线驱动的连续体机器人设计与实现

In order to meet the demand of robot talents in “Made in China 2025”, this paper explores upon the introduction of production, learning, research and application into the training mechanism for robot R&D talents, and implements the project-driven robot training model with students as the main body. In this paper, a wire-driven continuum robot is designed and manufactured. The robot body consists of three universal joints, and each joint is stretched by three cables to control its joint rotation. Through the kinematics analysis of the robot body, the relationship between the rotation angle of the robot joint and the angle of the motor is established. The 3-D printing method is used to complete the body, and Arduino is used to control the motor movement. After many tests, the robot can move flexibly and locate accurately.