CN107745392B - Design method of bionic tension-compression system - Google Patents

Abstract

A design method of a bionic tension-compression system comprises the steps of forming a flexible component system with a multi-dimensional topological structure distribution by using a hard component in space contact, an active flexible component integrated with driving and transmission and a passive flexible component maintaining joint stability. The bionic robot designed by the method has stronger flexibility due to the high flexibility of the passive flexible component and the active driving flexible component in the self structure, reduces the impact and collision between the connecting components of the bionic robot, prolongs the service life of the components, and simultaneously improves the safety of human-machine physical contact. The active driving type flexible member in the bionic tension-compression system serves as a driver to provide power for the whole system, rapid energy transmission, distribution and management are carried out under the assistance of the passive flexible members distributed in a topological structure, and the hard members are driven to move at the same time, so that the energy consumption is reduced, and the bionic tension-compression system with self stability, self balance and impact resistance is formed.

Description

Design method of bionic tension-compression body system

technical field

The invention belongs to the technical field of bionic robots, in particular to a design method of a bionic tension-compression body system.

Background technique

Biomimetic robots are a combination of bionics and robotics application requirements. They have the characteristics of biology and robots at the same time. They have gradually shown good application prospects in environments that are not suitable for humans to undertake tasks such as anti-terrorism and explosion-proof, space exploration, rescue and disaster relief, etc. . Therefore, the research on the structural design of bionic robots has become one of the hot issues that scholars at home and abroad pay attention to.

The literature survey found that most of the joints of the current bionic robots are designed as rigid hinges or spherical hinges. Although this simplified connection method can ensure the required degree of freedom of movement, due to the high rigidity, it is easy to cause the robot to appear in motion. Poor adaptability, unnatural gait, and high energy consumption. Moreover, when the movement speed of the robot increases, high-frequency and high-amplitude torsion, shearing, bending and other loads are generated between the components, which inevitably causes violent collision and impact between the two rigid connecting components, which seriously affects the robot. service life and working reliability.

The current passive/semi-passive robots usually adopt the method of simplified structure and passive design to reduce energy consumption in system design, so they can only complete simple walking on slopes and planes, which is not practical. However, the drive systems of active control robots use relatively separate prime movers and transmission mechanisms to achieve power transmission. The drive transmission process requires multiple energy conversions, and the system drive transmission efficiency is not high; and most of the robot components are rigid components / The joints and the overall structure of the robot are too rigid, which may easily cause personal injury when the human-machine is in physical contact. Therefore, high energy consumption and poor safety of human-machine physical contact have become serious challenges for the performance improvement and practical application of bionic robots.

Studies have found that the movement of living things is mainly generated by the skeletal muscle system, which includes hard bones, cartilage, and flexible ligaments and muscles that realize energy flow in a complex three-dimensional spatial distribution. The bones and part of the cartilage constitute the basic framework of animals, and the bones are connected by joints. Ligaments are attached to the bones through a special topology, constraining the degrees of freedom between the bones and maintaining the flexibility and stability of the joints. Muscles and tendons provide energy as an integrated drive, transmission and transmission. Among them, the muscle provides traction through active contraction, and the tendon acts as a bridge between the muscle and the bone to transmit the traction force generated by the muscle contraction to the bone, thereby generating movement and managing the flow of energy. Therefore, the hard tissues (bone and cartilage) and soft tissues (ligaments, muscles, tendons, etc.) in the biological musculoskeletal system not only have completely different spatial distributions and configurations, but also play completely different roles in the transmission and drive of internal forces. Role. During exercise, the hard tissues (bones, cartilage) in the biological musculoskeletal system are mainly under pressure, while the soft tissues (ligaments, muscles, tendons, etc.) are mainly under tension, and the driving of the biological skeletal muscle system is completely driven by the soft tissues (muscles, etc.). , tendons, etc.). Inspired by this, the present invention proposes a design method for a bionic tension-compression body system.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a design method of a bionic tension-compression body system.

In the method, a flexible member with a multi-dimensional topology distribution is formed by using a rigid member in space contact, an active driving flexible member integrated with driving and transmission, and a passive flexible member maintaining joint stability.

