基于柔性并联连续体的灵巧操作手的设计及分析

Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

提出了一种新型4-DOF柔性并联连续体机构,将该机构与末端绳驱动的抓手相结合,设计完成具有灵活抓取性能的操作手。将该柔性机构通过柔性支链等效的方式等效为传统刚性连杆的并联机构,并且运用螺旋理论对该机构进行自由度分析;采用经典的Cosserat Rod模型对机构进行运动学建模;通过对比分析三种并联连续体机构的可操作度,4-DOF并联连续体机构由于具有一个额外的扭转自由度,使得操作手能够更加灵活地抓取物体,在此基础上给出了一组操作手抓取的仿真实例。最后通过试验验证机构自由度以及运动学模型的数值解,并且实现操作手灵活抓取的性能。

A new four-degree-of-freedom parallel continuum manipulator is presented,which was combined with a cable-driven gripper to improve the performance of dexterous grasp.This manipulator is approximately equivalent to the traditional rigid link parallel mechanism by complaint branch equivalent method,and the degree of freedom analysis of the manipulator is performed by using the screw theory.The classic Cosserat Rod model is applied to model the kinematics of the continuum manipulator.By comparative analysis among three types of parallel continuum manipulator,the proposed manipulator can provide an additional torsional movement which make the gripper grasp the object more flexibly.Based on this,a simulation example of dexterous grasp is given.Finally,experiments verify the degree of freedom and kinematics of the manipulator and the performance of flexible grasping of the gripper.