基于微梁理论的线驱动仿生章鱼臂角度控制

Angle control of tendon-driven soft manipulator inspired by octopus arm based on cosserat beam

基于cosserat梁理论对线驱动型章鱼臂进行数学建模,利用Matlab实现手臂弯曲角度控制.在建立三维稳态章鱼操作臂的基础上,通过微分方程描述手臂形变,快速响应输入,并输出期望弯曲角度.利用相关性分析得到输入曲线斜率和输出章鱼臂曲线斜率的相关性为0.901 8,验证该方法有较高准确度,具有实际意义.该建模方法具有一般性,适用于其他种类的线驱动型操作臂.

A mathematical modeling about tendon-driven soft manipulator inspired by the octopus arm has been built,which based on the theory of cosserat beam.Then the angle control of bent arm was obtained by Matlab.On the basis of three-dimensional steady-state octopus manipulator,the deforma-tion was described through differential equations.This model is able to quickly respond to the input and outputs a desired bending angle.Utilizing the correlation analysis to compare the slope of input curve with output curve,then the result shows that 0.901 8.The result demonstrates higher accuracy and the model has practical significance.The model also can be used as a powerful design tool for many kinds of slender continuum manipulators driven by tendons because of its generality.