可折展机器人实验平台设计与测试  

Design and Test of Deployable Robot Experimental Platform

作　　者：庄水管 庄哲明 戴建生[1,3] ZHUANG Shuiguan;ZHUANG Zheming;DAI Jiansheng(School of Mechanical Engineering,Tianjin University,Tianjin 300350,China;Tongan No.1 High School of Fujian,Xiamen 361100,Fujian,China;School of Natural and Mathematical Sciences,King’s College London,University of London,London WC2R 2LS,UK)

机构地区：[1]天津大学机械工程学院,天津300350 [2]福建省同安第一中学,福建厦门361100 [3]伦敦大学国王学院自然与机械工程系,英国伦敦WC2R 2LS

出　　处：《实验室研究与探索》2022年第10期70-73,91,共5页Research and Exploration In Laboratory

基　　金：国家自然科学基金重点资助项目(51535008);天津市一流本科建设课程(2010009)。

摘　　要：设计了一种高折叠率的可折展机器人实验平台。综合并联机构和折纸原理,提出高度灵活的模块化柔性铰链单元,部分模块嵌入形状记忆合金弹簧,使得机器人可以改变内部弹性,从而改变刚度。设计多电机协同控制系统,研制可折展机器人实验平台样机,进行可折展运动的仿真分析,验证设计的可行性。测试结果表明,该平台具有较强的通用性和可开发性,可广泛应用于机电工程类课程的实验教学和课堂实践。As an important branch of robot,deployable robot has the characteristics of softness,flexibility and strong adaptability,which can be used to design an experimental platform with a high foldable rate.Based on the principle of parallel mechanism and origami,a highly flexible modular flexible hinge unit is proposed.Part of the module is embedded with shape memory alloy springs,which allow the robot to change its internal elasticity and thus its stiffness.A multi-motor cooperative control system is designed and a prototype of a deployable robot’s experimental platform has been developed.The simulation analysis of deployable movement verifies the feasibility of the design.The test result shows that the platform has strong universality and exploitability,and can be widely used in the experimental teaching and classroom practice of mechanical and electrical engineering courses.

关 键 词：可折展机器人 并联机构 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]