八自由度连续体操作臂的运动学分析与仿真

doi:10.3969/j.issn.1004-132X.2020.16.007

摘要/Abstract

摘要： 从内窥服务的灵活性与安全性角度出发，设计了一款具有柔性骨架通过套管拉线驱动的八自由度连续体操作臂，基于分段恒定曲率假设和旋量理论得到了操作臂的全局正逆运动学解析解。为实现气瓶、油箱以及口腔等小入口腔体内表面状态的自动内窥检测，提出了一种协调工作空间与关节空间的“双空间协同运动规划法”。最后，通过数值仿真验证了运动学模型和运动规划方法的有效性。

关键词: 连续体, 机器人, 操作臂, 运动学, 运动规划

Abstract: From the perspective of flexibility and safety of endoscopic services, an eight-degree-of-freedom continuum manipulator with flexible skeletons driven by casing cables was developed. Based on the assumption of piecewise constant curvature and screw theory, the analytical solutions of forward and inverse kinematic model of the manipulators were obtained. In order to realize automatic endoscopic detection of the inner surfaces of small-inlet cavities such as gas cylinder, oil tank and mouth, a dual-space coordinated motion planning method was proposed to coordinate the workspace and the joint space. Finally, the forward and inverse kinematic model and the motion planning method were validated by numerical simulations.

Key words: continuum, robot, manipulator, kinematics, motion planning

中图分类号:

TB242

李凤刚;赵磊;何广平;杨淼. 八自由度连续体操作臂的运动学分析与仿真[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.16.007.

LI Fenggang;ZHAO Lei;HE Guangping;YANG Miao. Kinematics Analysis and Simulation of Eight-degree-of-freedom Continuum Manipulators[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.16.007.

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链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2020.16.007

http://www.cmemo.org.cn/CN/Y2020/V31/I16/1950

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