摘要
柔性连续体机器人在手术医疗、救险勘探和农业作业等领域得到了广泛应用,为了对其进行更广泛的应用和得到此类柔性体结构运动学理论,进而进行精确的姿态控制,提出了一种双臂三自由度柔性连续体机器人,并结合常曲率变形原理,建立了柔性连续体机器人弯曲变形运动的姿态参数运动学和驱动参数运动学的理论模型,分析了双臂协调运动工作可达空间.以运动理论模型为基础,运用MATLAB对三自由度柔性连续体机器人进行了变形运动仿真,并搭建了原理样机,对双臂柔性连续体机器人运动学理论模型的末端点轨迹和姿态进行了实验,验证了理论运动模型的准确性,并分析归纳了双臂三自由度柔性连续体机器人样机实验与理论误差的影响因素,其末端轨迹和整体姿态的理论与实验误差均不超过5.9%.
The continuum robot,which is different from the traditional rigid robot,consists of a flexible structure,and becomes a research hotspot in the field of robots,because of its good flexibility and adaptability in complex environments.Due to the advantages of the continuum robot,it can be applied in medication,exploration and agricultural operations.A cable-driven dual-arm continuum robot with three-degree freedom was proposed.The kinematics of posture parameters and driving parameters were established,and the dual-arm coordinated reachable work space was described according to the principle of constant curvature deformation,on the basis of which,the theoretical motion model of the continuum robot was simulated by using MATLAB,and experiments of the posture and the trajectory of the free-end of the dual-arm continuum robot was conducted on the prototype to verify the accuracy of the theoretical motion model.The factors influencing the experimental and theoretical errors of the robot were analyzed,and the theoretical and experimental errors of the trajectory and posture were no more than 5.9%.
作者
高国华
郑玉航
王皓
GAO Guohua;ZHENG Yuhang;WANG Hao(College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China)
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2020年第5期448-455,共8页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(51675011)。
