Rigid-flexible coupling hyper-redundant intelligent sensing mechanical arm and using method thereof

Abstract

The rigid-flexible coupling hyper-redundant intelligent sensing mechanical arm comprises a mechanical arm body, an operation device and a driving mechanism are arranged at the front end and the rear end of the mechanical arm body respectively, and the mechanical arm body is formed by sequentially connecting a plurality of bending units; each bending unit comprises a plurality of middle sections connected in sequence, base sections are arranged at the two ends of each middle section, the base sections and the middle sections are of hollow cylindrical structures, the base sections and the middle sections are movably connected through cross hinges, and every two adjacent middle sections are movably connected through cross hinges; the driving mechanism comprises a plurality of driving motors, reels are arranged on rotating shafts of the driving motors, a plurality of tendon ropes are arranged in the bending unit, one ends of the tendon ropes are fixed to the front end of the bending unit, and the other ends of the tendon ropes are connected with the reels respectively. The mechanical arm has the advantages of modularization, super-redundancy self-adaption, high space environment adaptability, measurable tail end pose, perceptible external contact and the like, and can be used for capturing and grabbing non-cooperative and cooperative targets and internal investigation of complex cavities.

Description

technical field [0001] The invention relates to the field of robots, in particular to a rigid-flexible coupling ultra-redundant intelligent sensing manipulator and a use method thereof. Background technique [0002] With the development of space exploration technology, space exploration tasks are becoming more and more complex and difficult to implement, which puts forward higher requirements for the functions and performance of space robots. In the on-orbit service mission, the space robot involves multiple tasks such as capture and manipulation, which require the space robot to have strong capture capabilities for service targets and fine manipulation after capture. Service targets are divided into two types: cooperative and non-cooperative. At present, there are many capture and operation implementation schemes for cooperative targets. Most of these implementation schemes are based on rigid robotic arms, which have the advantages of fast capture response, high connection ...

AI Technical Summary

Problems solved by technology

For non-cooperative targets, rigid manipulators have poor capture adaptability, and it is difficult to reach into the target cavity for inspection

At present, the capture of non-cooperative targets is mainly based on the capture of large-tolerance devices such as flying nets. This scheme has strong capture capabilities, but it does not have operational capabilities after capture, and requires separate operating tools for fine operations.

Images