Three-degree-of-freedom composite flexible bionic ball-and-socket joint

• Main Authors: LUO QIANYU, ZHANG XIULI
• Format: Patent
• Language: Chinese; English
• Published: 17.12.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a three-degree-of-freedom composite flexible bionic ball-and-socket joint, and belongs to the technical field of robots. The three-degree-of-freedom composite flexible bionic ball-and-socket joint comprises a ball-and-socket base, a ball socket, a ball head, a first deflection driving structure, a second deflection driving structure, a torsion driving structure, a pneumatic corrugated pipe, a driving motor and an air pump; the bottom of the ball socket is fixedly connected with the ball-and-socket base, and the ball head is matched with the ball socket and can rotate in the ball socket; the first deflection driving structure, the second deflection driving structure and the torsion driving structure are connected to the ball socket, the ball-and-socket base and the ball head correspondingly and jointly drive a ball head output shaft to rotate around the ball socket in a three-degree-of-freedom mode; and the joint is driven to rotate through a rope, the joint rigidity is changed through