一种面向航天需求的仿生柔性机械臂的设计

Design of Bionic Flexible Arm in Aerospace Demand

针对航天器舱内环境的障避实际需求,基于自然界象鼻的内部肌肉结构分布特点,设计一种多冗余自由度仿生柔性机械臂。该机械臂由8个柔性关节组成,每个柔性关节具有3个自由度,相比传统机械臂,具有结构紧凑、刚度较高、运动灵活、操作空间广泛等特点。针对所提出的单个柔性关节与多个关节组成的仿生柔性机械臂进行运动学建模分析。利用制作的仿生柔性机械臂,进行航天避障任务试验,验证了该机械臂结构的可行性。

Aiming at the actual needs of obstacle avoidance in the orbital module environment,and based on the distribution of internal muscle structure of the natural elephant trunk,a multi-redundancy degree of freedom bionic flexible manipulator is designed.The mechanical arm is composed of eight flexible joints with three degrees of freedom.Compared with the conventional mechanical arms,it is the characteristic of compact structure,high rigidity,flexible movement and wide operating space.A kinematic modeling analysis is performed for the proposed single flexible joint and a bionic flexible mechanical arm with a plurality of joints.The bionic flexible mechanical arm made is used to make the specific aerospace obstacle avoidance experiment,thus verifying the feasibility of this mechanical arm structure.