连续体机器人工作空间改进分析与仿真

Continuum robot workspace improvement analysis and simulation

首先介绍了连续体机器人的结构形式,然后对其进行正逆运动学建模,并利用传统蒙特卡洛法及Matlab软件对机器人的工作空间进行仿真分析。考虑到传统蒙特卡洛法散点分布不均匀等缺陷,通过采用正态分布生成部分边界值点的方法进行改进,改进后的工作空间散点图分布均匀,更接近实际工作空间。为进一步验证改进方法的优越性,将工作空间放置于长方体内并进行分割,对部分层所包络的工作空间面积进行对比,结果表明,总随机点数相当的情况下,改进方法精度明显优于传统算法,这为连续体机器人的结构设计和性能分析奠定理论基础。

The article first introduces the structure of the continuum robot,and then models its forward and inverse kinematics,and uses the traditional Monte Carlo method and Matlab software to simulate and analyze the robot's workspace.Considering the defects such as uneven distribution of scatter points in the traditional Monte Carlo method,the method of generating some boundary value points by using normal distribution was improved.The improved workspace scatter diagram has a uniform distribution and is closer to the actual workspace.In order to further verify the superiority of the improved method,the workspace was placed in a cuboid and divided,and the area of the workspace covered by some layers was compared.The results showed that when the total number of random points was equal,the accuracy of the improved method was obviously better than traditional algorithms,which lay a theoretical foundation for the structural design and performance analysis of continuum robots.