Design and Research on a Continuum Manipulator Based on Tensegrity Structure
LI Bingyu1, KAN Ziyun2,3, PENG Haijun2,4, ZHOU Wenya1, WU Zhigang4
1. School of Aeronautics and Astronautics, Dalian University of Technology, Dalian 116024, China; 2. Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China; 3. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China; 4. State Key Laboratory of Structure Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
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. ROBOT, 2020, 42(6): 686-696. DOI: 10.13973/j.cnki.robot.190642.
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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