驱动解耦的滚动接触式连续体机械臂设计

Design of a Driven Decoupling Continuum Manipulator with Rolling Contact

本文基于滚动接触原理设计对称堆叠构型的连续体机械臂,并利用滚动接触式关节与曲柄铰接机构的几何关系,设计基于特殊线缆排布的解耦驱动装置,实现了机械臂驱动空间到关节空间上的解耦。实验证明:解耦机构具有较好的驱动空间解耦能力,且多段连续体机械臂能实现灵活的弯曲运动,并在狭小空间探测任务中具有良好的应用前景。

In this paper,based on the rolling contact principle,a continuous manipulator with symmetrical stacking configuration is designed.A decoupling drive device based on special cable arrangement is designed based on the geometric relationship between the rolling contact joint and the crank articulation mechanism,and the decoupling between the drive space of the manipulator and the joint space is realized.The experiments show that the decou⁃pling mechanism has a good drive space decoupling ability,and the multi-segment continuum manipulator can re⁃alize flexible bending motion,and has a good application prospect in narrow space detection tasks.