仿象鼻气动连续体机器人的运动学建模与运动控制  

Kinematic Modeling and Motion Control of a Pneumatic Trunk-Type Continuum Robot

作　　者：张启航 邵敏 任树雄 李源 王晶[1] ZHANG Qihang;SHAO Min;REN Shuxiong;LI Yuan;WANG Jing(School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China;Engineering Workshop, Xi’an Jiaotong University, Xi’an 710049, China)

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学工程坊,西安710049

出　　处：《西安交通大学学报》2021年第8期25-32,共8页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金重点资助项目(51235009)。

摘　　要：为了解决连续体机器人运动学建模的难题并实现机器人的位姿控制,以自行研制的一种仿象鼻型气动连续体机器人为例,先忽略机器人自重和负载,做出连续体构节变形后其中心线上各部分曲率保持一致的假设,通过推导,得到了连续体构节变形参数(s、k、φ)与构节长度(l1、l2、l3)之间的关系表达式。将连续体构节离散为关节变量,参考D-H法建立了该机器人的运动学模型,设计了机器人的气动系统并对机器人进行运动数据采集。将实际采集数据代入上述模型中来确定模型参数,在一定程度上弥补了因忽略机器人自重和负载而产生的模型误差,提高了运动控制精度。机器人的抓取实验结果表明:按实际采集数据确定参数的常曲率运动模型,可以应用于连续体机器人的位姿控制;对比机器人末端的仿真计算轨迹和实际轨迹,得到最大运动误差为6.3 cm,误差主要来源于系统误差、模型误差和测量误差3个方面。研究工作对于同类型连续体机器人的实用化与位姿实时控制研究具有重要的参考价值。To realize kinematics modeling of continuum robot and realize its position control,under the assumptions that the self-weight and load are ignored and the curvature of each part on the center line of the continuum structure is consistent after deformation,a self-developed pneumatic trunk-type continuum robot is taken as an example and the relationship of deformation parameters(s,k,φ)with length of continuum nodes(l1,l2,l3)is obtained.The kinematic model of the robot is constructed by referring to D-H method after discretizing continuum components as joint variables.The robot pneumatic system is designed and its motion data are collected.The actually collected data are substituted into the above model to determine model parameters,which can offset the model error caused by ignoring the robot weight and load and improve the control precision to some extent.The grabbing experiments show that this constant curvature model with parameters determined by the collected data can be applied to control the continuum robot.Compared with the simulated trajectory with the actual trajectory of this robot actuator,the maximum motion error reaches 6.3 cm,and the deference mainly comes from three aspects:system error,model error and measurement error.The approach has reference significance for application and position control of this kind of continuum robot.

关 键 词：连续体机器人 常曲率 运动学模型 位姿控制 

分 类 号：TH128[机械工程—机械设计及理论]