexible mechanical arm capable of realizing bending and twisting combined deformation and a manufacturing method thereof. The rope-driven flexible mechanical arm capable of realizing bending and twisting combined deformation comprises a base plate, a plurality of chiral elastic components and a plurality of base plates which are sequentially and staggeredly connected, twisting between adjacent chiral elastic components is realized through a middle driving component and / or a peripheral driving component, the middle driving component is in transmission connection with one end of the middle connecting piece to selectively drive the chiral elastic component to deform and twist, and the peripheral driving component is in transmission connection with one end of the peripheral connecting piece to selectively drive the chiral elastic component to deform and bend. Therefore, the spatial deformation capability and the motion freedom degree of the rope-driven flexible mechanical arm can be significantly improved, and the controllability and the designability of the rope-driven flexible mechanical arm are enhanced.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a rope-driven flexible robotic arm capable of combined bending and torsion deformation and its manufacturing method. Background Technology

[0002] Rope-driven flexible robotic arms, as an important branch of soft robotics, achieve active deformation of the robotic arm by precisely controlling the displacement of an internal traction rope through a motor. For a long time, rope-driven robotic arms have been widely used in fields such as minimally invasive surgical robots, industrial precision assembly equipment, and service robots due to their advantages such as fast response speed, high load-bearing capacity, low overall weight, and mature control technology.

[0003] Current research on deformation control technology for flexible robotic arms mainly focuses on single bending deformation modes. The technical solutions often employ cable-driven structures, shape memory alloys, or pneumatic artificial muscles, which, while effectively addressing bending deformation, still have significant limitations in achieving controllable torsional deformation. In particular, existing technologies have not yet provided effective solutions for complex deformation requirements in three-dimensional space.

[0004] Some studies attempt to achieve torsional deformation through the thermal deformation effect of smart materials (such as liquid crystal elastomers). The shrinkage rate of thermal deformation is related to its temperature, and the temperature change rate is slow. Therefore, such methods have inherent defects such as slow response speed, high manufacturing cost and complex process, which seriously restrict their practical application value. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a rope-driven flexible manipulator capable of realizing combined bending and torsional deformation. This rope-driven flexible manipulator capable of realizing combined bending and torsional deformation is not only more convenient for twisting and bending and has a fast response speed, but also has a simple structure and low manufacturing cost.

[0006] The present invention further proposes a method for manufacturing a rope-driven flexible robotic arm capable of achieving combined bending and torsional deformation.

[0007] A rope-driven flexible robotic arm capable of combined bending and torsional deformation according to an embodiment of the present invention includes: a base plate; a chiral elastic component disposed on one side of the base plate and coaxially arranged with the base plate, wherein there are multiple chiral elastic components and multiple base plates, and the multiple chiral elastic components and multiple base plates are sequentially and alternately connected; the torsion of the chiral elastic component is realized by a central driving component and / or an outer peripheral driving component; a central driving component, the central driving component including a central driving member and a central connecting member, wherein the central connecting member passes through the multiple chiral elastic components that are sequentially and alternately connected. The component comprises a central portion of multiple substrates, wherein the central connector is connected to multiple chiral elastic components, and the central drive member is drivenly connected to one end of the central connector to selectively drive the chiral elastic components to deform and twist; and an outer peripheral drive assembly, which includes an outer peripheral drive member and an outer peripheral connector, wherein the outer peripheral connector passes through and is connected to multiple substrates, the outer peripheral connector is disposed adjacent to the edge of the substrates, and the outer peripheral drive member is drivenly connected to one end of the outer peripheral connector to selectively drive the chiral elastic components to deform and bend.

[0008] Therefore, by controlling the synergistic effect of the chiral elastic component and the substrate through the central drive component and the peripheral drive component, the rope-driven flexible manipulator can achieve bending-torsion composite deformation in three-dimensional space. This not only significantly improves the deformation diversity and motion freedom of the rope-driven flexible manipulator, but also effectively reduces manufacturing costs and process complexity by optimizing the structural design of the rope-driven flexible manipulator.