A bionic tension-compression body system design method includes bionic tension-compression body design, bionic tension-compression body joint design, and bionic tension-compression body system design:

The bionic tension-compression body is:

A class of tension-compression ordered structures inspired by the biological skeletal muscle system;

The tension-compression ordered structure is a rigid-flexible coupling system composed of a flexible member under tension and a rigid member under compression according to a specific spatial topology; The shaped contact surfaces are in contact with each other and mainly transmit normal positive pressure, while the flexible components under tension include passive flexible components and actively driven flexible components, both passive flexible components and active driven flexible components. With a specific three-dimensional spatial distribution topology and three-dimensional geometric shape, the active-driven flexible member also has the characteristics of driving and transmission integration;

The bionic tension-compression body joint is:

A connection relationship formed by two hard components; here, one hard component can form a single joint with another hard component, or multiple joints can be simultaneously formed by one hard component and multiple hard components. The space position, space angle, movement form and structural stability of the bionic tension-compression body joint are completely determined by the flexible components, so it has the characteristics of high flexibility.

The bionic tension-compression body system is:

A tension-compression body containing n rigid components is a (n-1) order bionic tension-compression body system. That is, the tension-compression body containing only one rigid component is a zero-order bionic tension-compression system, the tension-compression body containing two rigid components is a first-order bionic tension-compression system, and the tension-compression body containing three rigid components is Second-order bionic tension-compression body system,

The present invention will take the second-order bionic tension-compression body system as an example to describe the design method of the bionic tension-compression body system.

The second-order bionic tension-compression body system includes a first rigid member, a second rigid member, a third rigid member, a first passive flexible member, a second passive flexible member, a third passive flexible member, Fourth passive flexible member, fifth passive flexible member, sixth passive flexible member, seventh passive flexible member, eighth passive flexible member, ninth passive flexible member, tenth passive flexible member Passive flexible member, eleven passive flexible member, first actively driven flexible member, second actively driven flexible member, third actively driven flexible member, fourth actively driven flexible member , a fifth active-driven flexible member, a sixth active-driven flexible member, and a seventh active-driven flexible member.

The first rigid member and the second rigid member, and the second rigid member and the third rigid member are all in contact with each other and mainly transmit normal positive pressure.

The first passive flexible member has three attachment points, two of which originate from the outer side of the first rigid member, and one attachment point ends at the outer side of the second rigid member, referred to as (1-2; 2-1) Type flexible components. The second passive flexible member has four attachment points, two attachment points originate from the outside of the first rigid member, and two attachment points end at the outside of the second rigid member, referred to as (1-2; 2-2) Type flexible components. The third passive flexible member, the tenth passive flexible member and the eleventh passive flexible member all have two attachment points, one attachment point starts from the outside of the second rigid member, and one attachment point ends at the third The outer side of the rigid member is called a (2-1; 3-1) type flexible member, which can effectively prevent excessive axial bending and torsion between the second rigid member and the third rigid member. The fourth passive flexible member is a spiral passive flexible member with two attachment points, one from the outside of the second rigid member, and the other from the outside of the third rigid member, called (2- 1; 3-1) type flexible member. The fifth passive flexible member and the sixth passive flexible member are parallel to each other, and both have two attachment points, one attachment point starts from the inner side of the second rigid member, and the other attachment point ends at the inner side of the third rigid member. It is called (2-1; 3-1) type flexible member. The seventh passive flexible member and the eighth passive flexible member are distributed across the inner side of the first rigid member and the second rigid member, and both have two attachment points, one attachment point originating from the inner side of the first rigid member, One attachment point ends at the inner side of the second rigid member, both of which are called (1-1; 2-1) type flexible members. The seventh passive flexible member and the eighth passive flexible member inside the first rigid member and the second rigid member are cross-distributed, and the fifth passive flexible member inside the second rigid member and the third rigid member The member and the sixth passive flexible member are parallel to each other. When the rigid member is connected with the passive flexible member, the passive flexible member has a certain degree of prestress, which can effectively prevent excessive axial direction between the two rigid members. bending. The ninth passive flexible member has two attachment points, one attachment point starts from the outside of the first rigid member, and the other attachment point ends at the outside of the second rigid member, which is called (1-1; 2-1) type Flexible components.

