用于丝驱动连续体机器人的实用运动学研究

Practical kinematics research for wire-driven continuum robot

针对单段及多段连续体机器人运动学问题,提出分段常曲率与粒子群算法相结合的完整正逆运动学分析方法。以双段丝驱动连续体机器人为研究对象,首先设计含平移段的机器人样机;然后利用分段常曲率方法建立驱动空间与关节空间的相互映射,根据齐次变换得到关节空间至工作空间的正映射关系;最后利用线性递减权重粒子群算法实现工作空间至关节空间的逆映射。对双段连续体机器人的运动学进行仿真及逆运动学求解耗时测试,并在研制样机上进行了实验验证。仿真结果说明了所提运动学研究方法的合理性及逆运动学求解的快速性,实验结果显示位置平均误差小于双段连续体机器人本体长度的6.22%,验证了所提运动学的有效性。

Aiming at the kinematics of single-segment and multi-segment continuum robots,this paper proposed a complete forward and inverse kinematics analysis method combining segmented constant curvature and particle swarm algorithm.Taking the double-segment wire-driven continuum robot as the research object,it designed the robot prototype with translation segment.Then it established the mutual mapping between the driving space and the joint space using the piecewise constant curvature method,and obtained the positive mapping relationship from the joint space to the working space according to the homogeneous transformation.Finally,it used the linearly decreasing weight particle swarm algorithm to realize the inverse mapping from the workspace to the joint space.The kinematics of the two-segment continuum robot was simulated and the time-consuming test of the inverse kinematics solution was carried out,and carried out the experimental verification on the developed prototype.The simulation results show the rationality of the proposed kinematics research method and the rapidity of the inverse kinematics solution.The experimental results show that the average position error is less than 6.22%of the length of the two-segment continuum robot body,which verifies the effectiveness of the proposed kinematics.