[0009] In some examples of the present invention, the chiral elastic component includes two connecting plates and a chiral elastic element, the two connecting plates being respectively disposed on both axial sides of the chiral elastic element, and the connecting plates being connected to the substrate.

[0010] In some examples of the present invention, each of the chiral elastic components includes a plurality of elastic rods, the elastic rods being straight rods and inclined relative to a vertical plane, the plurality of elastic rods being circumferentially spaced and asymmetrically arranged between the two connecting plates.

[0011] In some examples of the present invention, the elastic rod includes a first segment, a second segment, and a third segment, the first segment and the third segment both extending in a vertical direction, the first segment being located above the third segment and spaced apart from each other in a horizontal direction, and the second segment extending in a horizontal direction and connecting the lower end of the first segment and the upper end of the third segment.

[0012] In some examples of the present invention, the chiral elastic element is a helical spring and a chiral baffle, the chiral baffle being circumferentially disposed around the outside of the helical spring.

[0013] In some examples of the present invention, the substrate has a central clearance hole and an outer peripheral connection hole. The central clearance hole is located at the center of the substrate. There are multiple outer peripheral connection holes, which are circumferentially spaced outside the central clearance hole. The outer peripheral connector passes through and is connected to the multiple outer peripheral connection holes on the substrate. On each substrate, the multiple outer peripheral connection holes are connected to the multiple outer peripheral connectors in a one-to-one correspondence. The connecting plate has a central connection hole, which corresponds to the central clearance hole. The central connection holes on the multiple chiral elastic components are all connected to the central connectors.

[0014] A method for manufacturing a cable-driven flexible robotic arm capable of combined bending and torsional deformation according to an embodiment of the present invention includes the following steps:

[0015] Determine the combined bending and torsional deformation requirements of the robotic arm, and adjust and set the appropriate deformation target for each segment;

[0016] According to the torsional deformation amplitude θ of the chiral elastic component max Adjust the magnitude of the force corresponding to the torsional deformation amplitude of the chiral elastic component. ;

[0017] Adjust the preload of the chiral elastic component ,Sure The torsion angle corresponding to the preload; if a suitable angle is selected... make This allows the robotic arm to have equal torsional angles in both directions.

[0018] Adjust the position distribution of the outer peripheral connection holes on the substrate;

[0019] Chiral elastic components and substrates are fabricated, and multiple chiral elastic components and multiple substrates are sequentially and alternately connected.

[0020] Insert the middle connector and the outer peripheral connector, and connect the middle connector to the middle drive component, and connect the outer peripheral connector to the outer peripheral drive component to form a rope-driven flexible robotic arm that can realize bending and torsional combined deformation.

[0021] In some examples of the present invention, the step of inserting the central connector and the outer peripheral connector, and drivingly connecting the central connector to the central drive member, and drivingly connecting the outer peripheral connector and the outer peripheral drive member to form a rope-driven flexible robotic arm capable of realizing combined bending and torsional deformation, further includes:

[0022] Determine whether the rope-driven flexible robotic arm capable of combined bending and torsion deformation meets the target deformation requirements. If it does not meet the requirements, repeat the above steps. If it does meet the requirements, the overall structural design is completed.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0025] Figure 1 This is a partial schematic diagram of a rope-driven flexible robotic arm according to a first embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a chiral elastic component and a substrate according to a first embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a chiral elastic component according to a first embodiment of the present invention;

[0028] Figure 4 This is a partial schematic diagram of a rope-driven flexible robotic arm according to a second embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of a chiral elastic component according to a second embodiment of the present invention;

[0030] Figure 6 This is a partial schematic diagram of a rope-driven flexible robotic arm according to a third embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of a chiral elastic component according to a third embodiment of the present invention;

[0032] Figure 8 This is a flowchart of a method for manufacturing a rope-driven flexible robotic arm according to the present invention;

[0033] Figure 9 This is a graph showing the relationship between the compressive force and the torsional angle of the chiral elastic component according to the present invention.