The first active-driven flexible member and the sixth active-driven flexible member have two attachment points, one from the first hard member and one from the second hard member, called (1). -1; 2-1) type flexible member. The second active-driven flexible member has two attachment points, one attachment point starts from the outside of the second rigid member, and one attachment point ends at the outside of the third rigid member, which is called (2-1; 3-1) type Flexible components. The third active-driven flexible member is composed of the first active-driven flexible member and the second active-driven flexible member. The two driving parts simultaneously form an active-driven flexible joint spanning two joints, so there are four One attachment point starts from the outside of the first rigid member, the other attachment point starts from the outside of the second rigid member, and one attachment point ends at the outside of the second rigid member, and the other attachment point ends at the second rigid member. The outer side of the three rigid members is called (1-1, 2-1; 2-1, 3-1) type flexible members. The fourth actively actuated flexible member has five attachment points and includes a drive portion, two of which originate from the outside of the first rigid member, one attachment point originates from the outside of the second rigid member, and two attachment points stop. On the outside of the third rigid member, an active drive type flexible joint spanning two joints is formed, which is called a (1-2, 2-1; 3-2) type flexible member. The fifth actively actuated flexible member has three attachment points, two of which originate from the outside of the second rigid member, and one attachment point ends on the outside of the third rigid member, called (2-2; 3-1) Type flexible components. The seventh actively actuated flexible member has three attachment points, two of which originate from the outside of the first rigid member, and one attachment point ends on the outside of the second rigid member, referred to as (1-2; 2-1) Type flexible components.

Therefore, in the present invention, there will be n ₁ attachment points originating from the rigid member m ₁ and the attachment area, and simultaneously originating from the rigid member m ₂ and having n ₂ attachment points in the attachment area, and originating from the rigid member m _i and The attachment area has n _i attachment points, ends at the rigid member p ₁ and the attachment area has q ₁ attachment points, and ends at the rigid member p ₂ and has q ₂ attachment points in the attachment area, and ends at the rigid member A flexible member with p _j and q _j attachment points in the attachment area is defined as (m ₁ -n ₁ , m ₂ -n ₂ , ... m _i -n _i ; p ₁ -q ₁ , p ₂ -q ₂ , ... p _j -q _j ) type flexible member. For example, will start from hard member 1 and have 2 attachment points, also start from hard member 2 and have 1 attachment point, end on hard member 3 and have 2 attachment points, and end at hard member 4 at the same time A passive flexible member with two attachment points is called a (1-2, 2-1; 3-2, 4-2) flexible member.

To sum up, there are many types of rigid components and flexible components in the bionic tension-compression body system. Among them, the contact surfaces of the hard components have a three-dimensional configuration, which can be in contact with each other and mainly transmit normal positive pressure. Flexible components can be classified in various ways in terms of shape, connection location, function and volume. For example, in terms of shape, the flexible components included in the second-order bionic tension-compression body system mentioned in the present invention include sheets and strips; in terms of connection position, there are internal cross-connection and external spiral connection. , can also be connected along the direction of hard components, multiple attachment points, etc.; functionally, there are passive and active drive types, in which active drive flexible components can pass through one or more joints, and can also be connected with passive Type flexible member connection. The flow of the design method based on the bionic tension-compression body system is shown in Figure 7. According to the design goals and the functions to be realized, researchers can carry out personalized functional design on the geometric shape, spatial configuration and topology structure of hard and flexible components.

The passive flexible members use only tension springs or tension ropes or only tension bionic materials, while the active drive flexible members use pneumatic artificial muscles or motors or new bionic drives.

The working principle of the bionic tension-compression body system:

The working principle of the second-order bionic tension-compression body system in the present invention is as follows:

The second hard member is in contact with the first hard member and the third hard member respectively and mainly transmits normal positive pressure.

