CN113977563A - Under-actuated plane snakelike mechanical arm - Google Patents
Under-actuated plane snakelike mechanical arm Download PDFInfo
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- CN113977563A CN113977563A CN202111283427.3A CN202111283427A CN113977563A CN 113977563 A CN113977563 A CN 113977563A CN 202111283427 A CN202111283427 A CN 202111283427A CN 113977563 A CN113977563 A CN 113977563A
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- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
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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
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an under-actuated plane snakelike arm, belongs to rope drive snakelike arm research field, comprises actuating system, snakelike arm organism part, drive rope. The driving system mainly comprises a motor and a pulley, the body part of the snake-shaped mechanical arm mainly comprises connecting blocks and joints, and every two connecting blocks are connected by the joints to realize the degree of freedom of rotation. The driving module is adopted to drive three joints simultaneously, the three joints and the connecting block form a joint group module, the joint group module is driven by three ropes totally, and the three ropes are driven by a single motor to drive a multi-diameter pulley, so that the under-actuated function of the planar snake-shaped mechanical arm is realized. And an under-actuated mode is adopted, so that the length of the robot is effectively increased and the working range of the robot is expanded on the basis of ensuring the degree of freedom.
Description
Technical Field
The invention relates to the research field of snake-shaped mechanical arms, the under-actuated snake-shaped mechanical arm can realize the under-actuation of a plane snake-shaped mechanical arm, can simplify the actuation structure, and can effectively increase the arm length of the mechanical arm on the basis of the same degree of freedom compared with a full-actuated snake-shaped mechanical arm, thereby expanding the working range of the mechanical arm.
Background
The snake-shaped mechanical arm is a bionic robot which simulates biological snakes and has a unique structural form, can move in various complex environments such as pipelines, swamps, cracks and the like, is wide in application range and various in movement forms, and therefore, the snake-shaped mechanical arm is wide in application range and can be used for executing various different tasks. The snakelike mechanical arm body is long and narrow, and can conveniently go in and out various slits, pipelines and interlayers for detection, so that the snakelike mechanical arm can play a great role in rescuing and restoring people.
The snake-shaped mechanical arm mainly has two driving modes, one is built-in driving of a joint, the other is external driving of a rope, the weight of the arm part of the snake-shaped mechanical arm can be effectively reduced through the external driving of the rope, and the movement flexibility of the snake-shaped mechanical arm is enhanced. The snake-shaped mechanical arm can be divided into a three-dimensional snake-shaped mechanical arm and a plane snake-shaped mechanical arm according to the motion capability.
The existing rope-driven planar snakelike mechanical arm realizes one bending degree of freedom according to a rotary joint, and single drive corresponds to
If a plurality of degrees of freedom are to be realized, a plurality of corresponding driving modules are needed, a driving system is complex, and the control difficulty is increased.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the under-actuated planar snake-shaped mechanical arm is provided, the length of the robot is effectively increased on the basis of ensuring the degree of freedom, the working range of the robot is enlarged, an under-actuated mode is adopted, the structure and the control algorithm of a driving system are simplified, and the control efficiency is improved.
The technical scheme of the invention is as follows: an under-actuated planar snake-shaped mechanical arm comprises a motor, a first joint, a fourth connecting block, a second joint, a third joint driving rope, a second joint driving rope, a first joint driving rope, a multi-path pulley, a base, a first connecting block, a second connecting block and a third connecting block; the motor is connected with the multi-path pulley; one end of a first joint driving rope, a second joint driving rope and a third joint driving rope is respectively connected with the multi-path pulley, and the other end of the first joint driving rope, the second joint driving rope and the third joint driving rope is respectively fixedly connected with a fourth connecting block, a second connecting block and a third connecting block at the first joint, the second joint and the third joint; two ends of the first joint are connected to the fourth connecting block and the first connecting block, two ends of the second joint are connected to the fourth connecting block and the second connecting block, and two ends of the third joint are connected to the second connecting block and the third connecting block; the motor drives the multi-path pulley to move, and the rotary motion of the multi-path pulley is converted into the displacement of the joint I driving rope, the joint II driving rope and the joint III driving rope, so that the rotary motion of the joint I, the joint II and the joint III is realized.
The first joint, the second joint and the third joint are all cross-axis rotary joints and have rotary degrees of freedom.
The first joint, the second joint and the third joint are made of titanium alloy.
And the fourth connecting block, the first connecting block, the second connecting block and the third connecting block are all made of aluminum alloy.
The base has the function of adjusting the degree of tensioning of the cable.
The first joint driving rope, the second joint driving rope and the third joint driving rope are connected to the multi-path pulley simultaneously, and the first joint driving rope, the second joint driving rope and the first joint driving rope are driven by the motor and the multi-path pulley to generate displacement simultaneously, so that the movement of the first joint, the second joint and the third joint is controlled.
A groove is dug in the multi-diameter pulley and corresponds to the joint I driving rope, the joint II driving rope and the joint III driving rope respectively, the diameter of the groove can be changed according to actual requirements, and then different movement angles of the joints are achieved.
