线驱动软体机器人工作空间与最大理论负载分析

Analysis of Workspace and Maximum Theoretical Load of Wire Driven Continuous Soft Robot

针对软体机器人建模复杂,难以对机器人性能指标进行分析的问题,提出了基于SOFA仿真框架的软体机器人工作空间和最大理论负载的计算方法。首先,设计了线驱动连续型软体机器人,拉动线缆使线缆长度发生变化,迫使机器人本体产生形变,实现对物体的操作;然后,提出了线驱动软体机器人的Monte Carlo工作空间算法,得到工作空间内的离散点;其次,通过α-shape算法对离散点进行三维重构,并提出了以边界曲面的体积为指标确定了参数α的最优值,计算曲面体积得到了工作空间大小;最后,以拉伸量允许的范围内能否实现对不同质量物体的提升作为最大负载衡量标准,对软体机器人的最大理论负载进行了理论分析。实验结果表明,相较于传统刚体机器人,本文设计的线驱动软体机器人工作空间分布更加均匀;提出的算法能够准确快速地计算软体机器人的工作空间。

Aiming at the problem that the modelling of soft robot is complex and it is difficult to analyse the performance index of the robot, a calculation method of the working space and the maximum theoretical load of the soft robot based on the SOFA simulation framework is proposed.First, a wire-driven continuous soft robot is designed.Pulling the cable changes the length of the cable, forcing the robot body to deform to realize the operation of the object.Then, the Monte Carlo workspace algorithm of the wire-driven soft robot is proposed, and the discrete points in the workspace are obtained.Secondly, the discrete points are reconstructed in 3D by the α-shape algorithm, and the optimal value of the parameters α is determined by taking the volume of the boundary surface as an index, and the size of the workspace is obtained by calculating the volume of the surface.Finally, the theoretical analysis of the maximum theoretical load of the soft robot is carried out by taking whether the lifting of objects of different masses can be achieved within the allowable range of the stretching amount as the maximum load criterion.The experimental results show that: Compared with the traditional rigid robot, the workspace distribution of the wire-driven soft robot designed in this paper is more uniform;the proposed algorithm can calculate the workspace of the soft robot accurately and quickly.