CN114393574A - Foldable and bendable serial-parallel hybrid flexible mechanical arm - Google Patents
Foldable and bendable serial-parallel hybrid flexible mechanical arm Download PDFInfo
- Publication number
- CN114393574A CN114393574A CN202210147799.1A CN202210147799A CN114393574A CN 114393574 A CN114393574 A CN 114393574A CN 202210147799 A CN202210147799 A CN 202210147799A CN 114393574 A CN114393574 A CN 114393574A
- Authority
- CN
- China
- Prior art keywords
- wire
- driving
- sma
- connecting plate
- driving unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 7
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 4
- 239000002390 adhesive tape Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 11
- 238000009434 installation Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 5
- 238000005192 partition Methods 0.000 abstract description 5
- 238000013459 approach Methods 0.000 abstract description 2
- 238000000354 decomposition reaction Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 241000238413 Octopus Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a foldable and bendable serial-parallel hybrid flexible mechanical arm which comprises a control box, a first wire driving unit, a distance measuring sensor, a second wire driving unit, an SMA driving unit and an actuator, wherein the first wire driving unit is connected with the first wire driving unit; the driving mode is mixed and improved on the basis of the traditional wire drive, the mixing is that the SMA is combined to drive two motion states of the mechanical arm, the wire drive is used for realizing quick positioning, the SMA is used for realizing approach and fine adjustment, and the two motion modes are converted to complete more various work and have higher positioning speed; the improvement lies in the wire drive decomposition control, and the degree of freedom of the mechanical arm movement can be increased within the range of acceptable force superposition. The movement branched chain realizes the same effect of the RSR mechanism by utilizing the paper folding mechanism, can simplify the installation and reduce the friction, thereby prolonging the service life and the reliability of the mechanism. The two control schemes are combined, the mode of controlling the mechanical arm by using a rocker is added by using a coordinate partition method besides the autonomous movement, and good human-computer interaction is realized.
Description
Technical Field
The invention belongs to the technical field of flexible robots, and particularly relates to a series-parallel hybrid flexible mechanical arm with variable motion mode, large folding rate, flexible bending and wide working range.
Background
With the continuous widening of robot application occasions and the continuous increase of task types, rigid robots have difficulty meeting the requirements under certain specific conditions. In order to make up the defects of poor flexibility and poor adaptability of the rigid robot, the flexible robot which is proposed by simulating similar soft organisms such as a natural elephant nose, an octopus tentacle and the like is applied. Most flexible robots are made of silica gel and rubber, are easy to deform and have higher adaptability to human bodies. The flexible robot can adapt to different working environments through bending and torsional deformation with high curvature, and is particularly excellent in messy and non-specific working conditions, for example, in the field of medical treatment, the flexible robot can go deep into a body cavity of a person to perform auxiliary positioning and operation guidance, in the field of aerospace, the flexible robot can capture space garbage around the earth to ensure normal launching of an aircraft, in the manufacturing industry, the flexible robot can also perform component assembly in a complex environment, and in addition, the flexible robot has better application prospects in various aspects such as search and rescue, pipeline maintenance and the like in the future.
The flexible mechanical arm is a branch produced based on flexible robot technology and is mainly used for assisting human beings to complete complex and difficult works, most of the flexible mechanical arms are provided with fixed bases, and actuators for completing different works are arranged at the tail ends of the flexible mechanical arms. At present, the main structure of the flexible mechanical arm has many proposed forms, most of which are in the form of multi-joint series connection. The driving modes include rope driving, gas driving, liquid driving, light driving, memory alloy driving and the like. However, most of the flexible mechanical arms commonly available in the market have the following disadvantages:
1. the movement mode is single, and most of the movement modes only have one driving mode, so that the movement mode can not be sufficient when the working force or the working elaboration degree needs to be changed.
2. There is no good contractibility, which results in that the working space thereof is not excavated to the maximum extent, and the work at a position closer to the robot arm structure cannot be performed.
