多关节连续体机器人的运动分析与遥操作技术  

Kinematics Analysis and Teleoperation Technology of Multi-joint Continuum Robots

作　　者：吉爱红[1] 刘荣兴 陈辉 孙克 JI Aihong;LIU Rongxing;CHEN Hui;SUN Ke(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,210016)

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《中国机械工程》2021年第23期2883-2889,共7页China Mechanical Engineering

基　　金：国家自然科学基金(51861135306,51875281)。

摘　　要：设计了一种多关节线驱动连续体机器人,该机器人共有4个弯曲自由度和1个进给自由度。建立了该连续体机器人的运动学模型,利用MATLAB对其工作空间进行了分析。针对Geomagic Touch设计了三种主从映射算法,实现了连续体机器人的主从异构遥操作控制。通过实验验证了主从控制算法的正确性,展示了连续体机器人良好的弯曲能力,表明该连续体机器人具有一定的控制精度和良好的跟随能力。A multi-joint wire driven continuum robot was designed.The continuum robots had four bending degrees of freedom and one feeding degree of freedom.The kinematics model of the continuum robot was established,and the workspace was analyzed by MATLAB.Three master-slave mapping algorithms were designed for Geomagic Touch to realize the master-slave heterogeneous teleoperation control of continuous robots.The correctness of the master-slave control algorithm was verified by experiments,and the good bending ability of the continuum robots was shown.The experimental results show that the continuum robots have certain control accuracy and good following ability.

关 键 词：连续体机器人 运动学 遥操作 主从控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]