CN111300385A - Multi-degree-of-freedom continuous robot with function of flexibly grabbing target - Google Patents

Multi-degree-of-freedom continuous robot with function of flexibly grabbing target Download PDF

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Publication number
CN111300385A
CN111300385A CN202010247972.6A CN202010247972A CN111300385A CN 111300385 A CN111300385 A CN 111300385A CN 202010247972 A CN202010247972 A CN 202010247972A CN 111300385 A CN111300385 A CN 111300385A
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CN
China
Prior art keywords
module
finger
rod
driving
robot
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Pending
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CN202010247972.6A
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Chinese (zh)
Inventor
彭海军
张捷
吴志刚
阚子云
李飞
杨今朝
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Dalian University of Technology
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Dalian University of Technology
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Application filed by Dalian University of Technology filed Critical Dalian University of Technology
Priority to CN202010247972.6A priority Critical patent/CN111300385A/en
Publication of CN111300385A publication Critical patent/CN111300385A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/025Arms extensible telescopic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

The utility model provides a multi freedom continuous type robot with nimble target function of snatching, belongs to the robotechnology field, is a multi freedom continuous type robot that has the flexibility to snatch small size object concurrently, curls winding big size object. The artificial trunk comprises a driving device module, an artificial trunk module and a flexible finger module, wherein the artificial trunk module consists of a rotary compression module and a bending compression module. The end parts of the modules are kept with uniform connecting interfaces and are combined and assembled according to actual requirements. The driving module is arranged on a base of the robot, so that the driving work of all ropes is realized, and the robot is controlled to move; the rotary compression module can simultaneously generate rotary and compression movements, so that the defect of dead angles existing in the bending compression module is overcome; the bending compression module can independently realize the compression deformation and the bending deformation of the module; the smart finger module realizes the grabbing function by the cooperation of multiple fingers. The invention has the characteristics of simple structure, flexible use and light weight of the robot structure.

Description

Multi-degree-of-freedom continuous robot with function of flexibly grabbing target
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-degree-of-freedom continuous robot which can perform multi-degree-of-freedom motion in space and has the functions of flexibly grabbing small-size targets and curling and winding large-size targets, in particular to a multi-degree-of-freedom continuous robot with a function of flexibly grabbing targets.
Background
At present, the research of the robot technology tends to be mature, and the robot is widely applied to various fields such as industrial production, aerospace, civil medical treatment and the like, and the application of the robot brings great convenience to the production and life of human beings. However, most commonly used in the market are conventional rigid robots, such as industrial robot arms and the like. The robot has limited freedom degree, and has poor deformation capability, and is difficult to complete the curling and winding functions with multiple spatial freedom degrees.
Compared with the traditional robot, a plurality of novel robots researched on the basis of bionics are produced at the same time, and continuous robots designed on the basis of the integral tension concept are one of the robots. The robot mainly relies on the pulling pressure between the rod pieces and the ropes to realize self balance, and various novel robot structures can be designed through reasonable structural design, such as a stretching integral spherical robot. Nowadays, the research and application of the tensioning whole robot are very rare, and the technology is relatively immature. Therefore, the design of the multi-degree-of-freedom continuous robot with the flexible target capturing function has very important significance.
Disclosure of Invention
The invention aims to design a continuous robot which has multiple motion forms and can adopt different grabbing forms according to target overall dimensions, and the continuous robot comprises a driving device module I, a rotating compression module II, a bending compression module III and a smart finger module IV. A whole tension concept is used as a design concept, and a rotary compression module II with rotary and compression freedom degrees is designed according to a DNA double-spiral structure. A whole tension concept is used as a design concept, the trunk muscle structure is imitated, and a bending compression module III with curling and compression freedom degrees is designed. With stretch-draw overall structure as the design theory, imitate the structural function of human finger, designed the dexterous finger module IV that can realize snatching the object. The robot structure has the characteristic of module combination, and can be reasonably combined according to different working conditions to realize a new robot configuration.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a multi freedom continuous type robot with nimble target function of snatching, multi freedom stretch-draw whole robot uses stretch-draw overall structure design theory to support, and its basic structure is assembled by the multimode combination and is formed, includes four bibliographic categories: the device comprises a driving device module I, a rotary compression module II, a bending compression module III and a smart finger module IV. The driving device module I is connected with the rotary compression module II through an upper connecting plate 2, the rotary compression module II is connected with the bending compression module III through a lower connecting plate 8, and the bending compression module III is connected with the dexterous finger module IV through an interphalangeal connecting plate 21.