[0034] Figure label:

[0035] 100. Rope-driven flexible robotic arm;

[0036] 10. Substrate; 11. Outer peripheral connection hole;

[0037] 20. Chiral elastic component; 21. Chiral elastic element; 211. First rod segment; 212. Second rod segment; 213. Third rod segment; 22. Connecting plate; 23. Middle connecting hole; 24. Chiral baffle; 241. Notch; 25. Helical spring. Detailed Implementation

[0038] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0039] The following is for reference. Figures 1-9 A rope-driven flexible robotic arm 100 capable of combined bending and torsional deformation is described according to an embodiment of the present invention.

[0040] Combination Figures 1-9 As shown, the rope-driven flexible robotic arm 100 capable of combined bending and torsional deformation according to the present invention mainly includes: a base plate 10, a chiral elastic component 20, a central drive component, and an outer peripheral drive component. The chiral elastic component 20 is disposed on one side of the base plate 10 and coaxially arranged with the base plate 10. Multiple chiral elastic components 20 and multiple base plates 10 are arranged in a staggered manner. Torsion between adjacent chiral elastic components 20 is achieved through the central drive component and / or the outer peripheral drive component. The central drive component includes a central drive member and a central connector. The central connector passes through the center portion of a plurality of chiral elastic components 20 and a plurality of substrates 10 that are sequentially and alternately connected. The central connector is connected to the plurality of chiral elastic components 20. The central drive member is driven to one end of the central connector to selectively drive the chiral elastic components 20 to deform and twist. The peripheral drive assembly includes a peripheral drive member and a peripheral connector. The peripheral connector passes through the plurality of substrates 10 and is connected to the plurality of substrates 10. The peripheral connector is disposed near the edge of the substrates 10. The peripheral drive member is driven to one end of the peripheral connector to selectively drive the chiral elastic components 20 to deform and bend.

[0041] Specifically, by placing the chiral elastic component 20 on one axial side of the substrate 10 and making the chiral elastic component 20 and the substrate 10 coaxially arranged, it should be noted that the projections of the center of the chiral elastic component 20 and the center of the substrate 10 in the axial direction coincide.

[0042] In some embodiments of the present invention, there are multiple chiral elastic components 20 and substrates 10, which are sequentially and alternately connected. This allows the chiral elastic components 20 and substrates 10 to be subjected to pressure equal to the tension of the central drive component under the drive of the central and peripheral drive components. It should be noted that the chiral elastic component 20 is an asymmetric topological elastic component capable of both torsional and bending deformation.

[0043] Furthermore, the central drive assembly includes a central drive member and a central connector. The central connector passes through the central portions of multiple chiral elastic components 20 and multiple substrates 10 that are sequentially and alternately connected. The central connector is connected to the multiple chiral elastic components 20. One end of the central drive member is connected to the central connector to selectively drive the chiral elastic components 20 to deform and twist. When the central drive member drives the central connector to move, since the central connector is connected to the chiral elastic components 20, the central connector will cause the chiral elastic components 20 to undergo torsional deformation, thereby driving the rope-driven flexible robotic arm 100 to twist. This not only makes the twisting of the rope-driven flexible robotic arm 100 more convenient and the response speed faster, but also makes the structure of the central drive assembly simple, the driving principle simpler, and the overall manufacturing cost of the rope-driven flexible robotic arm 100 lower.

[0044] The peripheral drive assembly includes a peripheral drive component and a peripheral connector. The peripheral connector passes through multiple substrates 10 and is connected to the multiple substrates 10. One end of the peripheral drive component is connected to the peripheral connector. When the peripheral drive component drives the peripheral connector to move, since the peripheral connector is connected to the substrates 10, the peripheral connector will drive the chiral elastic component 20 to bend through the substrates 10, thereby causing the entire rope-driven flexible robotic arm 100 to bend. This not only makes the bending of the rope-driven flexible robotic arm 100 more convenient and the response speed faster, but also makes the structure of the peripheral drive assembly simple, the driving principle simpler, and the overall manufacturing cost of the rope-driven flexible robotic arm 100 lower.

[0045] Therefore, by controlling the synergistic effect of the chiral elastic component 20 and the substrate 10 through the central drive component and the peripheral drive component, the rope-driven flexible manipulator 100 can achieve bending-torsion composite deformation in three-dimensional space. This not only significantly improves the deformation diversity and motion freedom of the rope-driven flexible manipulator 100, but also effectively reduces manufacturing costs and process complexity by optimizing the structural design of the rope-driven flexible manipulator 100.

