基于绳索欠驱动的连续型机械臂设计及仿真

Design and Simulation of Continuous Manipulator Based on Cable Underactuation

针对太空狭小复杂的环境,提出一种基于绳索欠驱动的连续型机械臂,可降低驱动数量,适当降低控制难度,减小空间操作机械臂的体积和质量,同时可实现较大臂长。开展连续型机械臂的运动学分析与仿真,利用蒙特卡洛法得到连续型机械臂的工作空间;通过运动学映射关系,得到驱动绳索的控制位移量;通过力学分析得到驱动绳索的拉力,为后续试验提供了控制基础。

For narrow and complex space environments,an under-actuated continuous manipulator based on cable driving is provided,which can reduce controlled quantity,realize the reduction in size of the space manipulator and obtain the larger length of the manipulator.Based on the designed structure,kinematic analysis and simulation are developed.Finally,the workspace of the continuous manipulator is obtained by applying Monte Carlo method.And the displacement of the driving cables can be obtained.Besides,the applied force of the driving cables can also be acquired by mechanical analysis.All these can provide the foundation for the further experimental study.