Decoupling variable-rigidity joint suitable for super-redundant mechanical arm

Abstract

The invention discloses a decoupling variable-rigidity joint suitable for a super-redundant mechanical arm, belongs to the field of mechanical arms, and relates to a decoupling variable-rigidity joint suitable for the super-redundant mechanical arm. The joint is composed of a hollow connecting rod, a fixing disc, a hollow organ type variable rigidity driver, a sleeve and a universal joint mechanism. Liquid metal is arranged inside a driver body of the hollow organ type variable rigidity driver, and a quick plug connector is installed at the bottom of the driver body. Movement of each joint is controlled by three independent hollow organ type variable rigidity driver bodies, movement of the joints is not coupled, and decoupling of movement of a mechanical arm is achieved. The flow of the liquid metal in the driver body is controlled, the deformation of the driver body is controlled, and control over pitching and yawing of the joint is achieved. The temperature of the liquid metal inside the hollow organ type variable-rigidity driver body is controlled, so that the liquid metal is changed into a solid state, corresponding control joints are fixed, and the rigidity of the snakelike mechanical arm is improved.

Description

technical field [0001] The invention belongs to the field of robots and relates to a decoupling variable stiffness joint of a super-redundant mechanical arm. Background technique [0002] In the fields of high-end equipment manufacturing such as aerospace, energy power, and ships, some manufacturing processes such as assembly, spraying, grinding and polishing, and welding must be carried out in extremely harsh special-shaped deep cavity operating spaces, which is extremely difficult to operate. [0003] The ultra-redundant manipulator is a kind of robot with a large number of redundant joints, and the dimension of the joint space is much larger than that of the operation space. Due to its large length-to-diameter ratio structure and flexible movement ability, it is an alternative to manual operations to solve the above-mentioned special-shaped deep cavity operations. feasible path to the task. [0004] In recent years, many institutions have conducted research on ultra-redu...

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Problems solved by technology

[0006] In order to overcome the defects of the prior art, the present invention aims at the problems that the motion decoupling of the existing super-redundant manipulator is difficult and the rigidity is insufficient, and a variable stiffness joint suitable for the decoupling of the super-redundant manipulator is invented. The movement of each joint is controlled by three independent hollow organ type variable stiffness actuators

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