CN109048881B - Driving device of super-redundancy snake-shaped robot - Google Patents
Driving device of super-redundancy snake-shaped robot Download PDFInfo
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- CN109048881B CN109048881B CN201811258514.1A CN201811258514A CN109048881B CN 109048881 B CN109048881 B CN 109048881B CN 201811258514 A CN201811258514 A CN 201811258514A CN 109048881 B CN109048881 B CN 109048881B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Abstract
The invention discloses a driving device of a super-redundancy snake-shaped robot, which is characterized by comprising a structural frame and n groups of driving components, wherein n is more than 8; the driving assembly comprises a driving motor and a transmission device which are connected with each other; the n groups of driving assemblies are arranged in an inner layer and an outer layer around the central axis of the structural frame, the distances from the groups of driving assemblies positioned on the inner layer to the central axis are equal, the distances from the groups of driving assemblies positioned on the outer layer to the central axis are equal, and the driving assemblies positioned on the inner layer and the driving assemblies positioned on the outer layer are arranged in a staggered mode in the circumferential direction. Further, n is equal to 36; wherein the inner 12 and outer 24 sets of drive assemblies. The driving motor and the transmission device of the invention both adopt an internal and external double-layer arrangement structure mode, thereby greatly reducing the external dimension of the driving device under the condition of the same load and the same joint number, and having important significance for the miniaturization of the snake-shaped robot driving device.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a driving device of a super-redundancy snake-shaped robot.
Background
The research on the direction of the super-redundancy snake-shaped robot is earlier in China, and the research is deeper in the aspects of structural design and motion control of the snake-shaped robot.
The British OC Robotics company is the most deep research on the super-redundancy snake-shaped robot at home and abroad at present, and a series of snake-shaped robots are researched and developed for the fields of security inspection, aviation manufacturing, nuclear facility detection and the like. The snake-shaped robot is driven by a rigid hinge and a steel wire rope, and joint corners are measured by a built-in fiber sensor FBG (fiber Bragg Grating) so as to realize closed-loop control, so that the robot can reach higher motion precision. At present, the snake-walking robot of the company has wide application prospect in national defense and civil aviation industry, and the snake-walking robot plays a role in safety inspection in the radiation area of a nuclear power station. The company has also developed a hyper-redundant robot for airbus uk companies that can drill into the wing interior for inspection, fastening and sealing.
At present, China mainly focuses on the research of a continuum robot in minimally invasive surgery, and obtains a lot of research results, while the research and development of related robots in the industrial field are relatively weak.
A single-port laparoscopic minimally invasive surgery continuum robot is designed in Xukai, Zhao Jiang ran and the like of Shanghai university of traffic, a functional mechanical arm and a camera shooting and illuminating mechanical arm of the robot can be retracted into the same sleeve to enter an abdominal cavity through a single incision, and the functional mechanical arm and the camera shooting and illuminating mechanical arm can extend out of the sleeve to independently work after reaching a surgery working position. And at the drive end, through the shifter of design, realize that 4 driving ropes control many nickel titanium alloy wire drawing of continuum arm, the design is very ingenious. The maximum diameter of the functional end of the mechanical arm is only 12mm, so that the mechanical arm has the advantages of small volume, flexible operation, safety and the like. A super-redundancy robot suitable for aircraft fuel tank inspection is developed in 2013 at the Gaoqing of China civil aviation university. The robot is 0.75m long and 15mm in diameter, and is suitable for operation tasks in complex and dangerous environments of airplane fuel tanks in a mode of driving the rear drive and the traction rope. A rubber gasket support-based super-redundancy robot is researched and developed in 2015 by Beijing aerospace aviation university, 17 spherical disks and 16 rubber gaskets are arranged at intervals to form a single bending unit, bending motion of each section of bending unit in two directions is realized through driving of 3 ropes, and the maximum bending angle can reach 100 degrees. 2011 hong Kong Chinese university Li towns and the like research and develop a spherical hinge connected traction rope driven continuum robot. The electromagnetic tracking method is utilized to realize the measurement of the shape and position of the operating arm, the result shows that the precision of the tail end of a single joint can reach 2%, and the precision of the tail end is less than 4% when three joints are connected in series.
