气动连续型机器人设计及运动学分析

Design and Kinematics Analysis of Pneumatic Continuum Robot

针对传统工业机器人柔性不足的情况,根据象鼻仿生学基本原理,采用气动柔性驱动器(FPA),设计了气动连续型机器人的机械结构,并基于"头部引导法"进行了运动学分析,设计了相应的测控系统。系统实现连续型机器人弧长、偏转角度、曲率实时检测,并将检测数据传输至上位机。由上位机实现机器人位姿实时计算。最后加工制作了该连续型机器人原型,并实现了抓取实验,原型机可实现200 g以内物体卷绕抓取,弯曲角度控制精度小于10°。

Aiming at the flexible shortage of traditional industrial robots, the structure mechanism of a pneumatic continuum robot is designed and inspired by fundamental priciple of elephant trunk bionics. The robot was driven by flexible pneumatic actuator （ FPA）, its mechanical structure was designed, and a corresponding measurement and control system was designed based on Kinemat- ics analysis according to the ＂head-leading＂ method. A real time measurement and test were achieved to the robot＇s arc length, angle of deflection and curvature, and the measured data was transferred to a host computer to implement and calculate the robot＇s position and posture in real time. Finally, a prototype of continuum robot was manufactured. Grasping experiment is conducted, which proves that the robot can achieve and grab objects less than 200 g in a way of winding and bending, and the bending angle control precision is less than 10°.