In view of the above, the design of the main mechanism and the driving manner of the flexible mechanical arm are still the directions which need to be researched and innovated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a foldable and bendable series-parallel hybrid flexible mechanical arm. The invention adopts a structure form of RSR (revolute pair-spherical pair-revolute pair) series-parallel connection mixing and a driving mode of SMA (shape memory alloy, SMA for short) and wire mixing, and aims to solve the problems and enable the flexible mechanical arm to have a wider application prospect in the future.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows:
a foldable and bendable serial-parallel hybrid flexible mechanical arm comprises a control box, a first wire driving unit, a distance measuring sensor, a second wire driving unit, an SMA driving unit and an actuator;
the upper end of the control box is connected with a first wire driving unit, a distance measuring sensor is arranged between the first wire driving unit and a second wire driving unit, the upper end of the second wire driving unit is connected with an SMA driving unit, the upper end of the SMA driving unit is connected with an actuator, and the first wire driving unit and the second wire driving unit respectively comprise a plurality of wire driving components which are connected in series;
the wire driving assembly comprises a wire driving upper connecting plate, a wire driving lower connecting plate, a wire driving movement branched chain, a wire driving spring base, a driving wire and a wire driving spring, three edges of the wire driving upper connecting plate and the wire driving lower connecting plate are connected through the wire driving movement branched chain, the wire driving spring base is arranged at three angular positions of the wire driving upper connecting plate and the wire driving lower connecting plate, and the driving wire and the wire driving spring surrounding the driving wire are arranged between the wire driving spring bases;
the SMA driving unit comprises an SMA driving upper connecting plate, an SMA driving lower connecting plate, an SMA driving moving branched chain, an SMA driving spring base and an SMA driving spring, three edges of the SMA driving upper connecting plate and three edges of the SMA driving lower connecting plate are connected through the SMA driving moving branched chain, the SMA driving spring bases are arranged at three angular positions of the SMA driving upper connecting plate and the SMA driving lower connecting plate, and the SMA driving spring is arranged between the SMA driving spring bases;
the actuator is a three-jaw grabbing device, and a visual identification sensor and an angle acceleration sensor are arranged on the actuator.
In the above technical scheme, silk drive motion branch chain and SMA drive motion branch chain have the same structure, all include the motion board, upper left motion board, upper right motion board, lower left motion board and lower right motion board, the motion board turns the connection with upper left motion board, the inside unilateral of upper right motion board respectively, with this structure symmetry, the motion board turns the connection with lower left motion board, the inside unilateral of lower right motion board respectively, the connection is turned to the outside unilateral of upper left motion board and lower left motion board, the connection is turned to the outside unilateral of upper right motion board and lower right motion board.
In the above technical solution, the upper moving plate, the upper left moving plate, the upper right moving plate, the lower left moving plate and the lower right moving plate enclose a square hole at their central positions.
In the technical scheme, the inward unidirectional turning connection and the outward unidirectional turning connection are connected by single-sided sticking of a flexible adhesive tape.
In the technical scheme, the wire driving upper connecting plate/SMA driving upper connecting plate and the wire driving lower connecting plate/SMA driving lower connecting plate are triangular carbon fiber plates, and a plurality of wire routing holes, spring base mounting holes and driving wire holes are formed in the triangular carbon fiber plates; the wiring hole is used for passing through a wire of a camera or other sensors required by the tail end, so that the wiring hole is conveniently connected to the control box; the spring base mounting hole is used for fixing the spring base; the driving wire hole is used for penetrating the driving wire.
In the technical scheme, the SMA drive spring is a memory alloy spring which is electrified, heated, extended and contracted at normal temperature, and provides stretching and folding forces.
In the technical scheme, set up motor driver, motor and main control board in the control box, motor driver links to each other with the motor, the motor includes driving wire motor and the executor motor that quantity and driving wire correspond, and the lead screw is connected to the output of driving wire motor, and the end-to-end connection of driving wire is on the lead screw, and the executor motor is connected with the executor, the main control board is connected with range sensor, acceleration sensor and visual identification sensor communication, the circular telegram of SMA drive spring is controlled to the main control board.
In the above technical solution, the control box is further provided with a rocker module as a second control scheme, and the rocker directly inputs the current position coordinate to the main control board.
In the technical scheme, the power supply is a 6S (22.2V) model airplane battery and is provided with an additional direct current adjustable voltage reduction plate, the output of the battery is divided into two parts, one part directly supplies power for the motor driver, and the other part supplies power for the main control board and the sensor after voltage reduction through the voltage reduction plate.
In the above technical solution, the model of the main control board is STM32F407, the model of the motor is 42 stepping motor, the model of the motor driver is TB6600, the model of the ranging sensor is GP2Y0a21, the model of the acceleration angle sensor is MPU6050, the model of the visual identification sensor is OV5640, and the model of the dc adjustable voltage reduction board is LM 2596S.