With the complication and narrowing of the operation environment, the super-redundancy snake-shaped robot is gradually concerned by researchers and enterprises as a special robot with stronger obstacle avoidance capability and deep cavity operation capability. Compare in traditional industry arm on the one hand, super redundancy snake-shaped robot arranges drive base in with after drive arrangement (motor) and transmission (reducing gear box, lead screw etc.), can effectively alleviate the operating arm quality like this, reduces the operating arm diameter. On the other hand, by optimizing the structural design, the super-redundancy snake-shaped robot has the degrees of freedom and larger bending angle as much as possible, so that the operation arm has extremely strong motion flexibility.
The defects and shortcomings of the prior super-redundancy snake-shaped robot are as follows: the super-redundancy snake-shaped robot is usually designed with an external driving device. Compared with an internal driving device, the external driving device can remarkably reduce the self weight of the mechanical arm. Meanwhile, in the nuclear power station maintenance, the external drive can prevent the drive system from being damaged in the high-temperature and high-radiation environment. The external drive is to transmit power or displacement to the joint, a rope is adopted to drive the joint to move, and a driving motor and a transmission device are arranged on a driving base at the root of the mechanical arm. The snake robot adopts 12 joints to move, each joint needs 3 traction ropes to control driving, and 36 traction ropes are needed in total. The rope is pulled by the driving motor and the transmission device, and 36 groups of driving motors and transmission devices are needed in total.
36 groups of driving motors and transmission devices are integrated into the driving device, and the driving motors are uniformly distributed on a circumference in a commonly adopted mode at present, and the corresponding transmission devices are also uniformly distributed in the concentric circumference. The defects are that under the condition of the same load and the same 12 joint numbers, the diameter of the driving device is overlarge, the miniaturization cannot be realized, and the flexible use and transportation of products are inconvenient.
Disclosure of Invention
The invention aims to provide a driving device of a super-redundancy snake-shaped robot, which can effectively solve the problems in the background technology.
The technical scheme for realizing the purpose is as follows: a driving device of a super-redundancy snake-shaped robot is characterized by comprising a structural frame and n groups of driving components, wherein n is more than 8; the driving assembly comprises a driving motor and a transmission device which are connected with each other; the n groups of driving assemblies are arranged in an inner layer and an outer layer around the central axis of the structural frame, the distances from the groups of driving assemblies positioned on the inner layer to the central axis are equal, the distances from the groups of driving assemblies positioned on the outer layer to the central axis are equal, and the driving assemblies positioned on the inner layer and the driving assemblies positioned on the outer layer are arranged in a staggered mode in the circumferential direction. Because the drive assembly is divided into the inner layer and the outer layer around the central axis of the structural frame and is arranged, and the drive assembly comprises the drive motor and the transmission device which are connected with each other, the drive motor and the transmission device adopt the structural mode of arranging the inner layer and the outer layer, the overall dimension of the drive device under the conditions of the same load and the same joint number is greatly reduced, and the drive device has important significance for the miniaturization of the drive device of the snake-shaped robot.
Further, the structural frame includes a front base, a middle base, and a rear base; the front base is connected with the middle base through a first connecting rod; the middle base is connected with the rear base through a second connecting rod; the driving motor is arranged on the side, facing the rear base, of the middle base; the center of the front base, the center of the middle base and the center of the rear base are all on a central axis; the transmission device comprises a guide rod, a screw rod, a nut seat and a rope guide sheet; one end of the screw rod is in transmission connection with the corresponding driving motor through a bearing seat and a coupler; the other end of the screw rod is connected with a sliding bearing in the front base; the guide rod and the screw rod penetrate through the nut seat; a feed screw nut in threaded connection with the feed screw and a guide slide block which is slidably arranged on the guide rod in a penetrating way are arranged in the nut seat; the rope guiding sheet is arranged on the nut seat.
Furthermore, the transmission device also comprises a steel wire rope; the rope guide piece is provided with a first rope threading hole; one end of the steel wire rope passes through the first rope threading hole and then is fixed by the chuck on the rope guide piece.
Furthermore, the surface of the rope guide sheet is parallel to the sliding direction of the guide sliding block; the extension direction of the pore passage of the first rope threading hole is parallel to the sliding direction of the guide sliding block.
