Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A wire-driven snake-arm robot capable of decoupling bending motion

A bending motion, robot technology, applied in the field of robotics, can solve problems such as increasing control difficulty

Active Publication Date: 2022-02-08
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the joints of the wire-driven robot are coupled to each other during the driving process, the control difficulty is increased due to the coupling of the wires on the two degrees of freedom. The present invention provides a wire-driven snake-arm robot that realizes decoupling of bending motion

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A wire-driven snake-arm robot capable of decoupling bending motion
  • A wire-driven snake-arm robot capable of decoupling bending motion
  • A wire-driven snake-arm robot capable of decoupling bending motion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] As shown in Figures 1 to 3, this embodiment discloses a wire-driven snake-arm robot that can realize decoupling of bending motion, including

[0054] The proximal joint 1 includes a proximal joint 101; the proximal joint 101 includes a proximal base plate 11, a proximal link 12 and a proximal end plate 13, and the proximal base plate 11 is connected to the proximal joint. The rods 12 are connected to form a first rotation pair 14, the rotation axis of the first rotation pair 14 coincides with the end surface of the proximal base plate 11; the proximal end plate 13 and the proximal connecting rod 12 form a second rotation pair 15, the rotation axis of the second rotating pair 15 coincides with the end face of the proximal end disk 13;

[0055] The distal joint 2 is fixedly connected with the proximal joint 1; the distal joint 2 includes a distal joint 102, and the distal joint 102 includes a distal base plate 21, a distal connecting rod 22 and a distal The end disk 23, ...

Embodiment 2

[0084] This embodiment discloses a wire-driven serpentine arm robot capable of decoupling bending motion, which includes a proximal joint 1 and a proximal joint 101; the proximal joint 101 includes a proximal base plate 11, a proximal The connecting rod 12 and the proximal end disk 13, the proximal base disk 11 is connected with the proximal connecting rod 12 to form a first rotating pair 14, the rotation axis of the first rotating pair 14 is connected to the proximal base disk 11 The end faces are coincident; the proximal end disc 13 and the proximal connecting rod 12 form a second rotating pair 15, and the rotation axis of the second rotating pair 15 coincides with the end face of the proximal end disc 13;

[0085] The distal joint 2 is fixedly connected with the proximal joint 1; the distal joint 2 includes a distal joint 102, and the distal joint 102 includes a distal base plate 21, a distal connecting rod 22 and a distal The end disk 23, the distal base disk 21 is connect...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a wire-driven serpentine arm robot capable of decoupling bending motion, which includes a proximal joint, a distal joint, a driving wire and a driving device, wherein the proximal joint includes a first rotating pair and a second rotating joint. For the proximal joint of the two rotating pairs, the rotation axis of the first rotating pair coincides with the end face of the proximal base plate, and the rotating axis of the second rotating pair coincides with the end face of the proximal end plate; the distal joint includes a third rotating joint For the distal joints of the pair and the fourth rotation pair, the rotation axis of the third rotation pair coincides with the end face of the distal base plate, and the rotation axis of the fourth rotation pair coincides with the end face of the distal end plate, and each drive is controlled by the driving device The elongation or shortening of the wire controls the bending of the wire-driven snake-like arm robot. During the bending process, the decoupling of the bending motion is realized, which can effectively simplify the robot kinematics and reduce the difficulty of control.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wire-driven serpentine-arm robot capable of decoupling bending motion. Background technique [0002] Since the wire-driven serpentine arm robot can realize multi-degree-of-freedom bending motion, it can work flexibly in a complex environment with limited height, and is widely used in maintenance inspection, minimally invasive surgery and other fields. In recent years, the types of joints that can be used to construct wire-driven snake-arm robots are rich and diverse. According to the joint degrees of freedom, they can be divided into single-degree-of-freedom or two-degree-of-freedom. The common single-degree-of-freedom joints include single-degree-of-freedom fixed-axis rotary joints, Plate and cylindrical rolling joints, etc.; two-degree-of-freedom joints include axis intersecting type (universal joint / ball joint) fixed axis rotating joint, axis non-intersecting fixed axis rotating joint,...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06
CPCB25J9/065
Inventor 黄龙刘北尹来容丁浩段超
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com