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Bionic snake-like robot and method

A technology of robots and bionic snakes, applied in the field of bionic robots, can solve problems such as limited arm length, small load, and complex control, and achieve the effects of increasing the range of rotation angles, reducing the number, and reducing the volume

Inactive Publication Date: 2020-05-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The invention provides a bionic snake-like robot and method, and solves the problems of complicated control, limited arm length and small load of the snake-like robot with super-redundant degrees of freedom through a multi-joint synchronous wire-drawing structure.

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  • Bionic snake-like robot and method

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Embodiment Construction

[0038] (1) The technical solutions of the present invention will be described in detail and clearly in conjunction with the drawings of the embodiments of the present invention below. The embodiments of the present invention are only an application state of the content of the invention, not all embodiments. Based on the embodiments of the present invention, other embodiments obtained by other engineers and technicians without creative efforts all belong to the protection scope of the present invention.

[0039] (2) The present invention provides a bionic snake-like robot with redundant degrees of freedom in an embodiment, see Figure 1-6 As shown, the main body includes drive box 1 composed of driving motor 6, support plate 3, winch 4, tightening angle iron 5 and multi-joint serpentine arm 2 composed of joint unit 8, universal joint 9 and steel wire rope 10. The drive box 1 and the tail of the multi-joint serpentine arm 2 are connected by bolts; the multi-joint serpentine arm ...

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Abstract

The invention discloses a bionic snake-like robot and a method, and belongs to the field of bionic robots. The snake-like robot comprises two parts including a drive box (1) and a multi-joint snake-like arm (2), wherein the drive box (1) is composed of drive motors, winches and supporting plates, and the multi-joint snake-like arm (2) is composed of joint units, universal joins and steel wire ropes. The series-connection structure design of the universal joints (9) is adopted in various joint units (8) of the bionic snake-like robot, and the joint units (8) are driven through the steel wire ropes (10) evenly distributed along the circumference; and the structure design that steel wire rope through holes are evenly distributed in a parse manner in the sector direction along the circumference, and wiring is conducted is adopted in the joint units (8). The bionic snake-like robot has the characteristics that the structure is simple, the redundancy freedom degree is high, flexibility is good, and the narrow space obstacle avoiding capability is high.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic snake-shaped robot with multi-joint redundant degrees of freedom and a method. Background technique [0002] Snake-like robots have a high ability to traverse narrow environments, and at the same time have extreme environmental adaptability, joint singularity, and joint overrun capabilities, as well as a large enough dexterous operation space. They can work in unstructured environments by surrounding them. It has good adaptability to narrow space and multi-obstacle structure environment. With the development of science and technology, the application of bionic snake-like robot is more and more extensive. The shortcomings and deficiencies of the existing bionic snake-like robots are mainly reflected in: 1. Complex control: under practical conditions, any of the above-mentioned snake-like robots requires a large number of drive motors , such as the snake arm develo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/12
CPCB25J9/065B25J9/104B25J9/12
Inventor 吉爱红秦国栋胡捷
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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