The seventh passive flexible member and the eighth passive flexible member on the inner side of the contact surface of the first rigid member and the second rigid member are distributed crosswise, which not only plays the role of connecting the first rigid member and the second rigid member , and because the passive flexible member has a certain degree of prestress when connecting with the rigid member, it also effectively prevents excessive axial bending between the first rigid member and the second rigid member, while improving the joint stability. In addition, the second passive flexible member (four attachment points), the ninth passive flexible member (two attachment points) and the first passive flexible member outside the contact surface of the first rigid member and the second rigid member The mass members (three attachment points) form a spatial multi-dimensional topologically distributed structural system to maintain the structural stability between the first rigid member and the second rigid member, which can effectively prevent the first rigid member and the second rigid member. Excessive axial bending and torsion are produced between, and it has good compliance. The increase of attachment points between passive flexible components and rigid components helps to improve the stability of the entire bionic tension-compression body system.

The fifth passive flexible member and the sixth passive flexible member on the inner side of the contact surface of the second rigid member and the third rigid member are parallel to each other. When the rigid member and the passive flexible member are connected, the passive flexible member is The components have a certain degree of prestress, which can effectively prevent excessive axial bending between the two rigid components. The third passive flexible member, the tenth passive flexible member, the eleventh passive flexible member and the fourth spiral passive flexible member outside the second rigid member and the third rigid member can effectively prevent the Axial bending and torsion are generated between the second rigid member and the third rigid member, thereby improving joint stability and compliance.

The sixth actively driven flexible member (two attachment points) and the seventh actively driven flexible member (three attachment points) outside the contact surface of the first rigid member and the second rigid member constitute the drive to provide the first rigid member. The mass member and the second rigid member generate the energy required for relative motion, and the energy transmission, flow and management are realized by using the connecting part of the active driving flexible member. The number of attachment points connecting the active-driven flexible components and the hard components increases, which effectively increases the energy transmission channel and ensures the transmission and management of energy in the entire system.

In addition, a third active drive type flexible member, a fourth active drive type flexible member, and a fifth active drive type flexible member spanning two joints that connect the first rigid member, the second rigid member, and the third rigid member simultaneously The flexible member forms a spatially distributed topology, acts as a driver to provide driving, and controls the relative motion between the first rigid member and the second rigid member, and the second rigid member and the third rigid member, thereby providing the entire two The first-order bionic tension-compression body system provides energy.

By applying the design principle of the bionic tension-compression body system in the present invention to the design of the bionic robot, since the passive flexible components have prestress during assembly, the structural stability between adjacent rigid components can be maintained. Traditional bionic robots have poor flexibility due to the high stiffness of the connecting components. In contrast, the bionic robot designed by using the principle of the bionic tension-compression body system in the present invention has strong flexibility due to the high flexibility of the passive flexible member and the active-driven flexible member in its own structure, reducing bionics. The impact and collision between the connected components of the robot extend the service life of the components and improve the safety of physical contact between humans and machines.

The active-driven flexible components in the bionic tension-compression body system act as a driver to provide power to the entire system. With the assistance of passive flexible components distributed in a topological structure, the energy is rapidly transmitted, distributed and managed, while driving the rigid The components generate movement, which not only reduces energy consumption, but also forms a self-stabilizing, self-balancing, and shock-resistant bionic tension-compression body system.

The beneficial effects of the present invention

1. The bionic robot designed by the present invention has strong flexibility due to the high flexibility of passive flexible components and active driving flexible components in its own structure, reducing the impact and collision between the connecting components of the bionic robot and extending the components. service life, while improving the safety of human-machine physical contact. The active-driven flexible components in the bionic tension-compression body system act as a driver to provide power to the entire system. With the assistance of passive flexible components distributed in a topological structure, the energy is rapidly transmitted, distributed and managed, while driving the rigid The components generate movement, which not only reduces energy consumption, but also forms a self-stabilizing, self-balancing, and shock-resistant bionic tension-compression body system.

2. The present invention can be applied to the mechanical design of bionic robots and bionic machine systems, such as walking robots, service robots, medical robots, prosthetics, exoskeletons, mechanical arms, etc., and the driving flexible components can be used as power systems for bionic robots. The speed and position of the robot are actively controlled to provide technical support for the practical application of new high-performance bionic robots in the future.

Description of drawings

FIG. 1 is a front view of the second-order bionic tension-compression body system of the present invention.

FIG. 2 is a left side view of the second-order bionic tension-compression body system of the present invention.

3 is a right side view of the second-order bionic tension-compression body system of the present invention.

