软体机械手遥操作系统的设计与分析

doi:10.3969/j.issn.1004-132X.2020.16.009

摘要/Abstract

摘要： 面向气动软体机械手在远程非结构化环境下作业的工作需求，搭建了软体机械手遥操作系统。基于“快速气动网络”及模块化可拆卸原则，设计制作了软体弯曲致动器，根据实验需要组装成仿人手形软体机械手。在Yeoh模型基础上建立了软体致动器的力学模型并借助仿真分析加以修正，为软体致动器的控制提供了理论依据。设计了遥操作系统的总体结构，提出了气动软体机械手的驱动模式与控制策略，在C#窗体应用程序中开发了客户端软件。基于蒙皮技术在3D Max软件中对软体致动器进行建模，在Unity3D中搭建了虚拟作业场景，通过脚本程序设计实现远地端反馈信息对软体末端的运动控制和对目标对象的碰撞与拾取。开展软体致动器弯曲角度与充气气压实验，验证分析力学模型的准确性；开展遥操作手势映射实验，分析与探讨软体机械手遥操作系统的可行性及其进一步研究与应用。

关键词: 软体机械手, 遥操作, 力学建模, 手势映射

Abstract: Aiming at the requirements of pneumatic soft manipulators working in remote unstructured environments, a teleoperation system of pneumatic soft manipulators was built. Based on the principle of “fast pneumatic network” and modular disassembly, a flexible bending actuator was designed and manufactured. A hand-like flexible manipulator was assembled according to the experimental requirements. The mechanics model of the soft actuator was established based on Yeoh model, and was revised by simulation analysis, which provided a theoretical basis for the control of the soft actuator. The architecture of the teleoperation system was designed, the driving mode and control strategy of the pneumatic soft manipulators were put forward. The client software interface was created in the C# windows application. Based on skinning technology, the soft actuator was modeled in 3D Max software, and a virtual working scene was built in Unity3D. The motion control of the soft manipulators and the collision and picking of the target objects were realized by remote feedback information through script programming. Experiments for finding the relationship between the bending angle of the soft actuator and pressure were carried out to verify the accuracy of the analytics mechanics model. And the teleoperation gesture mapping experiments were carried out to analyze the feasibility of the teleoperation systems, and the further research and applications were discussed.

Key words: soft manipulator, teleoperation, mechanics model, gesture mapping

中图分类号:

TP242

姚建涛;陈新博;陈俊涛;魏纯杰;张帅;李海利;赵永生. 软体机械手遥操作系统的设计与分析[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.16.009.

YAO Jiantao;CHEN Xinbo;CHEN Juntao;WEI Chunjie;ZHANG Shuai;LI Haili;ZHAO Yongsheng. Design and Analysis of Soft Manipulator Teleoperation Systems[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.16.009.

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http://www.cmemo.org.cn/CN/Y2020/V31/I16/1968

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