摘要
常见的丝驱动蛇形臂机器人在末端受到外部横向力作用时易发生丝松弛现象,导致丝驱动蛇形臂机器人的构型不可控,这种特性即为被动柔顺特性。为解决被动柔顺问题,首先总结并分析了典型丝驱动蛇形臂机器人关节类型及其结构特点。其次以一种含有典型关节的丝驱动蛇形臂机器人为例,详细分析被动柔顺特性的产生机理,进而提出一种被动柔顺指标。通过研究丝驱动蛇形臂机器人的关节结构参数对被动柔顺指标的具体影响,得到了可避免被动柔顺特性的关节参数设计要求。在此基础上,建立3种不具有被动柔顺特性的丝驱动蛇形臂机器人构节。
The common cable-driven snake-arm robot is prone to loosening when the distal end is subjected to external lateral force,which may lead to an uncontrollable configuration.This phenomenon is referred to as passive compliance.To avoid the phenomenon,the joint configurations in cable-driven snake-arm robots and the structural characteristics of typical cable-driven snake-arm robots were firstly summarized and analyzed in this paper.Then,the passive compliance was discussed with the example of the snake-arm robot with pivot-based joints.Furthermore,a passive compliance index was proposed to analyze the influence of the joint parameters on passive compliance.As a result,the joint parameter design requirements which can avoid passive compliance are obtained.Finally,three different cable-driven snake-arm robots without passive compliance are established.
作者
刘北
尹来容
黄龙
胡波
LIU Bei;YIN Lairong;HUANG Long;HU Bo(School of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114,China;Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-performance Mechanical Equipment,Changsha University of Science and Technology,Changsha 410114,China)
出处
《机械科学与技术》
CSCD
北大核心
2022年第2期199-206,共8页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金青年项目(51805047,51705034)
湖南省自然科学基金项目(2019JJ50664,2018JJ3548)
湖南省教育厅科技项目(18C0237)。
关键词
丝驱动
蛇形臂机器人
被动柔顺
关节类型
关节参数设计
cable-driven
snake-arm robot
passive compliance
joint configuration
joint parameter design
