A tracked multi-stage link flexible robotic arm system

Abstract

The application discloses a tracked multi-stage link flexible mechanical arm system and relates to the technical field of special robots. The system comprises a tracked chassis, a controller fixed above the tracked chassis, a multi-stage link flexible mechanical arm installed on the top of the controller, and an end effector at the top end. The mechanical arm is formed by a plurality of rigid link units which are connected in series through cross shaft universal joints. The joints physically limit the axial rotation and allow the orthogonal bidirectional deflection. The controller is internally integrated with a wire driving mechanism. The driving cables penetrating through the link units are grouped and pulled to exert differential tension on different flexible arm sections. The application combines the high passability of the tracked chassis with the rigid-flex coupling characteristics of the discrete continuum mechanical arm, realizes the multi-stage independent control and cascading "S" shape serpentine obstacle avoidance of the mechanical arm in the three-dimensional space, and effectively improves the operation flexibility and load grasping capacity of the robot in the complex, narrow and unstructured environment.

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