连续型内窥镜机器人弯曲模型  

Continuous Endoscopic Robot Bending Model

作　　者：何志坤 金晓怡 胡聪慧 孔维彪 HE Zhikun;JIN Xiaoyi;HU Conghui;KONG Weibiao(School of Mechanical and Automnotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai Yida Optoelectronic Technology Co.,Ltd.,Shanghai 201100,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海熠达光电科技有限公司,上海201100

出　　处：《轻工机械》2023年第5期29-37,共9页Light Industry Machinery

基　　金：上海工程技术大学校企合作项目((21)JQ-059)。

摘　　要：为了求解内窥镜连续型机器人在驱动下的理论弯曲曲线,课题组建立了以机器人变形单元为对象的弯曲模型。该模型将连续型机器人的整体弯曲问题分解成各段固定丝的变形问题,并以此进行了机器人的正/逆运动学建模;然后依次对驱动丝、固定丝和单节蛇骨之间进行了力学分析,并基于Cosserat杆理论推导出固定丝的弯曲模型,求解出相邻蛇骨间的弯曲角度,得到了机器人的整体弯曲;最后通过MATLAB定点迭代的方式求解了机器人在不同驱动力下的弯曲状态,与16关节样机试验进行了对比。结果表明:误差率最大为6.7%,最小为2.9%,说明了该理论模型的有效性。此模型为内窥镜连续型机器人弯曲求解提供了一种有效的方法。In onder to solve the problem of theoretical bending curve of continuous endoscope robot under driving,a bending model based on robot deformation unit object was established.The overall bending problem of the model continuous robot was decomposed into the deformation problem of each fixed wire,and the forward and inverse kinematics modelling of the mobot was carried out.Then,the mechanical analysis was carried out among the dniving wire,fixed wire and single segment snake bone in turn,and the bending model of fixed wire was deduced based on cosserat rod theory,and the bending angle between adjacent snake bones was solved to obtain the overall bending of the robot.Finally,the bending state of the robot under different driving forces was solved by MATLAB fixed-point iteration method,which was compared with the 16-joint prototype test.The results show that the maximum error rate is 6.7%and the minimum eror rate is 2.9%,which shows the validity of the theoretical model.This model provides an effective method for solving the bending problem of continuous robot.

关 键 词：内窥镜连续型机器人 驱动丝 蛇骨 Cosserat杆理论 MATLAB软件 

分 类 号：TH122[机械工程—机械设计及理论] TH123.1