连续软体机器人的结构范型与形态复现

doi:10.13973/j.cnki.robot.180287

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苏满佳, 张逸鸿, 谢荣臻, 朱海飞, 管贻生, 毛世鑫. 连续软体机器人的结构范型与形态复现[J]. 机器人, 2018, 40(5): 640-647,672.DOI: 10.13973/j.cnki.robot.180287. SU Manjia, ZHANG Yihong, XIE Rongzhen, ZHU Haifei, GUAN Yisheng, MAO Shixin. General Structural Pattern and Shape Reproduction for Soft Continuum Robot. ROBOT, 2018, 40(5): 640-647,672. DOI: 10.13973/j.cnki.robot.180287.

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摘要为提出连续软体机器人的设计与分析通用理论，根据当前连续软体机器人的运动特征和细长软体生物纵肌结构抽象出通用的结构范型（GSP），并由此建立了连续软体机器人在驱动空间、构型空间和任务空间中的一般运动学．针对这类机器人在构型空间中灵活运动或操作的需求，提出一种细长软体机器人对任意目标曲线的形态复现算法，并采用离散Fréchet距离评价形态复现的相似性．通过仿真和实验，以形状记忆合金（SMA）弹簧驱动的双软体模块机器人为例验证了结构范型与一般运动学的正确性．此外，以仿生运动曲线等为目标曲线，以组合案例分析曲线形状、关节数量和关节参数对复现效果的影响．结果表明，软体单元模块数量越多或其最大弯曲角越大，形态复现的相似性越高．

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	苏满佳
	张逸鸿
	谢荣臻
	朱海飞
	管贻生
	毛世鑫

关键词 ：连续软体机器人, 结构范型, 形态复现, 形态相似性

Abstract：For developing a general theory for design and analysis of soft continuum robot, this paper addresses a general structural pattern (GSP) based on the locomotion features of current continuum soft robots and the longitudinal muscle of slim creatures in the nature, and the corresponding kinematics of continuum soft robots in actuation space, configuration space and task space. To implement dexterous movement and operation by a continuum soft robot in configuration space, a shape reproduction algorithm for a slim soft robot to reproduce arbitrary curves and a shape similarity criterion for evaluating curves reproduction using discrete Fréchet distance are proposed as well. To verify the validity of GSP and its kinematics, simulations and experiments are carried out, using a modular continuum soft robot consisting of two soft modules actuated by SMA (shape memory alloy) springs. Moreover, taking the biomimetic movement curves as the objective curves, the effects of curve shape, section number and parameters on the reproduction performance are studied through many cases. It is shown that the more the soft section modules and the larger the maximum bending angle of a single section, the higher the shape similarity a continuum soft robot achieves.

Key words： continuum soft robot general structural pattern shape reproduction shape similarity

收稿日期: 2018-04-16 录用日期: 2018-07-23

TP242

基金资助:国家自然科学基金（51605096，51705086）；国家国际科技合作专项（2015DFA11700）；广东省自然科学基金（2015A030308011）；广东省前沿与关键技术创新专项（2015B010917003，2016B090911002，2017B050506008）

通讯作者: 管贻生,ysguan@gdut.edu.cn E-mail: ysguan@gdut.edu.cn

作者简介: 苏满佳(1988-),男,博士生.研究领域:仿生机器人,软体机器人.
张逸鸿(1994-),男,硕士生.研究领域:软体机器人,软介质建模.
谢荣臻(1995-),男,硕士生.研究领域:软体机器人及其运动规划

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.180287 或 https://robot.sia.cn/CN/Y2018/V40/I5/640

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