基于滚动接触的仿脊椎多向连续体机械臂的设计与实验

Design and Experiment of Spine-like Multi-directional Continuous Manipulators Based on Rolling Contact

针对刚性连续体以及柔性连续体在面对复杂、狭小的空间内的作业需求,基于滚动基础的原理设计了一种仿脊椎的连续体机械臂,在保证连续体单元滚动接触的前提下,可实现连续体多向的运动并减少了连续体各节段模块之间在运动时的相互干涉。设计的连续体单元结构简单,使用弹性绳成为单元之间的连接元件,具有多轴顺应性;对连续体建立运动学模型并进行了实验验证。结果表明,该连续体具备在非结构化环境下良好的适应能力和运动能力。

Aiming at the requirements of rigid and flexible continuum operations in complex and narrow spaces,a spine-like continuum robot is designed based on the principle of rolling foundation,which achieves multi-directional movement of the continuum and reduces the interference between various segments of the continuum during movement while ensuring the rolling contact of the elements of the continuum.After design,the continuum unit has a simple structure and simple process,and uses elastic ropes to connect elements between the units,with multi-axis compliance.The kinematic model of the continuum is established and verified by experiments.The experiments show that the continuum has the ability to move in unstructured environments and adapts well to the environment.