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气动连续型机器人设计及运动学分析
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浙江省教育厅资助项目(Y201431568)


Design and Kinematics Analysis of Pneumatic Continuum Robot
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    摘要:

    针对传统工业机器人柔性不足的情况,根据象鼻仿生学基本原理,采用气动柔性驱动器(FPA),设计了气动连续型机器人的机械结构,并基于“头部引导法”进行了运动学分析,设计了相应的测控系统。系统实现连续型机器人弧长、偏转角度、曲率实时检测,并将检测数据传输至上位机。由上位机实现机器人位姿实时计算。最后加工制作了该连续型机器人原型,并实现了抓取实验,原型机可实现200 g以内物体卷绕抓取,弯曲角度控制精度小于10°。

    Abstract:

    Aiming at the flexible shortage of traditional industrial robots,the structure mechanism of a pneumatic continuum robot is designed and inspired by fundamental priciple of elephant trunk bionics.The robot was driven by flexible pneumatic actuator (FPA),its mechanical structure was designed,and a corresponding measurement and control system was designed based on Kinematics analysis according to the “head-leading” method. A real time measurement and test were achieved to the robot's arc length,angle of deflection and curvature, and the measured data was transferred to a host computer to implement and calculate the robot's position and posture in real time.Finally,a prototype of continuum robot was manufactured.Grasping experiment is conducted,which proves that the robot can achieve and grab objects less than 200 g in a way of winding and bending,and the bending angle control precision is less than 10°.

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邵铁锋.气动连续型机器人设计及运动学分析[J].机床与液压,2017,45(21):39-42.
. Design and Kinematics Analysis of Pneumatic Continuum Robot[J]. Machine Tool & Hydraulics,2017,45(21):39-42

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  • 在线发布日期: 2018-03-22
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