基于形状记忆合金驱动的连续体机器人路径规划  

Path Planning of Continuum Robot Actuated by Shape Memory Alloy

作　　者：严鲁涛 王琦 李海源 张勤俭 YAN Lutao;WANG Qi;LI Haiyuan;ZHANG Qinjian(School of Modern Post,Beijing University of Posts and Telecommunications,Beijing 100876;School of Electromechanical Engineering,Beijing Information Science and Technology University,Beijing100192)

机构地区：[1]北京邮电大学现代邮政学院,北京100876 [2]北京信息科技大学机电工程学院,北京100192

出　　处：《机械工程学报》2023年第15期50-61,共12页Journal of Mechanical Engineering

基　　金：国家重点研发计划资助项目(2019YFB1309801)。

摘　　要：连续体机器人运动灵活,能在多障碍的狭窄环境中进行连续弯曲运动。现有连续体机器人多以绳驱动为主,机械结构复杂、关节间耦合现象严重,从而导致控制复杂,且难以进行长度方向上的拓展。形状记忆合金(Shape memory alloy,SMA)作为一种新型的智能材料,同时具有驱动和传感的功能,并且其质量轻,单位体积内的驱动力大,作为机器人的驱动设备有助于减少其结构体积,并改善其控制方式。因此,在研究中,设计了一款基于SMA驱动的连续体机器人,并对其路径规划算法进行研究,在保证机器人运动效率的同时,确保其沿目标路径运行的安全性。结合SMA的驱动特性,并基于常曲率运动学模型,提出A*路径规划算法的优化方法,使其更加符合连续机器人的运动特性。研究结果表明,提出的改进型A*算法搜索时间短,规划效率高,具备良好的环境适应能力。Continuum robot is a kind of robot that can continuously bend in the narrow environment with many obstacles.The current continuum robots are mainly actuated by rope,with complex mechanical structure and serious coupling between joints,resulting in complex control and difficulty in extending in length direction.Shape memory alloy(SMA),as a new kind of intelligent material,has the function of driving and sensing at the same time,and its weight is light,the driving force per unit volume is large,as the driving device of the robot is helpful to reduce its structural volume,and improve its control mode.Therefore,the SMA actuated continuum robot is proposed,and the path planning algorithm is analyzed to ensure the safety of the continuum robot along the path while ensuring the efficiency of the robot movement.By combining the driving characteristics of SMA,the Kinematic analysis and structure design of the continuum robot are carried out.On this basis,the A* path planning algorithm is improved and optimized by combining the constant curvature kinematic model,so that it is more consistent with the motion characteristics of the continuous robot.Experiment results illustrate that the improved A* algorithm proposed has the advantages of short search time,high planning efficiency and good adaptability to the environment.

关 键 词：连续体机器人 SMA 运动学分析 结构设计 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]