The driving device module I is internally integrated with elements such as a wire spool, a gear set, a motor set and the like required by rope control in a robot structure, the motor set is used as a power element, the gear set is used as a speed reducer, the wire spool is installed on a motor spindle to realize a rope winding function, and the elements are combined to realize the centralized control of a driving rope I5, a driving rope II9 and a driving rope III 20.
The rotary compression module II is used for realizing the circumferential rotation and axial contraction functions of the robot and comprises a module structure, a driving rope I5, an elastic element I7, an upper connecting plate 2 and a lower connecting plate 8. The module structure is formed by six hinges which imitate a DNA spiral structure in a staggered spiral mode, each hinge comprises two fixed spherical hinges 3, three movable spherical hinges 4 and four connecting rods 6, twelve fixed spherical hinges 3 are equally divided into 2 groups and are respectively and uniformly distributed on an upper connecting plate 2 and a lower connecting plate 8; each hinge takes the fixed spherical hinge 3 as a head and a tail, the movable spherical hinge 4 as a middle hinge, the hinges are connected in series by taking the connecting rod 6 as a connecting component, and a threading hole capable of threading is arranged beside each spherical hinge. The movable ball joints 4 adjacent in the transverse direction in the module structure are connected through an elastic element I7, and the movable ball joints 4 adjacent in the longitudinal direction are connected through a driving rope I5. The modular structure comprises six driving ropes uniformly distributed along the modular structure, one end of each driving rope I5 sequentially penetrates through the wire passing hole to be fixed at the far end of the module, and the other end of each driving rope I5 is fixed on the rotating shaft of the motor. Further, each movable spherical hinge 4 is connected with 2 elastic elements I7, 2 connecting rods 6 and 1 driving rope 5 at the periphery.
The bending compression module III is used for realizing the curling motion and the axis stretching motion of the robot and achieving the large-volume curling and winding target and comprises a multi-layer tensioning integral unit, an interlayer connecting rod 11, a fixing bolt 13, a rotating hinge 14 and a driving rope II 9. The bending compression module III appearance structure imitates horizontal and longitudinal muscles of trunk muscles and is formed by serially splicing a plurality of layers of stretching integral units with equal cross sections, each layer of stretching integral unit comprises three plane connecting rods 10 and three elastic elements II12 which are alternately connected, the six parts are arranged in a staggered mode to form a stretching integral layer unit, and the adjacent stretching integral unit layers are connected through six interlayer connecting rods 11. And rotary hinges 14 are arranged on two sides of the interlayer connecting rod 11, and the rotary hinges 14 are connected with the plane connecting rod 10 by adopting fixing bolts 13. The plane connecting rod 10 is provided with a wire through hole, and the bending compression module III is connected through the wire through small holes by six driving ropes II9 in the longitudinal direction.
The smart finger module IV is designed by imitating the characteristics of the human body that the lower part of the finger is thick and the upper part of the finger is thin, and comprises three fingers with the same specification and inter-finger connecting plates 21, wherein the three fingers are uniformly distributed on the inter-finger connecting plates 21 and used for realizing the grabbing function aiming at small-volume targets. Each finger consists of a finger root close to the inter-finger connecting plate 21 and a finger tip far away from the inter-finger connecting plate 21. The finger root is divided into three layers, each layer is formed by connecting two transverse connecting rods 15 and two elastic elements III19 in a staggered mode, and the two adjacent layers are connected through four finger root oblique connecting rods 16. The basic structure of the fingertip is similar to that of the base structure of the finger, each layer is formed by connecting two transverse connecting rods 15 and two elastic elements III19 in a staggered mode, and the two adjacent layers are connected through four fingertip oblique connecting rods 18. The finger tips are connected with the finger bases by two finger base oblique connecting rods 16 and two finger tip oblique connecting rods 18. The two sides of the finger root oblique connecting rod 16 and the finger tip oblique connecting rod 18 are respectively provided with a rotating hinge 17, the transverse connecting rod 15 is connected with the finger root oblique connecting rod 16, and the transverse connecting rod 15 is connected with the finger tip oblique connecting rod 18 by the rotating hinge 17. Both sides of the transverse connecting rod 15 are provided with wire passing holes, one end of each of four driving ropes III20 is fixed on the motor, and the other end of each driving rope III20 sequentially passes through the wire passing holes on both sides of the transverse connecting rod 15 between the finger roots and the fingers and is fixed at the tail ends of the finger tips. Wherein the parts except the elastic element III19 and the drive cord III20 are all regarded as rigid rods simulating the bones of the fingers, the elastic element III19 simulates the ligaments of the fingers and the drive cord III20 simulates the muscles of the fingers. Three fingers with the same specification are arranged on the inter-finger connecting plate and work cooperatively to realize the grabbing function of the object. Furthermore, the fixed spherical hinge 3 and the movable spherical hinge 4 are made of photosensitive resin and are manufactured by a high-precision 3D printing technology.