The invention has the advantages and positive effects that:
1. the folding mechanism has higher folding rate, expands the working space of the traditional mechanical arm and leads the motion of the mechanical arm to be more flexible and changeable.
2. The driving mode of the invention is mixed and improved on the basis of the traditional wire drive, the mixing is that the SMA drive is combined to lead the mechanical arm to have two motion states, firstly, the wire drive realizes the quick positioning, secondly, the SMA realizes the approach and fine adjustment, the conversion of the two motion modes leads the mechanical arm to be capable of finishing more various work and has higher positioning speed; the improvement lies in the wire drive decomposition control, and the degree of freedom of the mechanical arm movement can be increased within the range of acceptable force superposition.
3. The moving branched chain realizes the same effect of the RSR mechanism by using the paper folding mechanism, can simplify the installation and reduce the friction, thereby prolonging the service life and improving the reliability of the mechanism.
4. The two control schemes are combined, the mode of controlling the mechanical arm by using a rocker is added by using a coordinate partition method besides the autonomous movement, and good human-computer interaction is realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a wire drive assembly;
FIG. 3 is a schematic structural diagram of an SMA drive unit;
FIG. 4 is a schematic structural view of an actuator;
FIG. 5 is a schematic diagram of a range sensor;
FIG. 6 is a schematic structural view of a wire driven moving arm/SMA driven moving arm;
FIG. 7 is a schematic structural view of a ranging sensor mount;
FIG. 8 is a schematic view of the internal structure of the control box;
FIG. 9 is a schematic view of the installation of a spool;
FIG. 10 is a schematic view of a drive wire installation;
FIG. 11 is a diagram of a prototype of the moving part of the robot arm;
FIG. 12 is a control system hardware block diagram;
fig. 13 is a schematic diagram of the working principle of the intelligent control system.
In the figure:
101. a mechanical arm movement mechanism 102 and a control box;
201. the wire driving device comprises a wire driving upper connecting plate 202, a wire driving movement branched chain 203, a driving wire 204, a wire driving spring 205, a wire driving spring base 206 and a wire driving lower connecting plate;
301. an SMA driving upper connecting plate 302, an SMA driving spring base 303, an SMA driving spring 304, an SMA driving moving branch chain 305 and an SMA driving lower connecting plate;
401. three-jaw grabbing device 402, visual identification sensor 403 and angular acceleration sensor;
501. a ranging sensor mount 502, a ranging sensor;
601. an upper motion plate, 602, an upper left motion plate, 603, an upper right motion plate, 604, a lower motion plate, 605, a lower left motion plate, 606, a lower right motion plate;
701. mounting frame connecting plate connecting holes 702, ranging sensor mounting holes 703 and support ribs;
801. the flexible mechanical arm mounting structure comprises a mechanical arm mounting plate, 802, corner connectors, 803, a motor, 804, a motor mounting frame, 805, side sealing edges, 806, a circuit board, 807, a motor driver, 808, supporting copper columns, 809, a power supply distribution box, 810, a bottom plate, 811, a second layered plate, 812, a first layered plate, 813, a first side plate, a second side plate, 815, a rocker, 816 and a flexible mechanical arm mounting wiring hole;
901. a motor 902, a spool;
1001. a driving wire 1002, a wire passing hole;
1101. the method comprises the following steps of driving a wire real object 1102, driving a wire first real object 1103, driving a sensor link real object 1104, driving a wire loop second real object 1105, driving an SMA link real object 1106 and an actuator real object.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
The technical scheme of the invention is further explained by combining specific examples.