4 is a rear view of the second-order bionic tension-compression body system of the present invention.

5 is a schematic structural diagram of the inner flexible member between the first rigid member and the second rigid member of the present invention.

FIG. 6 is a partial enlarged view of part A in FIG. 5 .

FIG. 7 is a design flow chart of the bionic tension-compression body system of the present invention.

Wherein: 1—the first rigid component; 2—the second rigid component; 3—the third rigid component; 4—the first passive flexible component; 5—the second passive flexible component; 6—the third Passive flexible member; 7-fourth passive flexible member; 8-fifth passive flexible member; 9-sixth passive flexible member; 10-seventh passive flexible member; 11-eighth Passive flexible member; 12-ninth passive flexible member; 13-tenth passive flexible member; 14-eleven passive flexible member; 15-first active driving flexible member; 16- The second active drive type flexible member; 17—the third active drive type flexible member; 18—the fourth active drive type flexible member; 19—the fifth active drive type flexible member; 20—the sixth active drive type flexible member mass member; 21—the seventh active drive type flexible member.

Detailed ways

Please refer to FIGS. 1 , 2 , 3 , 4 and 5 , the second-order bionic tension-compression body system in the present invention includes a first rigid member 1 , a second rigid member 2 , and a third rigid member 3. The first passive flexible member 4, the second passive flexible member 5, the third passive flexible member 6, the fourth passive flexible member 7, the fifth passive flexible member 8, the sixth passive flexible member type 9, seventh passive type flexible member 10, eighth passive type flexible member 11, ninth passive type flexible member 12, tenth passive type flexible member 13, eleventh passive type flexible member 14. The first active driving flexible member 15, the second active driving flexible member 16, the third active driving flexible member 17, the fourth active driving flexible member 18, the fifth active driving flexible member 19. The sixth active-driven flexible member 20 and the seventh active-driven flexible member 21 .

The first rigid member 1 and the second rigid member 2, and the second rigid member 2 and the third rigid member 3 are in contact with each other and mainly transmit normal positive pressure.

The first passive flexible member 4 has three attachment points, two of which originate from the outer side of the first rigid member 1, and one attachment point ends at the outer side of the second rigid member 2; the second passive flexible member The member 5 has four attachment points, two attachment points originating from the outside of the first rigid member 1 and two attachment points ending outside the second rigid member 2 . The third passive flexible member 6 , the tenth passive flexible member 13 and the eleventh passive flexible member 14 all have two attachment points, one attachment point originating from the outside of the second rigid member 2 , and one attachment point It ends at the outside of the third hard member 3 . The fourth passive flexible member 7 is a spiral passive flexible member with two attachment points, one attachment point starts from the outside of the second rigid member 2 , and one attachment point ends at the outside of the third rigid member 3 . The fifth passive flexible member 8 and the sixth passive flexible member 9 are parallel to each other and have two attachment points, one attachment point starts from the inner side of the second rigid member 2, and the other attachment point ends at the third rigid member 3 inside. The seventh passive flexible member 10 and the eighth passive flexible member 11 are distributed across the inner side of the first rigid member 1 and the second rigid member 2, and both have two attachment points, and one attachment point starts from the first rigid member. Inside the rigid member 1 , an attachment point ends at the inside of the second rigid member 2 .

The seventh passive flexible member 10 and the eighth passive flexible member 11 are distributed inside the first rigid member 1 and the second rigid member 2, the fifth passive flexible member 8 and the sixth passive flexible member The members 9 are parallel to each other and are located between the second rigid member 2 and the third rigid member 3. When the rigid member is connected to the passive flexible member, the passive flexible member has a certain degree of prestress, which can effectively prevent the Excessive axial bending occurs between the first rigid member 1 and the second rigid member 2 and between the second rigid member 2 and the third rigid member 3 . The ninth passive flexible member 12 has two attachment points, one attachment point starts from the outer side of the first rigid member 1 , and the other attachment point ends at the outer side of the second rigid member 2 .