Furthermore, the connecting rods 6 are connected by elastic elements I with elastic deformation capacity, and the springs are selected as specific materials, so that the structure has the capacity of storing elastic potential energy.
Further, the planar connecting rod 10 not only serves as a planar support, but also is a part of the rotating hinge 14.
Further, the interlayer connecting rod 11 not only plays a role of interlayer connection, but also is another part of the rotating hinge 14.
Furthermore, the four modules adopt consistent module interfaces, so that the structure can be designed, processed and installed in a modularized mode.
Furthermore, the driving rope I5, the driving rope II9 and the driving rope III20 are made of polyethylene nylon ropes.
Further, the elastic element I7, the elastic element II12 and the elastic element III19 having elastic deformation capability are springs.
The using process of the invention is as follows: and assembling the driving device module I, the rotary compression module II, the bending compression module III and the bending compression module IV according to the actual working condition. The driving rope I5, the driving rope II9 and the driving rope III20 are respectively pulled by controlling the driving device module I to respectively adjust the deflection angle, the bending angle and the finger opening and closing degree of the robot. The capture of targets can be divided into the following two schemes: (1) when the target volume is small, the smart finger module IV is adopted to grasp the target by imitating the fingers of a human body. First, the rotary compression module II and the bending compression module III are adjusted to surround the object by pulling the driving ropes I5 and II 9. Then, the driving rope III20 is pulled to fold the bending compression module IV, thereby realizing the catching function of the small-volume target. (2) When the target object is large, the curved compression module III is adopted to simulate the trunk winding and wrapping for grabbing. At this time, the bending compression module IV is in a follow-up state.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) the flexibility is high, flexible grabbing of small-volume targets and curling and winding of large-volume targets are easy to realize. Compared with the traditional robot structure, the robot structure takes the design concept of the integral tensioning structure as the design guidance of the novel robot structure, fully exerts the characteristics of the integral tensioning structure and realizes the characteristics of bending deformation and torsional deformation of the robot.
(2) The robot is divided into a driving module, a rotary compression module, a bending compression module and a smart finger module by adopting a modular design concept. Each module has clear division of labor and realizes specific functions, thereby providing convenience for processing, manufacturing, maintenance and other work. In addition, due to the modularized design, the robot can be reconstructed according to different working conditions so as to realize different functions.
(3) The integral tensioning structure is abstract, so a statics model is adopted as a design guide. The process not only can effectively analyze the feasibility of structural design, but also can provide theoretical reference for the design of parts.
(4) Except for the driving module, the design concept of a tensioning integral structure is used for reference, the main structure is completely formed by light components such as ropes and rod pieces, and the robot structure is light.
Drawings
FIG. 1 is a block diagram illustrating the construction of a robot of the present invention;
FIG. 2 is an assembly view of the rotary compression module of the present invention;
FIG. 3 is a coupling view of the movable ball joint of the present invention;
FIG. 4 is an assembly view of the bending compression module of the present invention;
FIG. 5 is a partial view of a bending compression module of the present invention;
FIG. 6 is an assembly view of the smart finger module of the present invention;
FIG. 7 is a dexterous finger assembly of the present invention;
FIG. 8 is a schematic diagram of the motion of the rotary compression module of the present invention;
FIG. 9 is a schematic view of the motion of the bending compression module of the present invention;
FIG. 10 is a schematic view of the motion of the dexterous finger of the present invention;
FIG. 11 shows a robot structure with modules II and III combined in a staggered manner
In the figure: i a drive device module; II, rotating the compression module; III bending and compressing the module; IV smart finger module; 1 a driving device; 2, connecting the plate; 3, fixing a spherical hinge; 4, movable spherical hinge; 5 driving the rope I; 6 connecting rods; 7 an elastic element I; 8, a lower connecting plate; 9 drive rope II; 10 a planar linkage; 11 interlayer connecting rods; 12 an elastic element II; 13 fixing the bolt; 14 a swivel hinge; 15 transverse connecting rods; 16 finger oblique connecting rods; 17 a swivel hinge; 18 fingertip oblique connecting rods; 19 an elastic element III; 20 drive ropes III; 21 refers to the inter-plate.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, the multi-degree-of-freedom continuous robot with the function of flexibly grabbing objects comprises a driving module I, a rotary compression module II, a bending compression module III and a smart finger module IV. A stepping motor is preferably used as a driving device 1 of a driving module I; the driving device module I is connected with the rotary compression module II through an upper connecting plate 2, the rotary compression module II is connected with the bending compression module III through a lower connecting plate 8, and the bending compression module III is connected with the dexterous finger module IV through an interphalangeal connecting plate 21.
