摘要
为了解决经狭窄腔对内部目标进行多自由度大范围检测的难题,设计了一种新型线驱动连续型机器人.首先运用几何分析对该机器人进行建模,研究了单组关节的驱动空间、关节空间和操作空间之间的运动学映射定量关系,并对其工作空间进行了分析.针对2组关节协同运动时存在的耦合问题,提出了一种新的运动学解耦算法,并对线驱动连续型机器人单组关节和2组关节运动学特性进行了仿真研究.结果表明:所设计的连续型机器人能够经狭窄腔实施大范围空间的多自由度检测作业,具有良好的弯曲性能,其单组关节最大作业半径为99.33 mm;所提出的解耦算法简明有效,为经狭窄腔对内部目标进行多自由度大范围检测的线驱动连续型机器人系统的研制奠定了理论和技术基础.
To solve the problem of multi-degree-of-freedom and wide range detection for the objects inside the narrow cavity,a novel wire-driven continuous robot was designed.First,a modeling method for the robot was presented based on geometric analysis.Then,the mapping relationships among driving space,joint space and operation space of the single joint segment were studied,and the workspace was analyzed.In view of the coupling influences between the joints,a novel decoupling kinematics algorithm was proposed.And the kinematics characteristics of a single-joint segment and a two-joint segment of the wire-driven continuous robot were simulated and investigated.The results demonstrate that the robot can perform multi-degree-of-freedom and wide range of detecting operations through a narrow cavity and has a good bending performance,its maximum working radius of a single-joint segment is 99.33 mm.The decoupling algorithm is more concise and effective,providing a theoretical and technical foundation for the development of the wire-driven continuous robot system for detecting internal targets in a wide range with multiple degrees of freedom through a narrow cavity.
作者
周正东
贾峻山
魏士松
刘传乐
章栩苓
毛玲
Zhou Zhengdong;Jia Junshan;Wei Shisong;Liu Chuanle;Zhang Xuling;Mao Ling(State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2020年第6期1030-1037,共8页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金资助项目(51575256)
江苏省重点研发计划(社会发展)重点资助项目(BE2017730)
重庆市产业类重点研发资助项目(重大主题专项项目)(cstc2017zdcy-zdzxX0007)
上海航天科技创新基金资助项目(SAST 2019-121)
江苏高校优势学科建设工程资助项目(PAPD).