[0046] It should be noted that the outer peripheral connector and the middle connector are the outer peripheral connecting rope and the middle connecting rope, respectively. The outer peripheral drive component drives the movement of the outer peripheral connector, which means that the outer peripheral drive component selectively stretches the outer peripheral connecting rope. The middle drive component drives the movement of the middle connector, which means that the middle drive component selectively stretches the middle connecting rope.

[0047] Combination Figures 1-7 As shown, the chiral elastic component 20 includes two connecting plates 22 and a chiral elastic element 21. The two connecting plates 22 are respectively disposed on both sides of the axial direction of the chiral elastic element 21. The connecting plates 22 are connected to the substrate 10, and the middle connecting element passes through the substrate 10 and is connected to the substrate 10.

[0048] Specifically, by providing connecting plates 22 on both axial sides of the chiral elastic member 21 and connecting the connecting plates 22 to the substrate 10, and by passing the middle connecting member through the substrate 10 and connecting it to the substrate 10, not only can the connection stability and reliability between the chiral elastic member 20 and the substrate 10 be improved, but also the connection between the chiral elastic member 20 and the middle connecting member can be made more stable and reliable. When the middle driving member drives the middle connecting member to cause the chiral elastic member 21 to undergo torsional deformation, the torsion of the chiral elastic member 21 is more stable.

[0049] Combination Figure 2 and Figure 3 As shown, the chiral elastic element 21 is arranged around the outside of the central connector and avoids the central connector.

[0050] Specifically, the chiral elastic element 21 is arranged around the outside of the central connector, and the chiral elastic element 21 avoids the central connector. This can prevent the central connector from interfering with the torsional deformation of the chiral elastic element 21, and can further improve the stability and reliability of the torsional deformation of the chiral elastic element 21.

[0051] In a first embodiment of the present invention, combined with Figures 1-3 As shown, in each chiral elastic component 20, the chiral elastic element 21 includes a plurality of elastic rods. The elastic rods are configured as straight rods and are inclined relative to the vertical plane. The plurality of elastic rods are circumferentially spaced and asymmetrically arranged between the two connecting plates 22.

[0052] Specifically, the chiral elastic element 21 is an elastic rod. Multiple elastic rods in each chiral elastic component 20 are circumferentially spaced asymmetrically between two connecting plates 22. When the elastic rod undergoes bending deformation, the gap between two adjacent elastic rods can provide clearance space for the bending deformation of the elastic rod, thus ensuring the stability of the torsional deformation of the chiral elastic component 20.

[0053] Furthermore, by setting the elastic rods as straight rods and making them inclined relative to the vertical plane, an asymmetrical topological configuration can be formed after multiple elastic rods are spaced apart circumferentially, thereby making the resulting chiral elastic component 20 more stable and reliable in torsional and bending deformation.

[0054] It should be noted that the vertical plane is the plane that extends axially. The smaller the tilt angle of the elastic rod relative to the vertical plane, the greater the torsional deformation amplitude that the rope-driven flexible robotic arm 100 can produce under the same driving force.

[0055] In a second embodiment of the invention, combined with Figure 4 and Figure 5As shown, the elastic rod includes a first segment 211, a second segment 212, and a third segment 213. Both the first segment 211 and the third segment 213 extend vertically. The first segment 211 is located above the third segment 213 and is horizontally spaced apart. The second segment 212 extends horizontally and connects the lower end of the first segment 211 and the upper end of the third segment 213. In other words, the first segment 211 and the third segment 213 are not on the same vertical line; the horizontal gap between them is filled by the second segment 212, connecting the first segment 211 and the third segment 213 into a single unit. Of course, the second segment 212 can be parallel to the horizontal direction or maintain a certain angle of inclination with the horizontal direction; neither of these affects the implementation of this embodiment.

[0056] In a third embodiment of the invention, combined with Figure 6 and Figure 7 As shown, the chiral elastic element 21 includes a chiral baffle 24 and a coil spring 25, with the chiral baffle 24 circumferentially surrounding the outer side of the coil spring 25.

