The invention discloses a flexible capturing robot based on rope driving, which comprises a base, first joints are mounted at the triangular positions of the base, first rods are mounted on the first joints, second joints are mounted at the ends, away from the first joints, of the first rods, second rods are mounted on the second joints, and the second rods are mounted on the second joints. One end of the second rod extends to one side of the first joint and is provided with a third joint, and the third joint is provided with a third rod. The mechanical arm structure is formed by connecting the first rod, the second rod, the third rod and the connecting joint which can rotate, the occupied space is small in the folded state, the capturing space is large in the unfolded and enveloped state, and the capturing effect is good. The folding states of the three mechanical arms are completely consistent, the three mechanical arms are distributed on the base in an equilateral triangle structure, the three ropes are folded together on the base and driven by the same motor, and therefore controllability and sensitivity are improved.
本发明公开了一种基于绳索驱动的灵巧捕获机械人,包括底座,所述底座的三角处均安装有一号关节,所述一号关节上安装有一号杆,所述一号杆远离一号关节的一端安装有二号关节,所述二号关节上安装有二号杆,所述二号杆一端延伸至一号关节一侧并且安装有三号关节,所述三号关节上安装有三号杆,本发明中的机械臂结构由三根可转动的一号杆、二号杆、三号杆和连接关节相连而成,折叠状态下的占用空间小,展开及包络状态下的捕获空间大,三根机械臂的折叠状态完全一致,在底座上成等边三角形结构分布,三根绳索在底座上被收拢到一起,由同一电机驱动,从而提高可控性和灵敏性。
Flexible capturing robot based on rope driving
一种基于绳索驱动的灵巧捕获机械人
2025-02-11
Patent
Electronic Resource
Chinese
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