The first active driving flexible member 15 and the sixth active driving flexible member 20 have two attachment points, one attachment point starts from the outside of the first rigid member 1, and the other attachment point ends at the second rigid member. outside of the mass member 2. The second actively driven flexible member 16 has two attachment points, one attachment point starts from the outside of the second rigid member 2 , and one attachment point ends at the outside of the third rigid member 3 . The third actively-driven flexible member 17 is composed of the first actively-driven flexible member 15 and the second actively-driven flexible member 16, has two driving parts, and simultaneously forms an actively-driven flexible joint spanning two joints , so there are four attachment points, one of which starts from the outside of the first rigid member 1, the other attachment point starts from the outside of the second rigid member 2, and one attachment point ends at the outside of the second rigid member 2, The other attachment point ends outside the third rigid member 3 . The fourth actively actuated flexible member 18 has five attachment points, including a drive portion, two of which originate from the outside of the first rigid member 1, one attachment point originates from the outside of the second rigid member 2, and two The attachment point ends outside the third rigid member 3 . The fifth actively driven flexible member 19 has three attachment points, two of which originate outside the second rigid member 2 and one attachment point ends outside the third rigid member 3 . The seventh actively driven flexible member 21 has three attachment points, two of which originate from the outside of the first rigid member 1 , and one attachment point ends at the outside of the second rigid member 2 .

Claims (2)