[0057] Specifically, by placing the helical spring 25 between the two connecting plates 22, the helical spring 25 can provide elastic force to restore the deformation caused by external pressure. The chiral baffle 24 is circumferentially arranged around the outside of the helical spring 25, which can also bend and twist while the helical spring 25 is elastically deformed. This improves the spatial deformation capability and motion freedom of the rope-driven flexible robotic arm 100, while also enhancing the adjustability and designability of the rope-driven flexible robotic arm 100.

[0058] In some embodiments of the present invention, the chiral baffle 24 is cylindrical and has a notch 241 formed by being cut off by an oblique plane. The notch 241 is arranged in a specific manner, thereby making the chiral baffle 24 chiral.

[0059] Combination Figures 1-8 As shown, the substrate 10 has a central clearance hole and an outer peripheral connection hole 11. The central clearance hole is located at the center of the substrate 10. There are multiple outer peripheral connection holes 11, which are circumferentially spaced outside the central clearance hole. The outer peripheral connector passes through the multiple outer peripheral connection holes 11 on the substrate 10 and is connected to the multiple outer peripheral connection holes 11 on the substrate 10. On each substrate 10, the multiple outer peripheral connection holes 11 are connected to the multiple outer peripheral connectors one by one. The connecting plate 22 has a central connection hole 23, which corresponds to the central clearance hole. The central connection holes 23 on the multiple chiral elastic components 20 are all connected to the central connectors.

[0060] Specifically, by creating a central clearance hole and an outer peripheral connection hole 11 on the substrate 10, and providing a central connection hole 23 on the connecting plate 22, after sequentially and alternately connecting multiple chiral elastic components 20 to multiple substrates 10, the central clearance hole and the central connection hole 23 correspond to each other. During the process of the central connector passing through the central connection hole 23, the central clearance hole allows the central connector to pass through, thus providing clearance and ensuring the stability and reliability of connecting multiple chiral elastic components 20 with the same central connector.

[0061] Furthermore, by setting the peripheral connection hole 11 on the outer periphery of the substrate 10, and the peripheral connection hole 11 being closer to the edge of the substrate 10 than the central clearance hole, the peripheral connector is passed through the peripheral connection hole 11 on each substrate 10, and each substrate 10 is connected together. When the peripheral drive member drives the peripheral connector to move, multiple substrates 10 can be moved, thereby causing the chiral elastic component 20 connected between two adjacent substrates 10 to bend and deform.

[0062] Combination Figure 8 As shown, the manufacturing method of the rope-driven flexible robotic arm 100 capable of combined bending and torsional deformation according to the present invention mainly includes the following steps:

[0063] S1. Determine the combined bending and torsional deformation requirements of the robotic arm, and adjust and set the deformation target for each segment;

[0064] S2, based on the torsional deformation amplitude of the chiral elastic component. θ max Adjust the magnitude of the force corresponding to the torsional deformation amplitude of the chiral elastic component. ;

[0065] S3, Adjust the preload of the chiral elastic component. ,Sure The torsion angle corresponding to the preload; if a suitable angle is selected... make This allows the robotic arm to have equal torsional angles in both directions.

[0066] S4. Adjust the position distribution of the outer peripheral connection holes 11 on the substrate 10;

[0067] S5. Fabricate chiral elastic components 20 and substrates 10, and sequentially connect and arrange multiple chiral elastic components 20 and multiple substrates 10 alternately.

[0068] S6. Insert the middle connector and the outer peripheral connector, and connect the middle connector to the middle drive component, and connect the outer peripheral connector to the outer peripheral drive component to form a rope-driven flexible robotic arm 100 that can realize bending and torsion combined deformation.

[0069] Specifically, in combination Figure 9 As shown, the relationship between the compressive force and the torsion angle when the rope-driven flexible robotic arm 100 undergoes torsion is as follows:

[0070] ,

[0071] Where F is the axial force that causes the chiral elastic component 20 to twist. The initial torsion angle after pre-compression, f represents the torsion angle and... F , The functional relationship.