Furthermore, each first stringing hole is arranged to form a circumference with the center on the central axis.
Further, the transmission device also comprises a rope guide device; the rope guiding device comprises a wire expanding disc, a wire expanding cylinder and a central hole arranged in the center of the front base; the wire expansion disc is arranged on one side of the front base facing the middle base, and the wire expansion cylinder is arranged on one side of the front base back to the middle base; the center of the wire expanding disc, the center of the wire expanding cylinder and the center of the center hole are all on the central axis; second stringing holes which are in one-to-one correspondence with the first stringing holes in the horizontal direction are arranged on the wire expansion disc, the circle center of the circumference formed by the arrangement of the second stringing holes is on the central axis, and the diameter of the circumference formed by the arrangement of the second stringing holes is equal to that of the circumference formed by the arrangement of the first stringing holes; the connecting line between the first rope threading hole and the corresponding second rope threading hole is parallel to the central axis of the structural frame; an annular rib is arranged on the inner side wall of the wire expanding cylinder; third rope threading holes which correspond to the second rope threading holes one by one are formed in the annular ribs; the third rope threading holes correspond to the fourth rope threading holes of the front-end joints of the hyper-redundancy snake-shaped robot one by one, the circle center of the circumference formed by the arrangement of the third rope threading holes and the circle center of the circumference formed by the arrangement of the fourth rope threading holes are on the central axis, and the diameters of the two circumferences are equal; the other end of the steel wire rope is arranged to sequentially pass through the second rope threading hole, the third rope threading hole and the fourth rope threading hole.
Further, the diameter of the central hole is larger than that of the circumference formed by the arrangement of the third stringing holes.
Further, the first stringing holes are uniformly and equidistantly distributed in the circumferential direction.
Further, the second rope threading holes are uniformly and equidistantly distributed in the circumferential direction; the third stringing holes are uniformly and equidistantly distributed in the circumferential direction.
Further, the lead screw and the guide rod are arranged in parallel.
Further, n is equal to 36; wherein the inner 12 and outer 24 sets of drive assemblies.
Compared with other technologies, the invention has the beneficial effects that:
the driving motor and the transmission device of the invention both adopt an internal and external double-layer arrangement structure mode, thereby greatly reducing the external dimension of the driving device under the condition of the same load and the same joint number, and having important significance for the miniaturization of the snake-shaped robot driving device.
The transmission device adopts the screw rod nut for transmission and guides through the guide rod and the guide slide block, so that the transmission device is ensured to run stably, and meanwhile, the size of the transmission device can be reduced, so that the transmission device can be arranged on the inner side and the outer side, and the overall dimension is reduced.
The steel wire ropes are uniformly and equidistantly distributed through the rope guide sheets, and no movement interference occurs; has the advantages of simple structure and convenient installation.
The second stringing holes of the wire expanding disc and the first stringing holes of the rope guide sheet are uniformly and equidistantly arranged, and on the circumference with the same diameter, the uniform and equidistant arrangement of the steel wire ropes is ensured all the time in the movement process, and no movement interference occurs.
Third stringing holes of the wire expansion cylinder correspond to fourth stringing holes of a front end joint of the hyper-redundancy snake-shaped robot one by one, and the third stringing holes and the fourth stringing holes are uniformly distributed on the circumference with the same diameter, so that the steel wire ropes are uniformly and equidistantly distributed after penetrating out of the second stringing holes and the third stringing holes, and no motion interference occurs; and meanwhile, the wire expansion cylinder and the wire expansion disc act together to ensure that the running linear distance of the steel wire rope in the transmission device is equal to the running linear distance of the steel wire rope after the steel wire rope penetrates out of the third wire threading hole.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of a driving apparatus of a super-redundancy snake robot according to the present invention;
FIG. 2 is a sectional view taken along line A-A of FIG. 1;
FIG. 3 is a sectional view taken along line B-B of FIG. 1;
FIG. 4 is a partial cross-sectional view of one embodiment of the drive apparatus of the super-redundancy serpentine robot of the present invention;
FIG. 5 is a cross-sectional view of one embodiment of the transmission of the present invention.
Detailed Description
The invention is further described below with reference to the following figures and examples.