1. a bionic tension-compression body system design method, is characterized in that: comprise bionic tension-compression body design, bionic tension-compression body joint design and bionic tension-compression body system design: The bionic tension-compression body is: A class of tension-compression ordered structures inspired by the biological skeletal muscle system; The tension-compression ordered structure is a rigid-flexible coupling system composed of a flexible member under tension and a rigid member under compression according to a specific spatial topology; The shaped contact surfaces are in contact with each other and mainly transmit normal positive pressure, while the flexible components under tension include passive flexible components and actively driven flexible components, both passive flexible components and active driven flexible components. With a specific spatial topology and three-dimensional geometry, the active-driven flexible member also has the characteristics of driving and transmission integration; The specific spatial topology described, its structure is: The second passive flexible member, the ninth passive flexible member and the first passive flexible member outside the contact surface of the first rigid member and the second rigid member form a multi-dimensional topology distribution structure in space; A third actively driven flexible member, a fourth actively driven flexible member, and a fifth actively driven flexible member spanning two joints connecting the first rigid member, the second rigid member and the third rigid member To form a topological structure of spatial distribution; The bionic tension-compression body joint is: A connection relationship formed by two hard components; here, a hard component can form a single joint with another hard component, or a hard component and multiple hard components can simultaneously form multiple joints; bionic tension and compression The spatial position, spatial angle, motion form and structural stability of the body joints are completely determined by the flexible components, so they have the characteristics of high flexibility; The bionic tension-compression body system is: A tension-compression body containing n rigid components is a (n-1)-order bionic tension-compression body system, that is, a tension-compression body containing only one rigid component is a zero-order bionic tension-compression body system, and a The tension-compression body is a first-order bionic tension-compression body system, and the tension-compression body containing three rigid components is a second-order bionic tension-compression body system; will originate from the rigid member m ₁ and have n ₁ attachment points in the attachment area, simultaneously originate from the rigid member m ₂ and have n ₂ attachment points in the attachment area, and originate from the rigid member m _i and have n _i in the attachment area 1 attachment points to the hard member p ₁ and q ₁ attachment points in the attachment area, and q 2 attachment points to the hard member p ₂ and q 2 attachment points in the attachment area, and q ₂ attachment points to the hard member p _j and the attachment area A flexible member with q _j attachment points is defined as (m ₁ -n ₁ , m ₂ -n ₂ , ... m _{i -ni} ; p ₁ -q ₁ , p ₂ -q ₂ , ... p _j -q _j ) type flexible member; will start from the first rigid member (1) and have 2 attachment points, simultaneously start from the second rigid member (2) and have 1 attachment point, and end at the third rigid member ( 3) and has 2 attachment points, and ends at the fourth actively driven flexible member (18) and a passive flexible member with 2 attachment points is called (1-2, 2-1; 3-2, 4-2) type flexible member; where m ₁ , m ₂ , _mi , n, n ₁ , n ₂ , n _i , p ₁ , p ₂ , p _j , q ₁ , q ₂ , and q _j are natural numbers, i and j are natural numbers. 2. A method for designing a bionic tension-compression body system according to claim 1, characterized in that: the second-order bionic tension-compression body system comprises a first hard component (1), a second hard component (2) ), a third rigid member (3), a first passive flexible member (4), a second passive flexible member (5), a third passive flexible member (6), and a fourth passive flexible member member (7), fifth passive flexible member (8), sixth passive flexible member (9), seventh passive flexible member (10), eighth passive flexible member (11), Nine passive flexible members (12), ten passive flexible members (13), eleven passive flexible members (14), first active driving flexible members (15), second active driving flexible members Flexible member (16), third actively driven flexible member (17), fourth actively driven flexible member (18), fifth actively driven flexible member (19), sixth actively driven flexible member a member (20), a seventh active drive type flexible member (21); The first rigid member (1) and the second rigid member (2), the second rigid member (2) and the third rigid member (3) are all in contact with each other and mainly transmit the normal positive pressure ; The first passive flexible member (4) has three attachment points, wherein two attachment points start from the outside of the first rigid member (1), and one attachment point ends at the outside of the second rigid member (2); The second passive flexible member (5) has four attachment points, two attachment points start from the outside of the first rigid member (1), and two attachment points end at the outside of the second rigid member (2); the third The passive flexible member (6), the tenth passive flexible member (13) and the eleventh passive flexible member (14) have two attachment points, and one attachment point originates from the second rigid member (2). ) outside, one attachment point ends at the outside of the third rigid member (3); the fourth passive flexible member (7) is a spiral passive flexible member with two attachment points, one starting from the second rigid member The outer side of the rigid member (2), an attachment point ends at the outer side of the third rigid member (3); the fifth passive flexible member (8) and the sixth passive flexible member (9) are parallel to each other, and there are two Attachment points, one attachment point starts from the inner side of the second rigid member (2), and one attachment point ends at the inner side of the third rigid member (3); the seventh passive flexible member (10) and the eighth passive flexible member The members (11) are distributed across the inner side of the first rigid member (1) and the second rigid member (2), and each has two attachment points, one attachment point originating from the inner side of the first rigid member (1), and one attachment point stop at the inner side of the second hard member (2); The seventh passive flexible member (10) and the eighth passive flexible member (11) are distributed across the inside of the first rigid member (1) and the second rigid member (2), and the fifth passive flexible member (8) and the sixth passive flexible member (9) are parallel to each other, located between the second rigid member (2) and the third rigid member (3), when the rigid member is connected to the passive flexible member , the passive flexible member has a certain degree of prestress, which can effectively prevent the first rigid member (1) and the second rigid member (2), the second rigid member (2) and the third rigid member (3). Excessive axial bending occurs between ); the ninth passive flexible member (12) has two attachment points, one attachment point starts from the outside of the first rigid member (1), and the other attachment point ends at the second rigid member (2) Outside; The first active drive type flexible member (15) and the sixth active drive type flexible member (20) have two attachment points, one attachment point starts from the outside of the first rigid member (1), and one attachment point is attached to the outside of the first rigid member (1). The point ends at the outside of the second rigid member (2); the second active drive flexible member (16) has two attachment points, one attachment point starts from the outside of the second rigid member (2), and one attachment point ends at The outside of the third rigid member (3); the third actively driven flexible member (17) is composed of a first actively driven flexible member (15) and a second actively driven flexible member (16), there are two The drive part, meanwhile, forms an active drive flexible joint spanning two joints, so there are four attachment points, one of which is from the outside of the first rigid member (1), and the other is from the second rigid The outer side of the member (2), while one attachment point ends at the outer side of the second rigid member (2), and the other attachment point ends at the outer side of the third rigid member (3); the fourth active drive type flexible member (18) has Five attachment points, including a drive section, two attachment points from the outside of the first rigid member (1), one attachment point from the outside of the second rigid member (2), and two attachment points ending in the third The outer side of the rigid member (3); the fifth actively driven flexible member (19) has three attachment points, two of which originate from the outer side of the second rigid member (2), and one attachment point ends at the third rigid member The outer side of the member (3); the seventh actively driven flexible member (21) has three attachment points, two of which originate from the outer side of the first rigid member (1), and one attachment point ends at the second rigid member ( 2) Outside.

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