基于Cosserat力学理论的仿生机械臂建模

Modeling of Biomimetic Manipulator Based on Cosserat Mechanics Theory

针对软体动物运动不确定性导致建模难度大的问题,基于Cosserat力学理论构建章鱼仿生机械臂运动学方程和动力学方程,分别采用数值法和Newton-Euler迭代法对方程进行求解,得到仿生机械臂的运动轨迹;搭建章鱼仿生机械臂实验平台进行验证。结果表明:章鱼仿生臂末端的运动误差与理论误差坐标相差7.2 mm,位移误差和速度误差逐步趋近于0。验证了模型及求解方法的可行性,为解决软体机械臂建模的不确定性提供新的参考。

To overcome the difficulty in modeling caused by the uncertainty of mollusc motion,the kinematics and dynamics equations of Octopus bionic manipulator are constructed based on the discretization characteristics of Cosserat mechanics theory,and numerical method and Newton-Euler iterative method are applied respectively to solve the equations,so as to abtain the motion trajectory of the bionic manipulator.The experimental platform of Octopus bionic manipulator is built for verification.The results show that the motion error of the octopus bionic arm end is 7.2 mm different from the theoretical error coordinate;the displacement error and velocity error of Octopus bionic arm gradually approach zero,which verifies the feasibilty of above-mentioned models and equations,and provides new reference for solving the uncertainty of software manipulator modeling.