Multi-degree-of-freedom continuum robot with flexible target grasping function

US11945110B2 · kind B2 · utility

Assignee

• Dalian University of Technology · CN

Inventors

• Haijun Peng · Suzhou, CN
• Jie Zhang · Suzhou, CN
• Zhigang Wu · Suzhou, CN
• Ziyun Kan · 东风镇, CN
• Fei Li · Nanhu, CN
• Jinzhao Yang · 东风镇, CN

Key dates

• Filing date: Apr 1, 2020
• Grant date: Apr 2, 2024
• Expiry date: Aug 22, 2041

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J18/06
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A multi-degree-of-freedom continuum robot with a flexible target grasping function comprises a driving device module, a trunk simulation module and a nimble finger module. The trunk simulation module is composed of a rotary compression module and a bending compression module. Each module has a unified connection interface reserved at the end, and is combined and assembled according to actual needs. The driving module is arranged on the base of the robot to realize the driving operation of all cables to control the motion of the robot. The rotary compression module can simultaneously generate the motion in the forms of rotation and compression, thereby compensating for the defect of blind angle of the bending compression module. The bending compression module can realize compression deformation and bending deformation of the module independently. The nimble finger module realizes a grasping function by multi-finger collaboration.