一种基于脊柱结构原理的超灵巧机械臂设计

Design of Spine Structure Based Hyper-dexterous Manipulator

针对超灵巧机械臂既要确保灵巧和柔顺还应具有一定承受外部载荷能力的设计难点,通过对比分析与超灵巧机械臂相关的生物结构,包括以象鼻和章鱼触手为代表的无骨架类和以脊柱和鸟类颈部为代表的有骨架类的特性,发现哺乳动物脊柱的结构可以有效平衡灵巧性、柔顺性和负载能力之间的关系。在此基础上提出了一种基于脊柱结构原理的超灵巧机械臂,本体长约340 mm,最大直径39 mm,约占总长度的5.8%,剩下部分的直径为28 mm,本体重约500 g。该机械臂的负载能力通过刚度特性实验得到了验证,实验结果可为该机械臂在外部载荷作用下的应用提供参考。

The difficulty of the design of hyper-dexterous manipulator is to ensure the ability to bear external loading in the premise of ensuring the dexterity and compliance. To solve this problem, properties of typical biological structures related to hyper-dexterous manipulator were compared and analyzed. These biological structures can be divided into two categories. One category is the structure without skeleton such as the trunk and the octopus tentacles. The other one is with skeleton such as the spine of snakes,cervical spine of aves and spine of mammals. The results show that the spine of mammals can effectively balance the relationship between dexterity, compliance and load capacity. A hyper-dexterous manipulator with spine structure was presented. About 5. 8 % of its length was 340 mm with a maximum diameter of 39 mm and the remainder was 28 mm in diameter. The weight of the main body was about 500 g. Series of stiffness experiments were performed to investigate the load capacity of the manipulator. The results of experiments can provide a reference for the application of the manipulator under external loading.