连续体机器人工作空间改进分析与仿真  

Continuum robot workspace improvement analysis and simulation

作　　者：齐飞 裴海珊 窦小明 白东明 张恒 朱靖 QI Fei;PEI Haishan;DOU Xiaoming;BAI Dongming;ZHANG Heng;ZHU Jing(School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213164,China;Quick Intelligent Equipment Co.,Ltd.,Changzhou 213000,China;School of Mechanical and Electrical Engineering,Jinhua Vocational and Technical College,Jinhua 321000,China)

机构地区：[1]常州大学机械与轨道交通学院,江苏常州213164 [2]快克智能装备股份有限公司,江苏常州213000 [3]金华职业技术学院机电工程学院,浙江金华321000

出　　处：《常州大学学报（自然科学版）》2023年第4期61-69,共9页Journal of Changzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(52105103);中国博士后科学基金资助项目(2022M711436);江苏省教育厅自然科学基金面上资助项目(21KJB460029);常州市科技厅资助项目(20210116)。

摘　　要：首先介绍了连续体机器人的结构形式,然后对其进行正逆运动学建模,并利用传统蒙特卡洛法及Matlab软件对机器人的工作空间进行仿真分析。考虑到传统蒙特卡洛法散点分布不均匀等缺陷,通过采用正态分布生成部分边界值点的方法进行改进,改进后的工作空间散点图分布均匀,更接近实际工作空间。为进一步验证改进方法的优越性,将工作空间放置于长方体内并进行分割,对部分层所包络的工作空间面积进行对比,结果表明,总随机点数相当的情况下,改进方法精度明显优于传统算法,这为连续体机器人的结构设计和性能分析奠定理论基础。The article first introduces the structure of the continuum robot,and then models its forward and inverse kinematics,and uses the traditional Monte Carlo method and Matlab software to simulate and analyze the robot's workspace.Considering the defects such as uneven distribution of scatter points in the traditional Monte Carlo method,the method of generating some boundary value points by using normal distribution was improved.The improved workspace scatter diagram has a uniform distribution and is closer to the actual workspace.In order to further verify the superiority of the improved method,the workspace was placed in a cuboid and divided,and the area of the workspace covered by some layers was compared.The results showed that when the total number of random points was equal,the accuracy of the improved method was obviously better than traditional algorithms,which lay a theoretical foundation for the structural design and performance analysis of continuum robots.

关 键 词：连续体机器人 运动学建模 蒙特卡洛法 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]