The diameters of three pulley grooves with different diameters of the multi-path pulley have the following relation:
d2＝2d1；d3＝3d1wherein d is1、d2、d3Three sections of diameters are respectively.
The motor drives the multi-path pulley to rotate forward and backward, so that the change of the stretching direction of the joint I driving rope, the joint II driving rope and the joint III driving rope is controlled, and the movement direction of the joint is further controlled.
The number of joints and connecting blocks can be increased according to actual requirements, and the number of corresponding grooves on the multi-path pulley and the number of driving ropes are changed, so that the length of the mechanical arm is increased.
Compared with the prior art, the invention has the advantages that:
the existing plane snakelike mechanical arm adopts a full-drive mode, the invention adopts an under-drive mode, a drive structure can be simplified, and simultaneously compared with the full-drive snakelike mechanical arm, the arm length of the mechanical arm can be effectively increased on the basis of the same degree of freedom, so that the working range of the mechanical arm is expanded; meanwhile, as a single motor is adopted to drive the three joints, the control quantity can be reduced, and the control program is simplified; the multi-path pulley can design the corresponding pulley groove diameter according to the actual joint motion angle requirement, and further obtains the different motion angle multiple relations between joints.
In addition, the invention can realize the under-actuation of the plane snakelike mechanical arm, adopts an under-actuation mode, effectively increases the length of the robot on the basis of ensuring the degree of freedom, and enlarges the working range of the robot. Meanwhile, a pulley closed driving mode is adopted, and a motor is used for driving the joint to rotate in the positive and negative directions, so that the structure and the control algorithm of a driving system are simplified, and the control efficiency is improved.
Drawings
Fig. 1 is an overall structural view of an under-actuated planar serpentine manipulator according to the present invention.
Figure 2 is a multi-path pulley diagram of an under-actuated planar serpentine robotic arm in accordance with the present invention.
FIG. 3 is a schematic view of a joint of an under-actuated planar serpentine robotic arm in accordance with the present invention.
FIG. 4 is a schematic view of the base of an under-actuated planar serpentine robotic arm in accordance with the present invention.
Detailed Description
The present invention will be described in detail with reference to the following examples and accompanying drawings, with reference to fig. 1 to 4. The invention discloses an under-actuated planar snake-shaped mechanical arm, which comprises a motor 1, a first joint 2, a connecting block 3, a second joint 4, a third joint 5, a third joint driving rope 6, a second joint driving rope 7, a first joint driving rope 8, a multi-path pulley 9, a base 10, a connecting block 11, a connecting block 12, a connecting block 13, a motor and a multi-path pulley supporting seat 14, as shown in figure 1. The motor 1 is connected with a multi-path pulley 9; one ends of a first joint driving rope 8, a second joint driving rope 7 and a third joint driving rope 6 are respectively connected with the multi-path pulley 9, and the other ends of the first joint driving rope, the second joint driving rope and the third joint driving rope are respectively fixedly connected with a connecting block 3, a connecting block 12 and a connecting block 13 at a first joint 2, a second joint 4 and a third joint 5; the two ends of the first joint 2 are connected with the connecting block 3 and the connecting block 11, the two ends of the second joint 4 are connected with the connecting block 3 and the connecting block 12, and the two ends of the third joint 5 are connected with the connecting block 12 and the connecting block 13. The motor 1 drives the multi-path pulley 9 to move, and the rotary motion of the multi-path pulley 9 is converted into the displacement of the joint I driving rope 8, the joint II driving rope 7 and the joint III driving rope 6, so that the rotary motion of the joint I2, the joint II 4 and the joint III 5 is realized. According to the invention, a single motor is adopted to control a plurality of joints, and the working mode can realize the under-actuated function of the planar snake-shaped mechanical arm.