As shown in fig. 1 and 4, in this embodiment, the driving device of the super-redundancy snake robot comprises a structural frame 1 and n groups of driving components, wherein n is 36. Each group of driving components comprises a driving motor 2 and a group of transmission devices 3. The drive motor 2 is mounted on the structural frame 1. The output end of each driving motor 2 is respectively connected with a corresponding transmission device 3 in a transmission way.
The structural frame 1 comprises a front base 1.1, a middle base 1.2 and a rear base 1.3 in the form of disks arranged concentrically at intervals. The front base 1.1 is connected to the middle base 1.2 by a first connecting rod, and the middle base is connected to the rear base 1.3 by a second connecting rod 1.4, so that the structural frame 1 is connected as a whole. The center of the front base 1.1, the center of the middle base 1.2 and the center of the rear base 1.3 are all on the central axis of the structural frame 1.
As shown in fig. 3, 36 driving motors 2 are mounted on the middle base 1.2, and are uniformly arranged on two concentric circles with the center of the middle base 1.2 as the center by the inner layer 12 and the outer layer 24, and the driving motors 2 of the inner layer and the driving motors 2 of the outer layer are arranged in a staggered manner in the circumferential direction.
As shown in fig. 2, the transmission 3 is also provided with 36 sets corresponding to the driving motors, and the inner 12 sets and the outer 24 sets are uniformly arranged on two concentric circumferences between the front base 1.1 and the middle base 1.2. In the section shown in fig. 2, it can be seen that the circumference of the inner 12 groups of gear units 3 and the circumference of the outer 24 groups of gear units 3 are centered on a point of the central axis of the structural frame 1 on the section, and the inner gear units 3 are arranged circumferentially staggered with respect to the outer gear units 3.
As shown in fig. 2, 4 and 5, the transmission device 3 includes a guide rod 3.1 and a lead screw 3.3, as well as a nut seat 3.5, a rope guiding sheet 3.7, a steel wire rope 4 and a rope guiding device 5.
One end of the screw rod 3.3 is in transmission connection with the corresponding driving motor 2 through a coupler 3.8 and a bearing seat 3.2. A nut seat 3.5 is arranged between the guide rod 3.1 and the screw rod 3.3 in a penetrating way. A feed screw nut 3.6 which is connected with the feed screw 3.3 in a threaded manner and a guide slide block 3.4 which is arranged on the guide rod 3.1 in a sliding manner are arranged in the nut seat 3.5. The rope guiding sheet 3.7 is arranged on the nut seat 3.5. The 36 rope guide pieces 3.7 are arranged at intervals along the circumferential direction. The rope guiding sheet 3.7 is provided with a first rope threading hole 3.9 parallel to the front and back displacement direction of the steel wire rope 4. As shown in fig. 2, 36 first rope holes 3.9 are arranged on a circumference which takes a point of the central axis of the structural frame 1 on the cross section as a circle center, and the first rope holes 3.9 are evenly and equidistantly arranged in the circumferential direction (i.e. the distances between the first rope holes 3.9 adjacent in the circumferential direction are equal) so that the guide rods 3.1 are parallel to the screw rods 3.3, and a gap exists between the guide rods and the screw rods. The guide rod 3.1 and the guide slide block 3.4 are used for limiting the rope guide piece 3.7 to slide back and forth on a plane formed by the guide rod 3.1 and the screw rod 3.3, and preventing the rope guide piece 3.7 from rotating around the screw rod 3.3.
As shown in fig. 4, one end of the wire rope 4 passes through the corresponding first stringing hole 3.9 and is fixed by the chuck 3.10. The rope guiding device 5 comprises a wire expansion disc 5.2, a wire expansion cylinder 5.5 and a central hole 5.1 arranged in the center of the front base 1.1. And an expansion disc 5.2 is arranged on the front base 1.1 at the inner side of the central hole 5.1 (the side of the front base 1.1 facing the central base 1.2). On the cross section shown in fig. 4, the wire expansion disc 5.2 is rectangular with one open end, the open end of the wire expansion disc 5.2 is provided with a flange 5.3, and the flange 5.3 of the wire expansion disc 5.2 is connected to the front base 1.1 through bolts. The wire expansion disc 5.2 is provided with a circle of second wire through holes 5.4 which are in one-to-one correspondence with the first wire through holes 3.9 in the horizontal direction. The line between the first stringing hole 3.9 and the corresponding second stringing hole 5.4 is parallel to the central axis of the structural frame 1. The circumference formed by arranging the second rope threading holes 5.4 is concentric with the circumference formed by arranging the first rope threading holes 3.9, the diameters of the circumferences are equal, and the second rope threading holes 5.4 are uniformly and equidistantly distributed in the circumferential direction (namely, the distances between the second rope threading holes 5.4 which are adjacent in the circumferential direction are equal). So that the front end of the steel wire rope 4 horizontally passes through the corresponding second threading hole 5.4 on the wire expansion disc 5.2.
