摘要
针对关节型机器人运动空间受限的缺点,设计一种无关节与连杆的连续型机器人,能柔顺而灵活地改变自身的形状与角度。通过对连续型机器人运动变形的几何特性分析,研究了其驱动与机器人运动变形的关系及运动空间,并通过ADAMS虚拟样机软件对连续型机器人进行刚柔耦合系统的参数化建模和运动学仿真,验证了连续型机器人运动学分析的正确性,为连续型机器人的设计与研制提供重要理论依据。
Aimed at the shortages of joint robot in hmited workspace,a kind of continuum robot without joints and links was designed,which could change its own shape and angle flexibly.Through the geometry characteristic analysis of continuum robot on deformation,the movement space and the relationship between the actuation and the deformation of continuum robot were studied.Also the parameterized modeling and the kinematics simulation for the rigid-flexible coupling system of continuum robot were done by the help of the virtual prototype software ADAMS.Finally the kinematics analysis of continuum robot is proved to be correct,and it will be an important theoretical basis for design research and manufacturing of continuum robot.
出处
《机床与液压》
北大核心
2013年第11期163-166,共4页
Machine Tool & Hydraulics
基金
广东省科技计划重点攻关资助项目(2009B010900041)
