双并联机构耦合连续体机械臂的设计与实现

doi:10.16183/j.cnki.jsjtu.2021.060

摘要/Abstract

摘要：

设计并实现了具有5个定位自由度的连续体机械臂,以提高连续体机构在诸如腔内作业、轻物品抓取、人机协作等场景中的灵活定位能力.设计中,引入了二段定曲率模型,用旋量方法从几何上解释了该设计的自由度分配.两段可伸缩式并联机构的串联耦合,形成二段弯曲结构,其每一段有两个方向的弯曲自由度和一个伸缩自由度,从而组合出末端的5个自由度.围绕手臂的高动态性能,制作了样机的机电运动系统.实验结果表明,样机实现了连续体机械臂末端的自由度控制,可在2 s内到达极限姿态,其定位精度约为臂长的2%.

关键词: 连续体机器臂, 双并联机构, 耦合, 大变形, 定曲率模型

Abstract:

A 5-degree-of-freedom continuum manipulator is designed and implemented to improve the flexible positioning ability of the continuum mechanism in applications such as interactivity operations, light object grabbing, and human-machine collaboration. In the design process, by introducing a two-segment constant curvature model, the distribution of degrees of freedom on the mechanism is explained geometrically by the method of twist. Coupling two stretchable parallel modules in series, a two-segment structure is formed for curving and each segment has two degrees of freedom in bending and one degree of freedom in stretching, thereby giving 5 degrees of freedom to the end-effector. Concentrating on the dynamic performance of the manipulator, an electromechanical system platform is built as a prototype. The experiments show that the structure realizes the control of the end-effector during large deformation of the manipulator, and is able to achieve extreme pose in 2 s with an approximation positioning error of 2% of the nominal arm length.

Key words: continuum manipulator, double parallel mechanism, coupling, large deformation, constant curvature model

中图分类号:

TP241

吴灌伦, 施光林. 双并联机构耦合连续体机械臂的设计与实现[J]. 上海交通大学学报, 2022, 56(6): 809-817.

WU Guanlun, SHI Guanglin. Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism[J]. Journal of Shanghai Jiao Tong University, 2022, 56(6): 809-817.

