仿象鼻绳驱连续型机械臂结构设计及运动学分析

Structure Design and Kinematics Analysis of Rope-Driven Continuous Bionic Elephant-Trunk Robot Arm

机械臂在水下探测与资源开发中起着至关重要的作用,针对传统刚性机械臂体积大和复杂狭窄环境通过能力差的问题,设计了一种仿象鼻连续型机械臂。基于坐标变换法构建了机械臂的运动学模型,完成正逆运动学求解,对机械臂单关节、多关节进行仿真分析,结果表明机械臂具有较高的柔顺性及灵活性。

The robot arm plays a vital role in underwater exploration and resource development,and an elephant-trunk continuous manipulator is designed to solve the problems of large volume and poor passage ability in complex and narrow environments for traditional rigid manipulator.Based on the methods of coordinate transformation,the kinematics model of the robot arm is constructed,the forward and reverse kinematics are solved,and the single-joint and multi-joint of the manipulator are simulated and analyzed,and it is demonstrated that the manipulator has high compliance and flexibility.