As shown in fig. 2, the rotary compression module II comprises a module structure, a driving rope I5, an elastic element I7, an upper link plate 2 and a lower link plate 8; the module structure is formed by six hinges which imitate a DNA spiral structure in a staggered spiral mode, each hinge comprises two fixed spherical hinges 3, three movable spherical hinges 4 and four connecting rods 6, twelve fixed spherical hinges 3 are equally divided into 2 groups and are respectively and uniformly distributed on an upper connecting plate 2 and a lower connecting plate 8; each hinge takes a fixed spherical hinge 3 as a head and a tail, a movable spherical hinge 4 as a middle hinge, the hinges are connected in series by taking a connecting rod 6 as a connecting component, and a wire passing hole is arranged beside each spherical hinge; the movable ball joints 4 adjacent in the transverse direction in the module structure are connected through an elastic element I7, and the movable ball joints 4 adjacent in the longitudinal direction are connected through a driving rope I5. The modular structure comprises six driving ropes I5 uniformly distributed along the modular structure, one end of each driving rope I5 sequentially penetrates through the wire passing hole to be fixed at the end part of the module, and the other end of each driving rope is fixed on the rotating shaft of the motor.
As shown in fig. 3, 2 elastic elements I7, 2 connecting rods 6 and 1 driving rope 5 are connected to the periphery of each movable spherical hinge 4.
As shown in fig. 4 and 5, the bending compression module III includes a multi-layer tension integral unit, an interlayer link 11, a rotation hinge 14 and a driving rope II 9. The shape structure of the bending compression module III is similar to that of horizontal and longitudinal muscles of trunk muscles, and is formed by serially splicing a plurality of layers of equal-section tensioning integral units, each layer of tensioning integral unit is similar to annular and comprises three plane connecting rods 10 and three elastic elements II12 which are alternately connected, the six parts are staggered to form a tensioning integral layer unit, and adjacent tensioning integral layer units are connected through six interlayer connecting rods 11; rotary hinges 14 are arranged on two sides of the interlayer connecting rod 11, and the rotary hinges 14 are connected with the plane connecting rod 10 through fixing bolts 13; the plane connecting rod 10 is provided with a wire through hole, and the bending compression module III is connected through the wire through small holes by six driving ropes II9 in the longitudinal direction.
As shown in fig. 6, the smart finger module IV is composed of three fingers of equal specification and an inter-finger connecting plate 21, and the three fingers are uniformly distributed on the inter-finger connecting plate 21, so as to jointly realize the function of grabbing objects.
As shown in fig. 7, the finger is divided into a base and a tip. The three-layer structure close to the inter-finger connecting plate 21 is finger root, each layer is formed by connecting two transverse connecting rods 15 and two elastic elements III19 in a staggered mode, and the two adjacent layers are connected through four finger root oblique connecting rods 16. The three-layer structure far away from the inter-finger connecting plate 21 is formed by finger tips, each layer is formed by connecting two transverse connecting rods 15 and two elastic elements III19 in a staggered mode, and the two adjacent layers are connected through four fingertip oblique connecting rods 18. The finger tips are connected to the base of the finger by two base diagonal links 16 and two intermediate base diagonal links 18. The transverse connecting rod 15 and the finger root oblique connecting rod 16 are connected, and the transverse connecting rod 15 and the finger tip oblique connecting rod 18 are connected by a rotating hinge 17. Wherein, both sides of the transverse connecting rod 15 are provided with wire passing holes, one end of each of four driving ropes III20 is fixed on the motor, and the other end of each driving rope III20 sequentially passes through the wire passing holes on both sides of the transverse connecting rod 15 between the finger roots and the fingers and is fixed at the tail end of the finger tip.
As shown in FIG. 8, the dotted line II-1 in the figure represents the initial configuration of the rotary compression module II; when the driving ropes I7 are pulled simultaneously, the rotary compression module II is spirally deformed as shown by the solid line part of II-2.
