李冰玉, 阚子云, 彭海军, 周文雅, 吴志刚. 基于张拉整体结构的连续型弯曲机械臂设计与研究[J]. 机器人, 2020, 42(6): 686-696. DOI: 10.13973/j.cnki.robot.190642
引用本文: 李冰玉, 阚子云, 彭海军, 周文雅, 吴志刚. 基于张拉整体结构的连续型弯曲机械臂设计与研究[J]. 机器人, 2020, 42(6): 686-696. DOI: 10.13973/j.cnki.robot.190642
LI Bingyu, KAN Ziyun, PENG Haijun, ZHOU Wenya, WU Zhigang. Design and Research on a Continuum Manipulator Based on Tensegrity Structure[J]. ROBOT, 2020, 42(6): 686-696. DOI: 10.13973/j.cnki.robot.190642
Citation: LI Bingyu, KAN Ziyun, PENG Haijun, ZHOU Wenya, WU Zhigang. Design and Research on a Continuum Manipulator Based on Tensegrity Structure[J]. ROBOT, 2020, 42(6): 686-696. DOI: 10.13973/j.cnki.robot.190642

基于张拉整体结构的连续型弯曲机械臂设计与研究

Design and Research on a Continuum Manipulator Based on Tensegrity Structure

  • 摘要: 为实现对目标物体的缠绕捕获,利用张拉整体结构质量轻、变形大等特点,提出一种基于张拉整体结构的连续型机械臂的设计.本文首先设计连续型机械臂的结构,建立其力学模型.通过准静态和动态分析,对不同驱动形式下的连续型机械臂运动进行仿真,并在实验平台上验证所建力学模型的准确性,最后分析了其工作空间及奇异位姿.实验结果表明本文设计的连续型机械臂可以实现弯曲缠绕变形,满足对不同大小物体进行缠绕捕获的需求.

     

    Abstract: To realize the winding capture of the target object, a continuum manipulator based on the tensegrity structure is proposed, taking advantages of the characteristics of the tensegrity structure of light weight and high deformability. Firstly, the structure of the continuum manipulator is designed, and its mechanical model is established. By quasi-static and dynamic analysis, the movement of the manipulator in different driving modes is simulated. Then the accuracy of the mechanical model is verified on the experiment platform. Finally, the workspace and singular pose are analyzed. The experimental results show that the designed continuum manipulator can achieve bending and winding deformation, and meet the requirements of winding capture of the objects with different sizes.

     

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