摘要
狭窄空间、复杂结构环境等应用场景要求机器人具有较高的柔顺性、灵活性、适应性、安全性,传统机器人难以满足这些要求。对此,设计了一种绳驱动刚-柔-软耦合机器人。这一机器人由连续型关节和刚性离散型关节串联而成,既具有连续型机器人的柔顺性和适应性,又通过末端离散型关节弥补连续型关节转弯半径大等不足,提高机器人末端灵活性。这一机器人具有刚-柔-软耦合、串并联混合的特点,机器人逆运动学分析较为复杂,难以获得解析解。对此,提出一种基于复合形优化算法的逆运动学求解方法,具有较高的计算效率。在运动学建模分析的基础上,对这一机器人的工作空间进行了分析。
Narrow space,complex structural environment and other application scenarios require the robot to have better compliance,flexibility,adaptability and safety,while traditional robot is difficult to meet these requirements.In this regard,a cable-driven rigid-flexible-soft coupling robot was designed.The robot consists of continuous joint and rigid discrete joint in series,it not only has the compliance and adaptability of the continuous robot,but also compensates for the large turning radius of the continuous joint through the discrete end joint,therefore,robot end flexibility was improved.This robot has the characteristics of rigid-soft coupling and series-parallel hybrid,therefore,the analysis of the inverse kinematics of the robot is complicated and it is difficult to obtain the analytical solution.For this,an inverse kinematics solution method based on complex optimization algorithm was proposed,it has high computational efficiency.Finally,on the basis of kinematics modeling analysis,the working space of this robot was analyzed.
出处
《机械制造》
2024年第2期1-7,共7页
Machinery
基金
浙江省基础公益研究计划项目(编号:LGF22E050003)
宁波市重大科技任务攻关项目(编号:2022Z062,2021Z098)
宁波大学教研项目(编号:JYXMXZD2022111)。
关键词
机器人
刚性
柔性
耦合
绳驱动
设计
分析
Robot
Rigidity
Flexibility
Coupling
Cable-driven
Design
Analysis
