线驱动的连续体机器人设计与实现

Design and realization of wire-driven continuum robot

面向"中国制造2025"中对机器人技术人才的需求,该文探索将产、学、研、用引入到机器人研发型人才培养机制,实施以学生为主体的项目驱动式机器人培养模式,设计制作了一种线驱动的连续体机器人。机器人本体包含3个万向节,每个关节以3根线缆拉伸控制其关节旋转。通过对机器人本体进行运动学分析,建立了机器人关节旋转角度与电机角度之间的关系。采用3-D打印方式制作完成本体,采用Arduino控制电机运动。经过多次测试,该机器人运动灵活、定位准确。

In order to meet the demand of robot talents in "Made in China 2025", this paper explores upon the introduction of production, learning, research and application into the training mechanism for robot R&D talents, and implements the project-driven robot training model with students as the main body. In this paper, a wire-driven continuum robot is designed and manufactured. The robot body consists of three universal joints, and each joint is stretched by three cables to control its joint rotation. Through the kinematics analysis of the robot body, the relationship between the rotation angle of the robot joint and the angle of the motor is established. The 3-D printing method is used to complete the body, and Arduino is used to control the motor movement. After many tests, the robot can move flexibly and locate accurately.