一种刚柔耦合变径操作臂的建模和性能分析  

Modeling,Performance Analysis and Experiment of a Rigid Flexible Coupling Variable Diameter Manipulator

作　　者：姜晓勇 黄朗月 彭孟乐 李忠义 JIANG Xiaoyong;HUANG Langyue;PENG Menge;LI Zhongyi(School of Mechanical Engineering,Zhejiang University,Hangzhou 310023,China;Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot,Hangzhou 311000,China)

机构地区：[1]浙江科技学院机械与能源工程学院,杭州310023 [2]浙江省智能运维机器人重点实验室,杭州311100

出　　处：《机械设计与研究》2023年第2期51-56,63,共7页Machine Design And Research

摘　　要：介绍了一种刚柔耦合变径操作臂的设计和建模。它主要是由一系列的刚性变径骨架组成,其刚性变径骨架之间由十字轴连接。因此,这种操作臂具有改变自身直径的性能,同时能在保证自身刚度的情况下扩大其工作空间。其中操作臂变直径支撑方式采用弹簧片和线控相结合的方式以保证其变直径后的稳定性。该操作臂不同于传统的柔性臂,操作臂结构中的刚性变直径骨架使其在工作空间范围内具有较大的刚性,所以该操作臂的应用场景更为广泛。提出了一种D-H-Φ用于分析该种刚柔耦合的操作臂,对其可变直径的范围运动学、动力学进行了分析,建立了该操作臂的运动学模型和动力学模型。通过仿真分析了工作空间与结构参数之间的关系。实验结果表明,新型的刚柔耦合变径操作臂可以在其较大工作空间范围内进行刚性作业。This paper introduces the design and modeling of a rigid flexible coupling variable diameter manipulator.The manipulator is mainly composed of a series of rigid reducing skeletons connected by cross shafts.Therefore,this kind of operating arm is capable of changing its own diameter and expanding its working space while ensuring stffness.The variable diameter support mode of the operating arm adopts the combination of spring and wire control to ensure its stability after changing the diameter.The manipulator is different from the traditional flexible arm.The rigid variable diameter skeleton in the structure of the manipulator makes it more rigid in the workspace,so the application scenario of the manipulator is more extensive.In this paper,a D-H-method is presented to analyze the rigid flexible coupling manipulator.The kinematics and dynamics of the variable diameter range are analyzed,and the kinematics and dynamics models of the manipulator are established.The relation between the workspace and structural parameters is analyzed by simulation.The experimental results show that the new rigid flexible coupling variable diameter manipulator can work rigidly in its large workspace.

关 键 词：变直径 刚柔耦合 D-H-Φ分析法 运动学 

分 类 号：TH113.22[机械工程—机械设计及理论]