The multi-path pulley 9 in this embodiment is shown in fig. 2 and comprises three pulley grooves of different diameters, the diameters of which have the following relationship:
d2＝md1；d3＝nd1
m is 2 and n is 3 in the embodiment chosen to achieve the same goal for each articulation angle. The pulley groove with the diameter d1 corresponds to the first joint 2, the pulley groove with the diameter d2 corresponds to the second joint 4, and the pulley groove with the diameter d3 corresponds to the third joint 5. Assuming that when the rotation angle of the motor 1 is theta, the displacement of the first joint driving rope 8 is l, and the movement angle of the corresponding first joint is alpha, the displacement of the second joint driving rope 7 is 2l, and the displacement of the third joint driving rope 6 is 3l, so that the movement angles of the second joint 4 and the third joint 5 are alpha, and at the moment, the movement angles of the three joints are equal. In actual conditions, the diameters of the corresponding pulley grooves can be designed according to actual joint motion angle requirements, and different motion angle multiple relations among joints are further obtained. Fig. 3 shows the joint structure and the connection diagram.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make modifications and variations of the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides an under-actuated plane snakelike arm which characterized in that: the device comprises a motor (1), a first joint (2), a fourth connecting block (3), a second joint (4), a third joint (5), a third joint driving rope (6), a second joint driving rope (7), a first joint driving rope (8), a multi-path pulley (9), a base (10), a first connecting block (11), a second connecting block (12), a third connecting block (13) and a multi-path pulley supporting seat (14); the motor (1) is connected with the multi-path pulley (9); one end of a first joint driving rope (8), one end of a second joint driving rope (7) and one end of a third joint driving rope (6) are respectively connected with the multi-path pulley (9), and the other end of the first joint driving rope is respectively fixedly connected with a fourth connecting block (3), a second connecting block (12) and a third connecting block (13) at the first joint (2), the second joint (4) and the third joint (5); two ends of the first joint (2) are connected to a fourth connecting block (3) and a first connecting block (11), two ends of the second joint (4) are connected to the fourth connecting block (3) and a second connecting block (12), and two ends of the third joint (5) are connected to the second connecting block (12) and a third connecting block (13); the base (10) is connected with a multi-path pulley supporting seat (14); the motor (1) drives the multi-path pulley (9) to move, and the rotary motion of the multi-path pulley (9) is converted into the displacement of the joint I driving rope (8), the joint II driving rope (7) and the joint III driving rope (6), so that the rotary motion of the joint I (2), the joint II (4) and the joint III (5) is realized.
2. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the first joint (2), the second joint (4) and the third joint (5) are all cross-axis rotary joints and have rotary degrees of freedom.
3. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the first joint (2), the second joint (4) and the third joint (5) are made of titanium alloy.
4. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the material of the fourth connecting block (3), the first connecting block (11), the second connecting block (12) and the third connecting block (13) is aluminum alloy.
5. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the base (10) has the function of adjusting the degree of tensioning of the rope.
6. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the first joint driving rope (8), the second joint driving rope (7) and the third joint driving rope (6) are connected to the multi-path pulley (9) at the same time, and the first joint driving rope (6), the second joint driving rope (7) and the first joint driving rope (8) are driven by the motor (1) and the multi-path pulley (9) to generate displacement at the same time, so that the movement of the first joint (2), the second joint (4) and the third joint (5) is controlled.
7. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: 3 grooves are dug in the multi-path pulley (9), and correspond to the first joint driving rope (8), the second joint driving rope (7) and the third joint driving rope (6) respectively, so that the diameter of the grooves can be changed according to actual requirements, and different movement angles of joints can be realized.
8. An under-actuated planar serpentine robotic arm as claimed in claim 7 wherein: the multi-path pulley (9) is provided with three pulley grooves with different diameters, and the diameters of the pulley grooves have the following relation:
d2＝2d1；d3＝3d1wherein d is1、d2、d3Three sections of diameters are respectively.
9. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the motor (1) drives the multi-path pulley (9) to rotate forward and backward, so that the telescopic directions of the joint I driving rope (8), the joint II driving rope (7) and the joint III driving rope (6) are controlled to be changed, and the movement direction of the joint is further controlled.
10. An under-actuated planar serpentine robotic arm as claimed in claim 1 wherein: the number of joints and connecting blocks can be increased according to actual requirements, and the number of corresponding grooves on the multi-path pulley (9) and the number of driving ropes are changed, so that the length of the mechanical arm is increased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111283427.3A CN113977563A (en) | 2021-11-01 | 2021-11-01 | Under-actuated plane snakelike mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111283427.3A CN113977563A (en) | 2021-11-01 | 2021-11-01 | Under-actuated plane snakelike mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN113977563A true CN113977563A (en) | 2022-01-28 |
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| CN202111283427.3A Pending CN113977563A (en) | 2021-11-01 | 2021-11-01 | Under-actuated plane snakelike mechanical arm |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263477A (en) * | 2017-07-07 | 2017-10-20 | 浙江大学 | One kind rope driving series connection joint type Snakelike mechanical arm control method |
| US20180272541A1 (en) * | 2015-12-03 | 2018-09-27 | Sri International | Robot gripper |
| CN109278032A (en) * | 2018-10-15 | 2019-01-29 | 享奕自动化科技（上海）有限公司 | Drive lacking rope drives mechanical arm |
| CN110757441A (en) * | 2019-10-21 | 2020-02-07 | 中山大学 | Flexible mechanical arm driving device with multi-joint combined motion |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
-
2021
- 2021-11-01 CN CN202111283427.3A patent/CN113977563A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180272541A1 (en) * | 2015-12-03 | 2018-09-27 | Sri International | Robot gripper |
| CN107263477A (en) * | 2017-07-07 | 2017-10-20 | 浙江大学 | One kind rope driving series connection joint type Snakelike mechanical arm control method |
| CN109278032A (en) * | 2018-10-15 | 2019-01-29 | 享奕自动化科技（上海）有限公司 | Drive lacking rope drives mechanical arm |
| CN110757441A (en) * | 2019-10-21 | 2020-02-07 | 中山大学 | Flexible mechanical arm driving device with multi-joint combined motion |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
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Application publication date: 20220128 |