Modular high-redundancy multi-freedom-degree flexible mechanical arm system
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The invention relates to a modular high-redundancy multi-freedom-degree flexible mechanical arm system, which comprises N sections of mechanical arm modules, wherein the N is a natural number being greater than 1; each single section of mechanical arm module has three freedom degrees which respectively include two bending freedom degrees and a feeding freedom degree; the adjacent mechanical arm modules are nested and combined together and can oppositely move. The system also comprises a machine frame, a first section of mechanical arm module is arranged on the machine frame and can outwards extend relative to the machine frame; each of other sections of mechanical arm modules can outwards extend stage by stage, and can realize the bending movement in the extending process; feeding mechanisms are arranged between the machine frame and the first section of mechanical arm module and between the adjacent mechanical arm modules; the feeding movement is realized. Compared with the prior art, the modular high-redundancy multi-freedom-degree flexible mechanical arm system has the advantages that the moving capability is high; the modular high-redundancy multi-freedom-degree flexible mechanical arm system can work in a complicated narrow space; the load is higher; the precision is higher, and the like.