一种仿象鼻气动连续体机器人的结构设计

Structural Design of a Pneumatic Trunk-type Continuum Robot

提出了气压驱动的仿象鼻连续体机器人结构设计的思路与方法,在对比分析象鼻与连续体机构的运动性能后,本仿象鼻气动机器人整体结构设计成多个构节串联的形式;通过分析机器人工作空间、灵巧度和可操作度等性能指标,确定机器人采用3构节串联形式;利用Adams仿真分析结果,对各构节最优的间隔盘数目、径向尺寸等设计参数进行了优选。结果表明,设计的机器人可以实现灵活的运动和目标物抓取功能,达到了设计目标。研究揭示了构节数目等设计参数对连续体机器人工作空间和运动学测度的影响。

In this paper,we put forward a method of structural design of the pneumatic trunk-type continuum robot,which structure is designed into multiple segments in series after analyzing the kinematic performance of the trunk and the continuum mechanism.Through analyzing its performance indexes including workspace,dexterity and maneuverability,we adopt three segments in series to design the robot.The optimal spacer's number and the radial dimension of every segment are determined by Adams simulation analysis.Results of the robot kinematic performance test show that the bionic robot designed in this paper achieves the design targets,that is flexible movement and grabbing target objects.This research reveals the influence of segment number and other design parameters on the workspace and kinematics measure of the continuum robot,