摘要
针对机械臂在水下的复杂工作环境以及目前水下机械臂应用的受限性,提出一种线驱动软体机械臂,采用刚柔耦合的结构,利用电机驱动2根绳索,减少驱动单元,降低能耗,提高了机械臂的柔顺性,使其能够更好地适应水下复杂的工作环境和作业需求。同时,采用经典的Denavit-Hartenberg(D-H)建模思想结合克赛拉特杆理论(Cosserat rod theory)对其进行运动学分析。在现有软体机械臂控制方法上,设计试验平台,采用尖顶从动的控制方式检测误差并进行分析,验证了重力因素对软体机械臂控制精度的影响,为软体机械臂在水下应用的控制策略提供参考。
Aiming at the robotic arm under the complicated working environment and the drawbacks and shortcomings of the current application to the underwater manipulator,a line-driven software robot arm is proposed,which adopts a rigid-flexible coupling structure and uses the motor to drive two ropes to reduce drive unit,reduce energy consumption,improve the flexibility of the arm to better adapt to the complex underwater working environment and operation requirements.At the same time,the classical Denavit-Hartenberg(D-H)modeling theory is combined with the Cosserat rod theory to analyze its kinematics.On the existing software robot arm control method,the experimental platform is designed,and the error is detected and analyzed by the cusp driven control method.The influence of gravity factor on the control precision of the soft manipulator is verified,which provides a reference for the control strategy of the soft manipulator in underwater application.
作者
刘璇
陈卫
朱美龙
王天成
李磊焯
孔祥洪
LIU Xuan;CHEN Wei;ZHU Meilong;WANG Tiancheng;LI Leizhuo;KONG Xianghong(School of Engineering,Shanghai Ocean University,Shanghai 201800,China)
出处
《船舶工程》
CSCD
北大核心
2020年第6期21-25,76,共6页
Ship Engineering
关键词
水下软体
机械臂
刚柔耦合
重力因素
尖顶从动
underwater software
robot arm
rigid-flexible coupling structure
gravity factor
cusp driven
