一种仿象鼻气动连续体机器人的结构设计

张启航; 邵敏; 任树雄; 贺晶奎; 王晶

doi:10.13433/j.cnki.1003-8728.20200551

一种仿象鼻气动连续体机器人的结构设计

doi: 10.13433/j.cnki.1003-8728.20200551

张启航^1,,
邵敏²,
任树雄¹,
贺晶奎¹,
王晶^1, ,

1.
西安交通大学机械工程学院，西安　710049
2.
西安交通大学工程坊，西安　710049

基金项目: 国家自然科学基金重点项目（51235009）

详细信息

作者简介:
张启航（1996−），硕士研究生，研究方向为机械系统动力学，1849375351@qq.com

通讯作者:
王晶，教授，jwang@xjtu.edu.cn

中图分类号: TH128
计量
- 文章访问数: 247
- HTML全文浏览量: 165
- PDF下载量: 43
- 被引次数: 0
出版历程
- 收稿日期: 2021-01-21
- 录用日期: 2021-12-17
- 刊出日期: 2022-09-05

Structural Design of a Pneumatic Trunk-type Continuum Robot

1.
School of Mechanical Engineering, Xi′an Jiaotong University, Xi′an 710049, China
2.
Engineering Workshop, Xi′an Jiaotong University, Xi′an 710049, China

摘要

摘要: 提出了气压驱动的仿象鼻连续体机器人结构设计的思路与方法，在对比分析象鼻与连续体机构的运动性能后，本仿象鼻气动机器人整体结构设计成多个构节串联的形式；通过分析机器人工作空间、灵巧度和可操作度等性能指标，确定机器人采用3构节串联形式；利用Adams仿真分析结果，对各构节最优的间隔盘数目、径向尺寸等设计参数进行了优选。结果表明，设计的机器人可以实现灵活的运动和目标物抓取功能，达到了设计目标。研究揭示了构节数目等设计参数对连续体机器人工作空间和运动学测度的影响。
- 仿生机器人 /
- 气压驱动 /
- 结构设计 /
- 性能参数
Abstract: In this paper, we put forward a method of structural design of the pneumatic trunk-type continuum robot, which structure is designed into multiple segments in series after analyzing the kinematic performance of the trunk and the continuum mechanism. Through analyzing its performance indexes including workspace, dexterity and maneuverability, we adopt three segments in series to design the robot. The optimal spacer's number and the radial dimension of every segment are determined by Adams simulation analysis. Results of the robot kinematic performance test show that the bionic robot designed in this paper achieves the design targets, that is flexible movement and grabbing target objects. This research reveals the influence of segment number and other design parameters on the workspace and kinematics measure of the continuum robot,
- bionic robot /
- pneumatic /
- structural design /
- performance parameter

HTML全文

图 1 连续体构节结构化简图

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图 2 气动肌肉实物图

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图 3 单个构节三维模型图

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图 4 单构节到五构节连续体机器人工作空间截面图

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图 5 2 ~ 5个构节连续体机器人雅克比矩阵的秩

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图 6 二构节到五构节连续体机器人雅克比矩阵条件数

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图 7 六自由度、八自由度、三构节机器人可操作度

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图 8 构节在空载下不同间隔盘数目n时的最大弯曲角度

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图 9 不同负载下弯曲角度与间隔盘数目n关系曲线

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图 10 空载时不同r值下构节的最大弯曲角度值

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图 11 2.0 kg负载下第一构节最大弯曲角度与r关系曲线

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图 12 仿象鼻气动连续体机器人结构组成图

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图 13 XZ平面内机器人实际工作空间截面图

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图 14 仿象鼻气动连续体机器人运动与抓取过程

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表 1 象鼻、单个连续体构节和多构节连续体机构变形特性

变形能力	象鼻	单个连续体构节	多构节连续体机构
伸长	幅度较小	√	√
弯曲	√	√	√
偏转	√	×	√
注：“√”表示具有该能力，“×”表示不具有该能力。

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表 2 波纹管参数表

总长/cm	中径/cm	节数	节距/cm
16	3.3	17	0.8

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表 3 仿象鼻气动连续体机器人空载变形能力与运动范围表

构节名称	运动性能
构节名称	长度区间/cm	弯曲区间/（°）	偏转区间/（°）
第一构节	[17.0,29.3]	[0,62.7]	−
第二构节	[16.8,29.1]	[0,82.5]	−
第三构节	[16.5,29.6]	[0,93.4]	−
整体	[63.3,101.0]	[0,238.6]	[−180,180]

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