[0072] Therefore, the target deformation requirements of the rope-driven flexible robotic arm 100 that can achieve combined bending and twisting deformation are first determined. Then, the torsional amplitude, critical tensile force of the chiral elastic component 20 and the distribution of the peripheral connecting holes 11 on the substrate 10 are adjusted according to the deformation requirements. The chiral elastic component 20 and the substrate 10 are then manufactured using software. Multiple chiral elastic components 20 and multiple substrates 10 are then connected to each other alternately with adhesive. Then, the central connector and the peripheral connector are inserted, and one end of the central connector is connected to the central drive component, and one end of the peripheral connector is connected to the peripheral drive component.

[0073] It should be noted that adjusting the tilt angle α of the elastic rod relative to the vertical plane and the diameter d of the elastic rod in the chiral elastic component 20 controls the amplitude of torsional deformation. Under the same force, the smaller the tilt angle, the greater the deformation amplitude that the chiral elastic component 20 can produce. The larger the diameter d of the elastic rod, the less likely the elastic rod is to undergo torsional deformation. In general, the relevant parameter values ​​of the chiral elastic component 20 can be adjusted to control the corresponding values ​​of the force and torsion angle on the central connector.

[0074] Furthermore, the direction and amplitude of bending deformation can be controlled by adjusting the distribution of the peripheral connection holes 11 on the substrate 10.

[0075] In some embodiments of the present invention, the specific three-dimensional solid modeling process of the chiral elastic component 20 is as follows: First, concentric reference circle geometric elements with different diameters are created on the parametric sketch reference plane. After completing the reference constraints, an axial stretching operation is performed to generate a hollowed-out cylindrical structure. The upper surface of the current feature is offset to the specified working plane along the normal vector direction using the translation coordinate system method, and the hollowed-out frustum component with the same parameters is reproduced through feature mirroring technology. An auxiliary sketch containing arc constraints is constructed on the offset working plane: a sector geometric element is defined with the origin of the coordinate system as the center of curvature, and a geometric relationship with the reference circle is established through endpoint constraints. A transition section circle is constructed based on the dynamic geometric midpoint algorithm, and a symmetrical section circle element based on axial constraints is created on the upper surface of the original hollowed-out cylindrical structure. The two section circles are connected using a lofting algorithm to generate an inclined support column component, and finally, the periodic distribution of the support structure is realized through a circumferential array feature generation system.

[0076] The substrate 10 is constructed using a parametric design method to create a two-dimensional disk substrate with a central through hole and a circumferential array of guide holes. Then, an axial stretching operation is performed along the normal direction to generate a three-dimensional load-bearing structure that meets the requirements for flexible cable insertion.

[0077] Combination Figure 9 As shown, after the step of inserting the central connector and the outer peripheral connector, and drivingly connecting the central connector to the central drive component, and drivingly connecting the outer peripheral connector and the outer peripheral drive component to form a rope-driven flexible robotic arm 100 capable of bending and torsional combined deformation, the following steps are also included:

[0078] Determine whether the rope-driven flexible robotic arm 100, which can achieve combined bending and torsion deformation, meets the target deformation requirements.

[0079] If the conditions are not met, repeat the above steps; if the conditions are met, the overall structural design is complete.

[0080] Specifically, errors may occur during the manufacturing process of the rope-driven flexible robotic arm 100 capable of combined bending and twisting deformation. Therefore, after the rope-driven flexible robotic arm 100 capable of combined bending and twisting deformation is manufactured, it is necessary to further judge and test whether the rope-driven flexible robotic arm 100 capable of combined bending and twisting deformation meets the target deformation requirements. If the rope-driven flexible robotic arm 100 capable of combined bending and twisting deformation meets the target deformation requirements, the overall structure manufacturing of the rope-driven flexible robotic arm 100 capable of combined bending and twisting deformation meets the target deformation requirements is completed. If the rope-driven flexible robotic arm 100 capable of combined bending and twisting deformation does not meet the target deformation requirements, the above steps are repeated.