The front base 1.1 outside the central hole 5.1 (referring to the side of the front base 1.1 back to the middle base 1.2) is provided with a wire expanding cylinder 5.5, the wire expanding cylinder 5.5 is cylindrical, and the inner side wall is provided with an annular rib 5.6. A circle of third rope penetrating holes 5.7 which are in one-to-one correspondence with the second rope penetrating holes 5.4 are formed in the circumferential direction of the annular rib 5.6, and the steel wire ropes 4 which penetrate through the second rope penetrating holes 5.4 penetrate through the corresponding third rope penetrating holes 5.7 and then penetrate out of the wire expanding cylinder 5.5. Third stringing holes 5.7 of the wire expanding cylinder 5.5 correspond to fourth stringing holes of a front end joint of the hyper-redundancy snake-shaped robot one by one, the third stringing holes 5.7 and the fourth stringing holes are uniformly distributed on the circumference with the same diameter, and the steel wire ropes 4 are uniformly distributed at equal intervals after penetrating out from the second stringing holes 5.4, the third stringing holes 5.7 and the fourth stringing holes without motion interference.
The driving motor 2 is used for driving the rope guiding sheet 3.7 on the transmission device 3 to drive the steel wire rope 4 to move back and forth, and the steel wire rope 4 penetrates through the rope guiding device 5 forwards.
The working process of the invention is as follows:
the invention has the function of driving 12 joints of the mechanical arm to flexibly move, and the specific principle is as follows: the corresponding screw rod 3.3 is driven to rotate by the driving motor 2, the screw rod 3.3 drives the nut seat 3.5 to move along the screw rod 3.3, so that the rotary motion of the driving motor 2 is converted into the linear motion of the rope guide piece 3.7, and then the rope guide piece 3.7 pushes the steel wire rope 4 to do linear reciprocating motion along the second rope through hole 5.4 and the third rope through hole 5.7 of the rope guide device 5, so that the mechanical arm joint is driven to realize bending motion.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. In particular, the dimensions disclosed in the foregoing detailed description are not intended to limit the invention but are provided to better facilitate an understanding of the invention. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. A driving device of a super-redundancy snake-shaped robot is characterized by comprising a structural frame and n groups of driving components, wherein n is more than 8; the driving assembly comprises a driving motor and a transmission device which are connected with each other; the n groups of driving assemblies are arranged in an inner layer and an outer layer around the central axis of the structural frame, the distances from the driving assemblies in the inner layer to the central axis are equal, the distances from the driving assemblies in the outer layer to the central axis are equal, and the driving assemblies in the inner layer and the driving assemblies in the outer layer are arranged in a staggered mode in the circumferential direction;
the structural frame comprises a front base, a middle base and a rear base; the front base is connected with the middle base through a first connecting rod; the middle base is connected with the rear base through a second connecting rod; the driving motor is arranged on the side, facing the rear base, of the middle base; the center of the front base, the center of the middle base and the center of the rear base are all on the central axis;
the transmission device comprises a guide rod, a screw rod, a nut seat and a rope guide sheet; one end of the screw rod is in transmission connection with the corresponding driving motor through a bearing seat and a coupler; the other end of the screw rod is connected with a sliding bearing in the front base; the guide rod and the screw rod penetrate through the nut seat; a feed screw nut in threaded connection with the feed screw and a guide slide block which is slidably arranged on the guide rod in a penetrating manner are arranged in the nut seat; the rope guide sheet is arranged on the nut seat;
the transmission device also comprises a steel wire rope; the rope guide piece is provided with a first rope threading hole; one end of the steel wire rope penetrates through the first rope threading hole and then is fixed by a chuck on the rope guide piece;
