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丝驱动蛇形臂机器人的被动柔顺特性分析

刘北 尹来容 黄龙 胡波

刘北, 尹来容, 黄龙, 胡波. 丝驱动蛇形臂机器人的被动柔顺特性分析[J]. 机械科学与技术, 2022, 41(2): 199-206. doi: 10.13433/j.cnki.1003-8728.20200340
引用本文: 刘北, 尹来容, 黄龙, 胡波. 丝驱动蛇形臂机器人的被动柔顺特性分析[J]. 机械科学与技术, 2022, 41(2): 199-206. doi: 10.13433/j.cnki.1003-8728.20200340
LIU Bei, YIN Lairong, HUANG Long, HU Bo. Passive Compliance Analysis of Cable-driven Snake-arm Robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2022, 41(2): 199-206. doi: 10.13433/j.cnki.1003-8728.20200340
Citation: LIU Bei, YIN Lairong, HUANG Long, HU Bo. Passive Compliance Analysis of Cable-driven Snake-arm Robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2022, 41(2): 199-206. doi: 10.13433/j.cnki.1003-8728.20200340

丝驱动蛇形臂机器人的被动柔顺特性分析

doi: 10.13433/j.cnki.1003-8728.20200340
基金项目: 

国家自然科学基金青年项目 51805047

国家自然科学基金青年项目 51705034

湖南省自然科学基金项目 2019JJ50664

湖南省自然科学基金项目 2018JJ3548

湖南省教育厅科技项目 18C0237

详细信息
    作者简介:

    刘北(1997-), 硕士研究生, 研究方向为机器人机构学, 蛇形臂机器人, 1448813556@qq.com

    通讯作者:

    黄龙, 讲师, 硕士生导师, huanglongin@foxmail.com

  • 中图分类号: TP242.3

Passive Compliance Analysis of Cable-driven Snake-arm Robots

  • 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。
  • 图  1  典型的单自由度关节与多自由度关节

    图  2  丝驱动蛇形臂机器人构节的理想状态

    图  3  被动柔顺特性

    图  4  对称情形的定轴转动关节

    图  5  非对称情形的定轴转动关节

    图  6  定轴转动关节参数对Δll2lr2的影响

    图  7  含有柔性关节的对称情形

    图  8  非对称情形的柔性关节

    图  9  柔性关节参数对Δll4lr4的影响

    图  10  柱面滚动关节

    图  11  柱面滚动关节参数对Δll5lr5的影响

    图  12  3种蛇形臂机器人构节

    图  13  弯曲角度对Δlllr的影响

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出版历程
  • 收稿日期:  2020-07-25
  • 刊出日期:  2022-02-25

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