线驱动连续型机器人的运动学分析与仿真  

Kinematic Analysis and Simulation for Cable-driven Continuum Robot

作　　者：胡海燕[1] 王鹏飞[1] 孙立宁[1] 赵勃[1] 李满天[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《机械工程学报》2010年第19期1-8,共8页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划;2007AA042105);长江学者创新团队计划(IRT0423)资助项目

摘　　要：连续型机器人是一种柔顺、灵活性高的新型仿生机器人。与串并联机器人等传统的离散型机器人由离散的关节和连杆组成的结构不同,这种柔性的'无脊椎'机器人由柔性支柱构成,而没有任何刚性关节和连杆,因此无法利用传统的D-H方法对其进行运动学分析。在分析连续型机器人不同于传统离散型机器人的基础上,利用几何分析的方法提出一种简练、直观的线驱动连续型机器人运动学算法,对其单关节驱动空间、关节空间以及操作空间的映射关系进行分析,并描述其三维工作空间。针对线驱动机器人多关节之间存在耦合影响的问题,推导线驱动连续型机器人的两关节解耦运动学。同时在Matlab下对机器人末端位置和驱动线长度变化曲线进行仿真研究,并进行原理样机试验,验证了运动学算法的正确性并展示了其运动能力。Continuum robot is a new class of biologically inspired robot with good compliance and high dexterity.In contrast to traditional discrete robot such as serial robot or parallel robot,this class of flexible ＂invertebrate＂ robot features a continuous backbone with no rigid joints and links,thus its kinematic analysis can＇t be realized by the conventional D-H approach.Based on the analysis of the differences between continuum robot and discrete robot,a novel and simplified kinematics for cable-driven continuum robot is presented with geometric analysis method,the mapping relationships among simple joint drive space,joint space and operation space are analyzed,and the three-dimentional workspace is introduced.In view of the coupling influences between the joints of cable-driven robot,the decoupling kinematics of cable-driven continuum robot is deduced.The simulation of end position and length of cables and the prototype experiments are carried out to verify the correctness of kinematics algorithm and to show the motion performances.

关 键 词：连续型机器人 线驱动 仿生机器人 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]