the transmission device also comprises a rope guide device; the rope guide device comprises a wire expanding disc, a wire expanding cylinder and a central hole arranged in the center of the front base; the wire expansion disc is arranged on one side, facing the middle base, of the front base, and the wire expansion cylinder is arranged on one side, facing away from the middle base, of the front base; the center of the wire expanding disc, the center of the wire expanding cylinder and the center of the center hole are all on the central axis;
second rope penetrating holes which correspond to the first rope penetrating holes one by one in the horizontal direction are arranged on the wire expansion disc, the circle center of the circumference formed by the arrangement of the second rope penetrating holes is positioned on the central axis, and the diameter of the circumference formed by the arrangement of the second rope penetrating holes is equal to the diameter of the circumference formed by the arrangement of the first rope penetrating holes; the connecting line between the first rope threading hole and the corresponding second rope threading hole is parallel to the central axis of the structural frame;
an annular rib is arranged on the inner side wall of the wire expanding cylinder; third rope threading holes which correspond to the second rope threading holes one by one are formed in the annular ribs;
the third rope threading holes correspond to the fourth rope threading holes of the front-end joints of the hyper-redundancy snake-shaped robot one by one, the circle center of the circumference formed by the arrangement of the third rope threading holes and the circle center of the circumference formed by the arrangement of the fourth rope threading holes are both on the central axis, and the diameters of the two circumferences are equal;
the other end of the steel wire rope is arranged to sequentially penetrate through the second rope threading hole, the third rope threading hole and the fourth rope threading hole.
2. The driving apparatus for a super-redundancy snake robot according to claim 1, wherein the surface of the guide rope piece is parallel to the sliding direction of the guide slider; the extension direction of the pore passage of the first rope threading hole is parallel to the sliding direction of the guide sliding block.
3. The driving apparatus for a redundant serpentine robot according to claim 1, wherein the first stringing holes are arranged to form a circumference having a center on the central axis.
4. The driving apparatus for a super-redundancy snake robot as claimed in claim 3, wherein said first stringing holes are uniformly and equidistantly arranged in a circumferential direction.
5. The driving apparatus for a super-redundancy snake robot as claimed in claim 4, wherein the second stringing holes are uniformly and equidistantly arranged in the circumferential direction; the third rope threading holes are uniformly and equidistantly distributed in the circumferential direction; the diameter of the central hole is larger than that of the circumference formed by arranging the third stringing holes.
6. The driving apparatus for a super-redundancy serpentine robot as claimed in claim 1, wherein the lead screw and the guide bar are disposed in parallel.
7. The driving apparatus for a super-redundancy serpentine robot as claimed in any one of claims 1 to 6, wherein n is equal to 36; wherein the inner layer 12 is the drive assembly and the outer layer 24 is the drive assembly.
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| CN201811258514.1A CN109048881B (en) | 2018-10-26 | 2018-10-26 | Driving device of super-redundancy snake-shaped robot |
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| CN201811258514.1A CN109048881B (en) | 2018-10-26 | 2018-10-26 | Driving device of super-redundancy snake-shaped robot |
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| CN109048881B true CN109048881B (en) | 2021-09-28 |
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| CN110900589B (en) * | 2019-12-04 | 2021-03-05 | 北京航空航天大学 | Snakelike arm robot based on variable rigidity caused by blocking of inner core particles and outer core particles |
| CN112405516A (en) * | 2020-11-09 | 2021-02-26 | 海安上海交通大学智能装备研究院 | Servo system of robot with multi-joint ultra-redundant flexible mechanical arm structure |
| CN112716535B (en) * | 2021-01-29 | 2023-05-16 | 山东理工大学 | Rope drives throat swab robot |
| CN113977562B (en) * | 2021-10-26 | 2023-08-15 | 浙江大学 | Compact snake-shaped mechanical arm for severe environment |
| CN114770603B (en) * | 2022-05-17 | 2024-03-29 | 上海交通大学 | Super redundant arm test system |
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| CN206869870U (en) * | 2017-06-21 | 2018-01-12 | 浙江大学 | A kind of highly redundant flexible mechanical arm assembly of detectable joint posture |
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