Example 1
Referring to fig. 1 to 4, 8 and 11, the flexible manipulator motion mechanism 101 is composed of four parts, from the front end (the end close to the control box) to the end, a linear driving link 1102, a sensor link 1103, a linear driving link two 1104 and an SMA driving link 1105; the tail end of the wire driving link I1102 is installed on a mechanical arm installation plate of the control box 102, a lower connection plate of a parallel unit at the bottom of the wire driving link I1102 is fixedly connected with a mechanical arm installation plate 801 of the control box through screws, a driving wire 1101 penetrates through the mechanical arm installation plate 801 of the control box and is respectively connected with corresponding driving motor wire shafts inside, and the two parallel units and the sensor unit and the parallel unit share the same connection plate. The same motion branched chains are used in the first wire driving link 1102, the second wire driving link 1104 and the SMA driving link 1105, that is, the motion branched chains 202 and 304 have the same deformation mode. The driving wire is provided with six driving wires, wherein one ends of the six driving wires are fixedly connected with the top end of the first driving link 1102, the other ends of the three driving wires are fixedly connected with the ring section 1106 of the driving wire, and the other ends of the three driving wires are also fixedly connected with the wire shaft. The first driving link 1102 and the second driving link 1104 have three degrees of freedom respectively, when a single driving wire is pulled, the driving wire can be bent towards the side by the parallel connection unit below the driving wire, and the plurality of driving wires can realize kinematic coupling under the common action. The compression springs 204 in the parallel units of each wire drive link provide restoring force for the parallel units, and each parallel unit can automatically return to an initial state after the drive wires are stretched and loosened. In order to reduce the superposition effect of force, the rigidity of the front end compression spring is larger, the rigidity of the rear end compression spring is smaller, and two ends of the compression spring are specially fixed with the spring base 205 in order to prevent the compression spring from generating compression bar bending effect. The SMA spring 303 can be stretched and the rigidity is increased after being heated, the SMA driving link 1105 can generate bending or stretching movement, when the temperature of the SMA spring 303 is reduced, the SMA driving link restores to the original state, and the two ends of the spring and the SMA spring base 302 are fixed to prevent the SMA spring from generating a compression bar bending effect. The difference with the wire driving link is that the SMA link has three SMA springs for driving each parallel unit, so the freedom of the SMA link is three times of the number of the parallel units.
Referring to fig. 1, 5-10, a typical component mounting description is illustrated. The two moving plates I601 and the four moving plates II 602 of the moving branched chains of the parallel units are connected by using a tough adhesive tape to simulate a unidirectional rotation hinge. Fig. 7 is distance measuring sensor mounting bracket 501, distance measuring sensor mounting bracket 501 passes through mounting bracket connecting plate connecting hole 701 and connecting plate bolted connection for three sensor direction is respectively towards three drive wires, distance measuring sensor 502 passes through distance measuring sensor mounting hole 702 and distance measuring sensor mounting bracket 501 bolted connection, and brace rod 703 plays the reinforcement effect. The appearance of the control box is cuboid and is formed by enclosing a top plate 801, a first side plate 813 and a second side plate 814, and the angle connectors 802 and the side sealing edges 805 are matched with bolts for fixing the plates. The rocker 815 and the mechanical arm movement mechanism 101 are installed on the mechanical arm installation plate 801, the interior of the control box 102 is divided into an upper layer, a middle layer and a lower layer, the upper layer is provided with a motor, the motor 803 is installed on the first layered plate 812 through a motor installation frame 804, the middle layer is provided with a circuit board such as a main control board, the circuit board is fixed on the second layered plate 811 through copper columns and screws, the lower layer is provided with a drive plate 806 and a power supply distribution box 809, and the motor driver 807 and the power supply distribution box 809 are fixed on the bottom plate 810 through bolts. The mechanical arm mounting plate 801, the first layering plate 812, the second layering plate 811 and the bottom plate 810 are connected through a supporting copper column 808. The wire shaft 902 is connected with the motor 901 through a jackscrew, and the driving wire 1001 firstly passes through the wire passing hole 1002 to be fixed and then is wound on the wire shaft 902.
Control mode
Please refer to fig. 11-13, which are schematic diagrams illustrating the robot control components and control logic.
1. Hand operated control
The two rockers can send analog quantities in x and y directions to the main control board, the main control board performs coordinate conversion after receiving the analog quantities, and at first, four partitions of a rectangular coordinate system are converted into three partitions corresponding to i, j and k directions and respectively correspond to three driving motors of a wire driving link. When the rocker is pushed to a certain direction, the single chip microcomputer identifies the current position of the rocker and converts the position into an i, j, k partition, the single chip microcomputer sends signals to control two motors to tighten up the driving wires to synthesize bending motion, and then the mechanical arm can be bent towards the moving direction of the rocker. The Z-direction button of the rocker can also control the telescopic freedom degree of the mechanical arm, the button is pressed, the three driving motors simultaneously take up the wires, the corresponding wire driving units complete contraction movement, the button is released, the driving motors reversely rotate to pay off the wires, and the wire driving units recover the extension state.
