Inverse Displacement Analysis of a Hyper-redundant Elephant＇s Trunk Robot  

作　　者：Yongjie Zhao Lei Jin Peng Zhang Jianyuan Li 

机构地区：[1]Department of Mechatronics Engineering, Shantou University, Shantou 515063, China

出　　处：《Journal of Bionic Engineering》2018年第2期397-407,共11页仿生工程学报（英文版）

基　　金：Acknowledgment This work is supported by the National Natural Science Foundation of China （Grant No. 51375288）, the Science and Technology Program of Guangdong Province （Grant No. 2015B090906001） and Shantou （Grant No. 2016-51）, and the Special Research Foundation of Discipline Construction of Guangdong Province （Grant No.2013KJCX0075）. The authors would also like to thank the anonymous reviewers for their very useful comments.

摘　　要：This paper deals with inverse displacement analysis of a Hyper-redundant Elephant＇s Trunk Robot （HRETR）. The HRETR is connected in series with n modules of 3UPS-PRU parallel mechanism where the underline P denotes an active prismatic joint. Based on the idea of differential geometry, backbone curve of the robot is formulated by using a parametric fimction consisting of sub-fimctions and control parameters. A general algorithm for generating a backbone curve and fitting the modules to the backbone curve is proposed. In this way, the inverse displacement analysis of the robot can be carried out by solving the inverse displacement problem of each parallel mechanism module and taking into account the length limits of the links. A HRETR with 6 modules is taken as an example to demonstrate the applicability of the algorithm.This paper deals with inverse displacement analysis of a Hyper-redundant Elephant＇s Trunk Robot （HRETR）. The HRETR is connected in series with n modules of 3UPS-PRU parallel mechanism where the underline P denotes an active prismatic joint. Based on the idea of differential geometry, backbone curve of the robot is formulated by using a parametric fimction consisting of sub-fimctions and control parameters. A general algorithm for generating a backbone curve and fitting the modules to the backbone curve is proposed. In this way, the inverse displacement analysis of the robot can be carried out by solving the inverse displacement problem of each parallel mechanism module and taking into account the length limits of the links. A HRETR with 6 modules is taken as an example to demonstrate the applicability of the algorithm.

关 键 词：inverse displacement analysis hyper-redundant bionic robot elephant＇s trunk robot 3UPS-PRU parallel mechanism backbone curve 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU991.33[自动化与计算机技术—控制科学与工程]