基于旋量法的连续体搜救机器人运动学分析

Kinematic analysis of continuum robots for search and rescue by screw theory

研制了一套连续体搜救机器人,整个机器人由两个关节段组成,每段可实现两个弯曲自由度,通过六根驱动线的协调控制来改变整个机器人的运动姿态.采用旋量理论和指数积方法建立此机器人的运动学模型,完成了正运动学及雅可比矩阵的求解,并且基于旋量理论采用Paden-Kahan子问题完成了逆运动学的求解.在Matlab中对其运动学算法进行了仿真分析,验证了运动学算法的正确性,结果表明旋量法可有效描述连续体搜救机器人的弯曲运动.

A new type of continuum robot was developed, which was composed of two sections with two bending degrees of freedom, and the position and orientation of this robot was controlled coordi- nately by the six drive lines. The kinematic model of this robot was established by the screw theory and exponential product formula. The solution of the forward kinematics and Jacobian matrix was de- duced, and the inverse kinematics was got with Paden-Kahan sub problems. In order to validate the kinematics model, the kinematic algorithm was simulated by Matlab. The result indicates the correct- ness of the kinematics algorithm, and the screw theory can be used to describe the bending motion of the continuum robot for search and rescue.