连续型机器人运动学仿真和操控系统设计  

Kinematics simulation and control system design of continuous robot

作　　者：牛国臣[1] 张云霄 NIU Guochen;ZHANG Yunxiao(Robotics Institute,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学机器人研究所,天津300300

出　　处：《智能系统学报》2020年第6期1058-1067,共10页CAAI Transactions on Intelligent Systems

基　　金：天津科技支撑计划项目(17ZXHLGX00120);中央高校基本科研业务费项目(3122019043).

摘　　要：为了适应越来越复杂的非结构化环境,设计了一种基于球铰链连接和柔性支撑杆结合的线驱动连续型机械臂,并基于常曲率模型的假设建立连续型机器人的运动学模型,研究连续型机器人驱动映射关系,利用MATLAB进行运动学和驱动映射的仿真,仿真结果表明连续型机器人的空间优越性。搭建三关节连续型机器人样机平台,基于连续型机器人的特点设计末端关节跟随手柄操作模式,并在样机平台上实验验证,实验结果表明了运动学模型和驱动映射关系的合理性和正确性以及操控方式的可行性。To enable robotic adaptation to increasingly complex unstructured environments,we designed a wire-driven continuous manipulator that combines a spherical joint and flexible support rod.To study the drive-mapping relation of the continuous robot,we established a kinematics model based on the assumptions of the constant curvature model,and we used MATLAB to simulate the kinematics and drive mapping.The spatial superiority of the continuous robot is demonstrated by the simulation results.We built a prototype platform for the three-joint continuous robot,and designed the handle operation mode for the end joint based on the characteristics of the robot.Experimental verification was performed on the prototype platform.Our experimental results verify both the rationality and correctness of the kinematic model and drive mapping relationship and the feasibility of the manipulation method.

关 键 词：连续型机器人 末端跟随 操控方式 运动学模型 柔性机械臂 空间转换 手柄控制 三关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]