变截面线驱动柔性机械臂运动学建模与分析  

Kinematic Modeling and Analysis of Wire-driven Flexible Manipulator with Variable Cross Section

作　　者：王涛[1] 李新宇[1] 杨琪[1] 王首超 赖磊捷[1] 

机构地区：[1]上海工程技术大学机械工程学院,上海201620

出　　处：《机械工程与自动化》2017年第2期49-50,共2页Mechanical Engineering & Automation

基　　金：上海市科学技术委员会重点支撑项目(12510501100);2016年上海市市级大学生创新训练项目资助(cs1601006)

摘　　要：针对柔性机械臂末端体积大难以适应微小空间操作的缺点,设计了一种变截面线驱动柔性机械臂,其末端直径较小,可顺利进入各种微小腔体进行作业。通过分析变截面柔性机械臂圆锥外形的结构特点,采用几何分析方法,建立了正逆运动学解析模型。基于此模型,对机械臂工作空间以及线驱动量与末端位姿之间的关系进行数值分析,验证了运动学模型的准确性,为实际设计提供了理论依据。Aiming at the shortcomings of large-volume tip of the flexible manipulator and being difficult to adapt the small operation space,this paper proposes a variable cross-section wire-driven flexible manipulator.The proposed flexible manipulator has the end with smaller diameter,and can enter into tiny cavity smoothly.By analyzing the structure characteristics of the conical shape of the flexible manipulator,the forward and inverse kinematics models are established by using the geometric analysis method.Based on the models,the working space and the relationship between the driving quantity and the pose of end effector are both analyzed numerically to verify the accuracy of the kinematics models,which can provide the theory basis for the practical design.

关 键 词：柔性机械臂 线驱动 运动学 几何分析法 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术] TH165[自动化与计算机技术—计算机科学与技术]