2. Automatic control
The method comprises the steps that a position is given, a main control board calculates a preliminary track according to the preliminary track, three distance measuring sensors in a sensor module 1103 feed back distance information in real time in the execution process, if a certain party finds that the distance measuring sensors are close to an obstacle, the main control board controls a first wire driving link 1102 driving motor to enable the first wire driving link 1103 to bend away from the obstacle, and meanwhile controls a second wire driving link 1104 driving motor to enable a second wire driving link 1104 to bend reversely until the distance measuring sensors return data within a controllable range. And the main control board reconstructs a track algorithm according to the attitude data returned by the angular acceleration sensor and the obstacle avoidance condition. When the visual recognition sensor on the actuator 1106 recognizes that the object to be grabbed is in the grabbing range, the three-jaw grabbing device closes the jaws to complete the grabbing action.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. The utility model provides a collapsible crooked series-parallel connection mixes flexible arm which characterized in that: the device comprises a control box, a first wire driving unit, a distance measuring sensor, a second wire driving unit, an SMA driving unit and an actuator;
the upper end of the control box is connected with a first wire driving unit, a distance measuring sensor is arranged between the first wire driving unit and a second wire driving unit, the upper end of the second wire driving unit is connected with an SMA driving unit, the upper end of the SMA driving unit is connected with an actuator, and the first wire driving unit and the second wire driving unit respectively comprise a plurality of wire driving components which are connected in series;
the wire driving assembly comprises a wire driving upper connecting plate, a wire driving lower connecting plate, a wire driving movement branched chain, a wire driving spring base, a driving wire and a wire driving spring, three edges of the wire driving upper connecting plate and the wire driving lower connecting plate are connected through the wire driving movement branched chain, the wire driving spring base is arranged at three angular positions of the wire driving upper connecting plate and the wire driving lower connecting plate, and the driving wire and the wire driving spring surrounding the driving wire are arranged between the wire driving spring bases;
the SMA driving unit comprises an SMA driving upper connecting plate, an SMA driving lower connecting plate, an SMA driving moving branched chain, an SMA driving spring base and an SMA driving spring, three edges of the SMA driving upper connecting plate and three edges of the SMA driving lower connecting plate are connected through the SMA driving moving branched chain, the SMA driving spring bases are arranged at three angular positions of the SMA driving upper connecting plate and the SMA driving lower connecting plate, and the SMA driving spring is arranged between the SMA driving spring bases;
the actuator is a three-jaw grabbing device, and a visual identification sensor and an angle acceleration sensor are arranged on the actuator.
2. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: silk drive motion branch chain and SMA drive motion branch chain have the same structure, all include motion board, upper left motion board, upper right motion board, lower left motion board and lower right motion board, go up the motion board respectively with upper left motion board, the inside unilateral of upper right motion board turn the connection, with this structure symmetrical ground, the lower motion board respectively with lower left motion board, the inside unilateral of lower right motion board turn the connection, the outside unilateral of upper left motion board and lower left motion board turns the connection, the outside unilateral of upper right motion board and lower right motion board turns the connection.
3. A foldable curved series-parallel hybrid flexible manipulator according to claim 2, characterized in that: the upper moving plate, the left upper moving plate, the right upper moving plate, the lower moving plate, the left lower moving plate and the right lower moving plate form a square hole in the center.
4. A foldable curved series-parallel hybrid flexible manipulator according to claim 2, characterized in that: the inward unidirectional turning connection and the outward unidirectional turning connection are connected through single-sided sticking of a flexible adhesive tape.
5. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: the wire driving upper connecting plate/SMA driving upper connecting plate and the wire driving lower connecting plate/SMA driving lower connecting plate are triangular carbon fiber plates, and a plurality of wire routing holes, spring base mounting holes and driving wire holes are formed in the triangular carbon fiber plates.
6. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: the SMA drive spring is a memory alloy spring which is electrified, heated, extended and contracted at normal temperature.
7. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: set up motor drive, motor and main control board in the control box, motor drive links to each other with the motor, the motor includes drive wire motor and the executor motor that quantity and drive wire correspond, and the lead screw is connected to the output of drive wire motor, and the end-to-end connection of drive wire is on the lead screw, and the executor motor is connected with the executor, the main control board is connected with range finding sensor, acceleration sensor and visual identification sensor communication, the circular telegram of main control board control SMA drive spring.
8. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: the control box is also provided with a rocker module which is used as a second control scheme, and the rocker directly inputs the current position coordinate into the main control board.
9. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: the power supply is a 6S (22.2V) model airplane battery and is provided with an additional direct current adjustable voltage reduction plate, the output of the battery is divided into two parts, one part directly supplies power for the motor driver, and the other part supplies power for the main control board and the sensor after voltage reduction through the voltage reduction plate.
