Motion-decoupled rope-driven non-individual body mechanical arm and robot

Abstract

The invention provides a motion-decoupled rope-driven non-individual body mechanical arm and a robot. The mechanical arm comprises mechanical arm sleeves, traction rope sets and knuckles, wherein the number of the mechanical arm sleeves, the number of the traction rope sets and the number of the knuckles are more than one. The mechanical arm sleeves are sequentially arranged, and the adjacent mechanical arm sleeves are hinged to form a mechanical arm body through the knuckles. The front end of the mechanical arm body is used for being connected with a rope-driven base. The traction rope sets are used for driving the corresponding knuckles. The traction rope sets and the knuckles are in one-to-one correspondence. One end of each traction rope set is connected with the corresponding knuckle, and the other end of each traction rope set is used for being connected with the rope-driven base after sequentially penetrating through through-holes in multiple knuckle rope guiding discs arranged on the front side of the corresponding knuckle. The mechanical arm has multiple degrees of freedom, is thin and long in body type and suitable for survey and operation in narrow spaces, and has large application potential.

Description

technical field [0001] The invention relates to manipulator technology, in particular to a motion-decoupled rope-driven continuum manipulator. Background technique [0002] The movement and operation ability of the continuum robot in the confined space is much higher than that of the traditional multi-joint rigid link robot, and it has important application value in deep cavity and dangerous environment operations in the fields of aerospace manufacturing, large equipment inspection and maintenance, etc. . [0003] The joints of traditional manipulators are mostly driven by motors and other mechanisms directly at the joints. Although the mechanism is simple, it increases the load of the manipulator and the structure is not compact, which cannot meet the operating requirements in narrow spaces or harsh environments. Some new continuum manipulators in the field of medical devices, such as Chinese Patent Publication No. CN 101653353A, use a flexible structure to achieve arc-lik...

AI Technical Summary

Problems solved by technology

[0003] The joints of traditional manipulators mostly use mechanisms such as motors to drive directly at the joints. Although the mechanism is simple, it increases the load of the manipulator and the structure is not compact, which cannot meet the operating requirements in narrow spaces or harsh environments.

Some new continuum robotic arms in the field of medical devices, such as Chinese Patent Publication No. CN 101653353A, use flexible structures to achieve arc-like deformation motion, but the load capacity is weak and the end motion accuracy is not high enough

Images