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

doi:10.16183/j.cnki.jsjtu.2021.060

Abstract

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

CLC Number:

TP241

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.

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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