As shown in FIG. 9, the dotted line III-1 in the figure represents the initial configuration of the bending compression module III; when the driving rope II12 is pulled differentially, the bending compression module III is bent and deformed as shown by the solid line portion III-2.
As shown in fig. 10, the dotted line IV-1 represents the initial configuration of a single finger in the smart finger module IV; when the drive cord III20 is pulled differentially, the finger deforms as shown in the solid line portion of IV-2.
The modifications shown in fig. 9, 10 and 11 can be simultaneously realized by assembling the modules of fig. 3, 5 and 7.
As shown in fig. 11, the present invention further provides a robot structure with modules II and III combined in a staggered manner; the robot has more degrees of freedom, and the movement of the robot can be more flexible.
The using process of the invention is as follows: and assembling the driving device module I, the rotary compression module II, the bending compression module III and the bending compression module IV according to the actual working condition. The driving rope I5, the driving rope II9 and the driving rope III20 are respectively pulled by controlling the driving device module I, so that the deflection angle, the bending angle and the finger opening and closing degree of the robot are respectively adjusted. The capture of targets can be divided into the following two schemes: (1) when the target volume is small, the smart finger module IV is adopted to grasp the target by imitating the fingers of a human body. First, the rotary compression module II and the bending compression module III are adjusted to surround the object by pulling the driving ropes I5 and II 9. Then, the driving rope III20 is pulled to fold the bending compression module IV, thereby realizing the catching function of the small-volume target. (2) When the target object is large, the curved compression module III is adopted to simulate the trunk winding and wrapping for grabbing. At this time, the bending compression module IV is in a follow-up state.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (3)

1. The utility model provides a multi freedom continuous type robot with nimble target function of snatching which characterized in that, multi freedom stretch-draw whole robot's basic structure is assembled by the multimode combination and is formed, includes four bibliographic categories: the device comprises a driving device module I, a rotary compression module II, a bending compression module III and a smart finger module IV; the driving device module I is connected with the rotary compression module II through an upper connecting plate 2, the rotary compression module II is connected with the bending compression module III through a lower connecting plate 8, and the bending compression module III is connected with the dexterous finger module IV through an inter-finger connecting plate 21;
the driving device module I is internally integrated with a wire spool, a gear set and a motor set required by rope control and is used for realizing the centralized control of a driving rope I5, a driving rope II9 and a driving rope III 20;
the rotary compression module II is used for realizing the circumferential rotation and axial contraction functions of the robot and comprises a module structure, a driving rope I5, an elastic element I7, an upper connecting plate 2 and a lower connecting plate 8; the module structure is formed by six hinges which imitate a DNA spiral structure in a staggered spiral mode, each hinge comprises two fixed spherical hinges 3, three movable spherical hinges 4 and four connecting rods 6, twelve fixed spherical hinges 3 are equally divided into 2 groups and are respectively and uniformly distributed on an upper connecting plate 2 and a lower connecting plate 8; each hinge takes a fixed spherical hinge 3 as a head and a tail, a movable spherical hinge 4 as a middle hinge, the hinges are connected in series by taking a connecting rod 6 as a connecting component, and a wire passing hole is arranged beside each spherical hinge; the movable ball joints 4 which are adjacent in the transverse direction in the module structure are connected through an elastic element I7, and the movable ball joints 4 which are adjacent in the longitudinal direction are connected through a driving rope I5; the modular structure comprises six driving ropes I5 uniformly distributed along the modular structure, one end of each driving rope I5 sequentially penetrates through the wire passing hole to be fixed at the end part of the module, and the other end of each driving rope I5 is fixed on the rotating shaft of the motor;