[0081] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0082] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0083] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A rope-driven flexible robotic arm capable of realizing combined bending and torsional deformation, characterized in that, include: substrate; A chiral elastic component is disposed on one side of a substrate and coaxially with the substrate. Multiple chiral elastic components and substrates are arranged in a staggered manner. The chiral elastic component is an asymmetric topological configuration elastic component capable of both torsional and bending deformation. Torsion and bending of the chiral elastic component are achieved through a central driving component and / or an outer peripheral driving component. A central drive assembly includes a central drive member and a central connector. The central connector passes through the central portions of a plurality of chiral elastic components and a plurality of substrates that are sequentially and alternately connected. The central connector is connected to the plurality of chiral elastic components. One end of the central drive member is drivenly connected to the central connector to selectively drive the chiral elastic components to deform and twist. A peripheral drive assembly includes a peripheral drive member and a peripheral connector. The peripheral connector passes through and is connected to multiple substrates. The peripheral connector is disposed near the edge of the substrate. One end of the peripheral drive member is drively connected to the peripheral connector to selectively drive the chiral elastic component to deform and bend. The chiral elastic component includes two connecting plates and a chiral elastic element. The two connecting plates are respectively disposed on both axial sides of the chiral elastic element, and the connecting plates are connected to the base plate. In each of the chiral elastic components, the chiral elastic element includes a plurality of elastic rods; the elastic rods are configured as straight rods and inclined relative to a vertical plane, and the plurality of elastic rods are circumferentially spaced and asymmetrically arranged between the two connecting plates; or The elastic rod includes a first segment, a second segment, and a third segment. The first segment and the third segment both extend in the vertical direction. The first segment is located above the third segment and is spaced apart from each other in the horizontal direction. The second segment extends in the horizontal direction and connects the lower end of the first segment and the upper end of the third segment.

2. The rope-driven flexible robotic arm capable of combined bending and torsional deformation according to claim 1, characterized in that, The substrate has a central clearance hole and an outer peripheral connection hole. The central clearance hole is located at the center of the substrate. There are multiple outer peripheral connection holes, which are circumferentially spaced on the outer side of the central clearance hole. The outer peripheral connector passes through the multiple outer peripheral connection holes on the substrate and is connected to the multiple outer peripheral connection holes on the substrate. On each substrate, the multiple outer peripheral connection holes are connected to the multiple outer peripheral connectors in a one-to-one correspondence. The connecting plate is provided with a central connecting hole, which corresponds to the central clearance hole. The central connecting holes on the plurality of chiral elastic components are all connected to the central connecting member.

3. A method for manufacturing a rope-driven flexible robotic arm capable of combined bending and torsional deformation according to any one of claims 1-2, characterized in that, Includes the following steps: Determine the combined bending and torsional deformation requirements of the robotic arm, and adjust and set the appropriate deformation target for each segment; According to the torsional deformation amplitude of the chiral elastic component θ max Adjust the magnitude of the force corresponding to the torsional deformation amplitude of the chiral elastic component. ; Adjust the preload of the chiral elastic component ,Sure The torsion angle corresponding to the preload; if a suitable angle is selected... make This allows the robotic arm to have equal torsional angles in both directions. Adjust the position distribution of the outer peripheral connection holes on the substrate; Chiral elastic components and substrates are fabricated, and multiple chiral elastic components and multiple substrates are sequentially and alternately connected. Insert the middle connector and the outer peripheral connector, and connect the middle connector to the middle drive component, and connect the outer peripheral connector to the outer peripheral drive component to form a rope-driven flexible robotic arm that can realize bending and torsional combined deformation.

4. The manufacturing method of the rope-driven flexible robotic arm capable of realizing combined bending and torsional deformation according to claim 3, characterized in that, The step of inserting the central connector and the outer peripheral connector, and drivingly connecting the central connector to the central drive component, and drivingly connecting the outer peripheral connector and the outer peripheral drive component to form a rope-driven flexible robotic arm capable of bending and torsional combined deformation, further includes: Determine whether the rope-driven flexible robotic arm capable of combined bending and torsion deformation meets the target deformation requirements. If it does not meet the requirements, repeat the above steps. If it does meet the requirements, the overall structural design is completed.

Images