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A bionic flexible arm with multi-degree-of-freedom segmental control in space based on metamorphic mechanism

A metamorphic mechanism and bionic flexibility technology, applied in the field of bionic robots, can solve the problems that the overall telescopic and segmental control of the manipulator cannot be realized, and the number of effective components and degrees of freedom of the manipulator cannot be changed, so as to enhance flexibility and adaptability , to achieve the effect of effective number of components and size reduction

Active Publication Date: 2020-11-20
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the mechanical arm can only control the mechanical length of each rope to control the bending of the mechanical arm, and cannot change the effective number of components and degrees of freedom of the mechanical arm, and cannot realize the overall telescopic and segmental control of the mechanical arm

Method used

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  • A bionic flexible arm with multi-degree-of-freedom segmental control in space based on metamorphic mechanism
  • A bionic flexible arm with multi-degree-of-freedom segmental control in space based on metamorphic mechanism
  • A bionic flexible arm with multi-degree-of-freedom segmental control in space based on metamorphic mechanism

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Experimental program
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Effect test

Embodiment 1

[0033] The preferred embodiment of the present invention provides a bionic flexible arm with multi-degree-of-freedom segmental control in space based on metamorphic mechanism, such as figure 1 As shown, it includes a drive mechanism connected with a rope and several flexible mechanisms. The flexible mechanisms are connected by a section mechanism. After the rope passes through the section mechanism, it is fixedly connected with a fixed assembly. The lock release mechanism is provided with a steering gear for driving the lock release mechanism to lock and release the rope on the segmented housing. Wherein, the fixed assembly adopts the fixed block 11, and the driving mechanism includes a box body and a drive motor a3, a drive motor b5, a drive motor c21, and a drive motor d23 fixed on the box body by the fixing frame 4, and the box body includes a box body front cover 20, The box body back cover 1 and 4 fixing brackets 4 fixedly connecting the box body front cover 20 and the bo...

Embodiment 2

[0036] On the basis of the first embodiment, the fixing component adopts the joint mechanism c with the same structure as the joint mechanism a, and the rope a7, the rope b6, the rope c17, and the rope d19 pass through the joint mechanism a, the joint mechanism b, and the joint mechanism in sequence After c, it is fixedly connected with the lower end cover 10 of the section mechanism c. By adopting the segmented mechanism as the fixed component, it is convenient to directly control the flexible mechanism farthest from the driving mechanism, and the flexibility of the flexible arm is improved.

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Abstract

The invention discloses a space multi-degree-of-freedom segmental control bionic flexible arm based on a metamorphic mechanism, which relates to the technical field of bionic robots, including a driving mechanism connected with a rope and several flexible mechanisms connected to the driving mechanism through a segmented mechanism. After the rope passes through the section mechanism, it is fixedly connected with a fixed assembly. The section mechanism includes a section casing and an internal lock-release mechanism. The section casing is provided with a steering gear for driving the lock-release mechanism to lock and release the rope. The lock release mechanism includes a fork for locking and releasing the rope and a push wheel for adjusting the position of the fork, and the push wheel is connected with the output shaft of the steering gear. The swing rod is L-shaped and evenly distributed around the central axis of the push wheel. The fixed end of the swing rod is installed on the segmented housing through the installation shaft, and the free end of the swing rod is tangent to the push wheel. By controlling the lock-release mechanism, the number of effective components and degrees of freedom of the flexible arm can be changed, and the expansion and bending of the flexible mechanism of the flexible arm part can be realized through the cooperation of the lock-release mechanism and the driving mechanism.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a space multi-degree-of-freedom segmental control bionic flexible arm based on a metamorphic mechanism. Background technique [0002] With the rapid development of robot technology, the mechanical structure design, motion control and other technologies of robots are relatively mature, and the demand for robots that can perform tasks in complex environments is increasing day by day. However, most traditional manipulators are connected by rigid joints, which must have strict requirements on the space environment of their respective operations. In a highly unstructured, narrow and irregular environment with multiple obstacles, the traditional robotic arm has limited obstacle avoidance ability, poor flexibility, and limited range of motion space due to its own rigid structure. Complete space work tasks. Inspired by elephant trunks and octopus tentacles, the soft r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/104B25J9/1625B25J9/1635
Inventor 魏敦文马虹蛟彭倍高涛
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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