摘要
面向复杂空间环境的需求,设计了一种新型线驱动连续型机械臂。基于几何分析方法提出了一种简单的线驱动连续型机械臂建模方法,分析了单级柔性关节的关节空间、驱动空间和操作空间之间的运动学映射关系,给出了三级柔性关节的解耦运动学算法,利用改进的蒙特卡洛法描述其工作空间,并用Matlab对机械臂进行运动学仿真,通过对原理样机的实验研究验证了运动学算法的正确性,同时展示了机械臂良好的弯曲能力。
In order to satisfy the requirements of complex space environment,a wire-driven multi-section continuous manipulator is designed.A simple modeling method for wire-driven continuous manipulators is presented based on geometric analysis method.The mapping relationship between joint space,driving space and operation space of the single section flexible joint are analyzed,and a decoupling kinematics algorithm for three sections manipulator is given.The manipulator workspace is described using improved Monte Carlo method.The kinematics simulation of the manipulator is carried out by using Matlab.The correctness of the kinematics algorithm is verified by the experimental study of the principle prototype,and the good bending ability of the manipulator is demonstrated.
作者
韦贵炜
徐振邦
赵智远
于阳
吴清文
Wei Guiwei;Xu Zhenbang;Zhao Zhiyuan;Yu Yang;Wu Qingwen(Space Robotics Engineering Center,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Center of Materials Science and Optoelectronics Engineering,University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《机械传动》
北大核心
2019年第11期32-38,53,共8页
Journal of Mechanical Transmission
基金
国家自然科学基金（11672290）
