上海交通大学学报

上海交通大学学报 >

2022 , Vol. 56 >Issue 6: 809 - 817

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2021.060

机械与动力工程

双并联机构耦合连续体机械臂的设计与实现

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  • 上海交通大学 机械与动力工程学院,上海 200240
吴灌伦(1990-),男,内蒙古自治区赤峰市人,博士生,主要从事连续体机械臂研究.

收稿日期: 2021-02-26

  网络出版日期: 2022-07-04

基金资助

国家自然科学基金资助项目(51475285)

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Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism

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  • School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2021-02-26

  Online published: 2022-07-04

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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

本文引用格式

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 . DOI: 10.16183/j.cnki.jsjtu.2021.060

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

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