10. A foldable curved series-parallel hybrid flexible manipulator according to claim 1, characterized in that: the type of the main control board is STM32F407, the type of the motor is 42 stepping motors, the type of the motor driver is TB6600, the type of the ranging sensor is GP2Y0A21, the type of the acceleration angle sensor is MPU6050, the type of the visual identification sensor is OV5640, and the type of the direct-current adjustable voltage reducing board is LM 2596S.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147799.1A CN114393574A (en) | 2022-02-17 | 2022-02-17 | Foldable and bendable serial-parallel hybrid flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147799.1A CN114393574A (en) | 2022-02-17 | 2022-02-17 | Foldable and bendable serial-parallel hybrid flexible mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114393574A true CN114393574A (en) | 2022-04-26 |
Family
ID=81235193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210147799.1A Pending CN114393574A (en) | 2022-02-17 | 2022-02-17 | Foldable and bendable serial-parallel hybrid flexible mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114393574A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115488917A (en) * | 2022-08-29 | 2022-12-20 | 西南交通大学 | Manipulator and using method thereof |
| CN115625691A (en) * | 2022-09-08 | 2023-01-20 | 浙江大学 | Two-degree-of-freedom electric drive soft driver |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5035530A (en) * | 1988-10-17 | 1991-07-30 | Nippon Oil Co., Ltd. | Actuator utilizing shape memory alloy and articulated arm comprising this actuator |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
| CN109760103A (en) * | 2019-01-30 | 2019-05-17 | 天津理工大学 | A kind of bionical octopus arm two-stage driving gear and bionical octopus arm mechanism |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN113580119A (en) * | 2021-08-17 | 2021-11-02 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
-
2022
- 2022-02-17 CN CN202210147799.1A patent/CN114393574A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5035530A (en) * | 1988-10-17 | 1991-07-30 | Nippon Oil Co., Ltd. | Actuator utilizing shape memory alloy and articulated arm comprising this actuator |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
| CN109760103A (en) * | 2019-01-30 | 2019-05-17 | 天津理工大学 | A kind of bionical octopus arm two-stage driving gear and bionical octopus arm mechanism |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN113580119A (en) * | 2021-08-17 | 2021-11-02 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115488917A (en) * | 2022-08-29 | 2022-12-20 | 西南交通大学 | Manipulator and using method thereof |
| CN115625691A (en) * | 2022-09-08 | 2023-01-20 | 浙江大学 | Two-degree-of-freedom electric drive soft driver |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102039589B (en) | Modularized disaster rescue robot | |
| CN109434815B (en) | CPG model-based snake-shaped robot and joint track/rigidity control method thereof | |
| CN101045297A (en) | Distribution multiple freedom robot controlling system | |
| US11305420B2 (en) | Articulated multi-link robotic tail systems and methods | |
| CN201525024U (en) | Flexible two-wheel self-balance robot | |
| CN114393574A (en) | Foldable and bendable serial-parallel hybrid flexible mechanical arm | |
| CN110815245A (en) | Service robot for welcoming | |
| CN115431251B (en) | Humanoid robot upper limb | |
| CN201525026U (en) | Modular disaster relief robot | |
| CN113911223A (en) | Software robot and control method thereof | |
| CN219788351U (en) | Series-parallel hybrid flexible mechanical arm capable of being folded and bent | |
| Chen et al. | A soft, lightweight flipping robot with versatile motion capabilities for wall-climbing applications | |
| CN111993462A (en) | Flexible mechanical arm based on SMA drive multi-section rigid-flexible coupling | |
| CN102126220A (en) | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus | |
| CN109590992B (en) | Multi-joint parallel bionic robot | |
| CN116945225A (en) | Unmanned aerial vehicle flexible mechanical arm | |
| CN216577945U (en) | Follow-up wiring device for telescopic mechanical arm | |
| CN108673492A (en) | Modularization soft robot system based on webpage control | |
| CN114931439A (en) | Surgical robot and master manipulator for maintaining pose form | |
| CN217097854U (en) | Arm is used in teaching | |
| Calderon et al. | Humanoid social robots: A design for interaction | |
| CN113001516A (en) | Over-constrained amphibious robot | |
| CN109940582A (en) | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom | |
| CN214648664U (en) | Quadruped robot for teaching | |
| CN217453905U (en) | Teaching type six-axis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |