绳驱动连续型机械臂设计

Design of Cable-driven Continuum Mechanical Arm

结合国内外连续型机械臂的研究成果,设计了一种新型基于球铰关节连续型机械臂,建立了其运动学模型,对多关节运动进行解耦分析,并研制了原理样机,最后还进行了相关的实验研究及分析。

In this paper,a novel continuum robot with a series of ball-joints is presented,which is based on the relevant research both at home and aboard.The kinematics model of the continuum robot is established,the decoupling analysis on the movement of joints is conducted,and the principle prototype is developed.At last,the relevant experiment is carried out to test the performance of the prototype.