Motion Control and Optimal Design of a Biomimetic Manipulator Based on Snake Coiling and Stretching  

作　　者：Jiangjie Han Yongshang Wang Mengbo Qian 

机构地区：[1]Zhejiang A&F University,Linan,Hangzhou,311300,China

出　　处：《Journal of Bionic Engineering》2023年第4期1514-1531,共18页仿生工程学报（英文版）

基　　金：funded by the National Natural Science Foundation of China under Grant 51875531;“Pioneer”and“Leading Goose”R&D Program of Zhejiang under Grant 2022C02057.

摘　　要：The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuitable for working in an unstructured environment.This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes'curling and stretching motions.First,we analyze the manipulator’s connection mode and motion planning and propose a new motion method.In addition,we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic algorithm.Ultimately,the manipulator in this mode has a larger workspace and more flexible motion trajectories.The experimental results are consistent with the theoretical analysis,which further proves the feasibility and scalability of the scheme.

关 键 词：Bio-inspired robotic system Manipulator motion control Continuum robots Flexible robots Snake-like 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]