the bending compression module III is used for realizing the curling motion and the axis stretching motion of the robot and realizing the function of curling and winding large-volume targets, and comprises a multi-layer tensioning integral unit, an interlayer connecting rod 11, a rotating hinge 14 and a driving rope II 9; the shape structure of the bending compression module III is similar to that of horizontal and longitudinal muscles of trunk muscles, and is formed by serially splicing a plurality of layers of equal-section tensioning integral units, each layer of tensioning integral unit comprises three plane connecting rods 10 and three elastic elements II12 which are alternately connected, the six parts are staggered to form a tensioning integral layer unit, and adjacent tensioning integral unit layers are connected through six interlayer connecting rods 11; rotary hinges 14 are arranged on two sides of the interlayer connecting rod 11, and the rotary hinges 14 are connected with the plane connecting rod 10 through fixing bolts 13; the plane connecting rod 10 is provided with a wire passing hole, and the bending compression module III is connected by penetrating through the wire passing small holes through six driving ropes II9 in the longitudinal direction;
the smart finger module IV is designed by imitating the characteristics of the human body that the lower part of the finger is thick and the upper part of the finger is thin, and comprises three fingers with the same specification and an inter-finger connecting plate 21, wherein the three fingers are uniformly distributed on the inter-finger connecting plate 21 and used for realizing the grabbing function aiming at the small-volume target; each finger comprises a finger root and a finger tip; the finger root is divided into three layers, each layer is formed by connecting two transverse connecting rods 15 and two elastic elements III19 in a staggered manner, and the two adjacent layers are connected through a finger root oblique connecting rod 16; the basic structure of the fingertip is similar to that of the base of the fingertip, each layer is formed by connecting two transverse connecting rods 15 and two elastic elements III19 in a staggered mode, and two adjacent layers are connected through a fingertip oblique connecting rod 18; the finger tips are connected with the finger roots through a finger root oblique connecting rod 16 and two finger tip oblique connecting rods 18; rotary hinges 17 are arranged on two sides of the finger root oblique connecting rod 16 and the finger tip oblique connecting rod 18; the transverse connecting rod 15 is connected with a finger root oblique connecting rod 16, and the transverse connecting rod 15 is connected with a fingertip oblique connecting rod 18 through a rotating hinge 17; both sides of the transverse connecting rod 15 are provided with wire passing holes, one end of each of four driving ropes III20 is fixed on the motor, and the other end of each driving rope III20 sequentially passes through the wire passing holes on both sides of the transverse connecting rod 15 between the finger roots and the fingers and is fixed at the tail ends of the finger tips.
2. The multi-degree-of-freedom continuous robot with the function of flexibly grabbing the object as claimed in claim 1, wherein the connecting rods 6 are connected by an elastic element I7 with elastic deformation capability.
3. The continuous robot with multiple degrees of freedom having the function of flexibly grabbing objects according to claim 1, wherein the driving ropes I5, II9 and III20 are made of polyethylene nylon ropes.
CN202010247972.6A 2020-04-01 2020-04-01 Multi-degree-of-freedom continuous robot with function of flexibly grabbing target Pending CN111300385A (en)

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CN202010247972.6A CN111300385A (en) 2020-04-01 2020-04-01 Multi-degree-of-freedom continuous robot with function of flexibly grabbing target

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Application Number Priority Date Filing Date Title
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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4685349A (en) * 1985-12-20 1987-08-11 Agency Of Industrial Science And Technology Flexibly foldable arm
FR2745218A1 (en) * 1996-02-12 1997-08-29 Lieutard Marie France Manual lifting device for light objects
CN104476533A (en) * 2014-11-27 2015-04-01 清华大学 Master-slave control flexible continuum robot device and control method thereof
CN104942791A (en) * 2015-06-16 2015-09-30 浙江理工大学 Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator
CN105729458A (en) * 2016-03-24 2016-07-06 天津理工大学 Rigid-flexible coupled trunk-shaped continuous robot
CN105856217A (en) * 2016-05-11 2016-08-17 哈尔滨工程大学 Four-rod tensegrity robot
CN107253188A (en) * 2017-06-29 2017-10-17 常州大学 A kind of multiple degrees of freedom Simple mechanical arm driven based on IPMC
CN206780402U (en) * 2017-06-05 2017-12-22 石季平 Bionic mechanical hand based on hydraulic pressure

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4685349A (en) * 1985-12-20 1987-08-11 Agency Of Industrial Science And Technology Flexibly foldable arm
FR2745218A1 (en) * 1996-02-12 1997-08-29 Lieutard Marie France Manual lifting device for light objects
CN104476533A (en) * 2014-11-27 2015-04-01 清华大学 Master-slave control flexible continuum robot device and control method thereof
CN104942791A (en) * 2015-06-16 2015-09-30 浙江理工大学 Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator
CN105729458A (en) * 2016-03-24 2016-07-06 天津理工大学 Rigid-flexible coupled trunk-shaped continuous robot
CN105856217A (en) * 2016-05-11 2016-08-17 哈尔滨工程大学 Four-rod tensegrity robot
CN206780402U (en) * 2017-06-05 2017-12-22 石季平 Bionic mechanical hand based on hydraulic pressure
CN107253188A (en) * 2017-06-29 2017-10-17 常州大学 A kind of multiple degrees of freedom Simple mechanical arm driven based on IPMC

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