Line-driven continuous flexible mechanical arm and flexible robot comprising line-driven continuous flexible mechanical arm

Abstract

The invention relates to a line-driven continuous flexible mechanical arm and a flexible robot comprising the line-driven continuous flexible mechanical arm. The line-driven continuous flexible mechanical arm comprises a space flexible arm and multiple driving control modules arranged on the top of the space flexible arm. The space flexible arm comprises multiple flexible arm foldable frameworks which are sequentially connected in series and coaxially arranged. Each flexible arm foldable framework comprises an upper platform, multiple bendable folding plates, flexible springs and a lower platform, wherein the folding plates and the flexible springs are located between the upper platforms and the lower platforms, the multiple folding plates of each flexible arm foldable framework are sequentially arranged at intervals and form cavities, and the flexible springs are located in the cavities. Cables which can be wound and unwound are arranged between the space flexible arm and the driving control modules, the top ends of the cables are wound and fixed to the driving control modules, and the bottom ends of the cables are fixed to the lower platform of the flexible arm foldable framework located at the bottommost end. Compared with the prior art, the line-driven continuous flexible mechanical arm has the advantages that the length and different bending forms of the flexible mechanical arm and the position of the flexible mechanical arm in the space are achieved, and the accurate control over the tail end of the flexible mechanical arm is achieved.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a line-driven continuous flexible robot arm and a flexible robot containing the same. Background technique [0002] At present, most of the traditional space robots are fully rigid-body structures, using the configuration of "base / platform + multi-degree-of-freedom manipulator + manipulator". This kind of robot is limited by the length and flexibility of the manipulator. Traditional space robots need to be close enough to the target when operating, and have poor flexibility when grabbing and cleaning items in a small space, low safety, large overall inertia, and high energy consumption during task execution. In order to make up for the shortcomings of traditional space robots, it is necessary to develop space flexible robots that are small in size, light in weight, flexible in operation, high in compliance, and low in energy consumption. [0003] Flexible rob...

AI Technical Summary

Problems solved by technology

Fluid-driven flexible robots have high requirements for sealing, and require complex structures such as external pipelines and air compressors, resulting in the overall structure of the robot being bulky and bulky; SMA drives can generate greater stress and make the robot system compact. , but SMA relies on the transformation of its internal martensite and austenite, and there will be hysteresis in this transformation process; chemical actuation promotes the flexibility of soft robot actuator design, but its controllability still faces great challenges

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