图/表 15

图1

图2

图3

表1

表2

表3

图4

图5

图6

表4

图7

图8

图9

图10

表5

参考文献 15

[1]	徐凯, 刘欢. 多杆连续体机构: 构型与应用[J]. 机械工程学报, 2018, 54(13): 25-33. doi: 10.3901/JME.2018.13.025
	XU Kai, LIU Huan. Multi-backbone continuum mechanisms: Forms and applications[J]. Journal of Mechanical Engineering, 2018, 54(13): 25-33. doi: 10.3901/JME.2018.13.025
[2]	赵亮, 赵智远, 朱德勇, 等. 用于微创外科的线驱动连续型手术机器人设计与仿真研究[J]. 机电工程, 2020, 37(4): 451-455.
	ZHAO Liang, ZHAO Zhiyuan, ZHU Deyong, et al. Design and simulation of line-driven continuum surgical robot for minimally invasive surgery[J]. Journal of Mechanical & Electrical Engineering, 2020, 37(4): 451-455.
[3]	CHEN Y Y, ZHANG S A, WU Z H, et al. Review of surgical robotic systems for keyhole and endoscopic procedures: State of the art and perspectives[J]. Frontiers of Medicine, 2020, 14(4): 382-403. doi: 10.1007/s11684-020-0781-x URL
[4]	LIU S T, YANG Z X, ZHU Z J, et al. Development of a dexterous continuum manipulator for exploration and inspection in confined spaces[J]. Industrial Robot: An International Journal, 2016, 43(3): 284-295. doi: 10.1108/IR-07-2015-0142 URL
[5]	周圆圆, 李建华, 郭明全, 等. 连续体单孔手术机器人的建模与优化分析[J]. 机器人, 2020, 42(3): 316-324. doi: 10.13973/j.cnki.robot.190371
	ZHOU Yuanyuan, LI Jianhua, GUO Mingquan, et al. Modeling and optimization analysis of a continuum robot for single-port surgery[J]. Robot, 2020, 42(3): 316-324. doi: 10.13973/j.cnki.robot.190371
[6]	XU K, ZHAO J R, FU M X. Development of the SJTU unfoldable robotic system (SURS) for single port laparoscopy[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(5): 2133-2145. doi: 10.1109/TMECH.2014.2364625 URL
[7]	ZHAO B, ZENG L Y, WU B B, et al. A continuum manipulator with closed-form inverse kinematics and independently tunable stiffness[C]∥2020 IEEE International Conference on Robotics and Automation. Paris, France: IEEE, 2020: 1847-1853.
[8]	XU K, SIMAAN N. Intrinsic wrench estimation and its performance index for multisegment continuum robots[J]. IEEE Transactions on Robotics, 2010, 26(3): 555-561. doi: 10.1109/TRO.2010.2046924 URL
[9]	TILL J, BRYSON C E, CHUNG S, et al. Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators[C]∥2015 IEEE International Conference on Robotics and Automation. Seattle, WA, USA: IEEE, 2015: 5067-5074.
[10]	方跃法, 林华杰. 连续体并联抓取机器人的结构设计及运动学分析[J]. 北京交通大学学报, 2019, 43(4): 80-87.
	FANG Yuefa, LIN Huajie. Structural design and kinematics analysis of the continuum parallel grasping manipulator[J]. Journal of Beijing Jiaotong University, 2019, 43(4): 80-87.
[11]	WU G L, SHI G L. Experimental statics calibration of a multi-constraint parallel continuum robot[J]. Mechanism and Machine Theory, 2019, 136: 72-85. doi: 10.1016/j.mechmachtheory.2019.02.013 URL
[12]	WU G L, SHI G L, SHI Y L. Modeling and analysis of a parallel continuum robot using artificial neural network[C]∥2017 IEEE International Conference on Mechatronics. Churchill, VIC, Australia: IEEE, 2017: 153-158.
[13]	BRYSON C E, RUCKER D C. Toward parallel continuum manipulators[C]∥2014 IEEE International Conference on Robotics and Automation. Hong Kong, China: IEEE, 2014: 778-785.
[14]	汪培义, 郭盛, 王向阳, 等. 基于柔性并联连续体的灵巧操作手的设计及分析[J]. 机械工程学报, 2020, 56(19): 122-131. doi: 10.3901/JME.2020.19.122
	WANG Peiyi, GUO Sheng, WANG Xiangyang, et al. Design and analysis of a dexterous gripper based on flexible parallel continuum manipulator[J]. Journal of Mechanical Engineering, 2020, 56(19): 122-131. doi: 10.3901/JME.2020.19.122
[15]	TILL J, RUCKER D C. Elastic stability of cosserat rods and parallel continuum robots[J]. IEEE Transactions on Robotics, 2017, 33(3): 718-733. doi: 10.1109/TRO.2017.2664879 URL

j	ρ_j/ mm	θ_j_,_i/(°)
1	50	90, 330, 210, 270, 30, 150
2	50	90, 330, 210, 270, 30, 150
3	45	90, 330, 210, 270, 30, 150
4	40	90, 330, 210, 270, 30, 150
5	35	270, 30, 150
6	30	270, 30, 150

特性	取值
材料	玻璃纤维
直径/mm	3
密度/(kg·m^-3)	1.96×10³
弹性模量/Pa	4.1×10¹⁰

参数	取值
有效行程/mm	600
导程/mm	10
滑块额定速度/(mm·s^-1)	500
滑块推荐加速度/(mm·s^-2)	500
定位精度/mm	0.05

x/mm	z/mm	R_d,_x₁	R_d,_x₃
663	0	1	0
300	-400	0	-1
60	-450	-1	0
0	-420	-1	0

目标点 x/mm	目标点 z/mm	坐标版 x/mm	坐标版 z/mm	距离 D/mm
486.2	-406.5	480.5	-406.6	5.7
449.2	-582.9	447.5	-585.6	3.2
375.4	-590.0	378.9	-600.2	10.8
414.5	-390.5	422.8	-387.3	8.9
336.2	-390.1	342.5	-402.6	14.0