基于Cosserat理论的仿生鱼骨连续型机器人静力学分析  

Statics Analysis of Bioinspired Fishbone Continuum Robot Based on Cosserat Theory

作　　者：周盼 姚建涛[1,2] 朱坤明 张轩浩 ZHOU Pan;YAO Jiantao;ZHU Kunming;ZHANG Xuanhao(Parallel Robot Mechatronic System Laboratory,Hebei Province,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging and Stamping Technology and Science,Ministry of Education,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004

出　　处：《农业机械学报》2023年第10期432-440,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(U2037202、51975505);河北省科学技术研究与发展计划国际科技合作项目(19391825D)。

摘　　要：连续型机器人具有良好的灵活性、柔顺性和人机安全性等优点,受生物鱼骨结构启发,提出了结构紧凑、质量轻、灵活性高的仿生鱼骨连续型机器人。但多节垂直交叉的刚柔软耦合结构模式使仿生鱼骨连续型机器人静力学的精确建模难度增加。本文基于Cosserat理论考虑了驱动绳索和弹性骨干的耦合作用对该机器人进行静力学分析,建立了仿生鱼骨连续型骨干的Cosserat-rod模型和驱动绳索的Cosserat-string模型以及二者的耦合模型,预测了一节仿生鱼骨单元以及垂直交叉串联布置的两节仿生鱼骨单元的变形规律。理论与实验结果相比,理论值误差在1.5 mm之内,为其长度的1.2%。本文为绳索驱动的刚柔软耦合连续型机器人的静力学建模提供了理论参考。Continuum robots have a broad application prospect in space operations,medical surgery,agricultural harvesting and other fields due to their advantages of good dexterity,flexibility,and human-machine safety.Inspired by biological fishbone structure,a bioinspired fishbone continuum robot was proposed,which had compact structure,light weight,and high flexibility.However,the cross-arranged rigid-flexible-soft coupling multi-section structure of the bioinspired fishbone continuum robot made its statics modeling more difficult.The statics analysis of the bioinspired fishbone continuum robot was carried out based on Cosserat theory considering the coupling of its driving cables and elastic backbone.A Cosserat-rod model for the bioinspired fishbone continuum backbone and a Cosserat-string model for its driving cable were established.Furthermore,the coupling model of the Cosserat-rod and Cosserat-string models was established,which can be used to successfully predict the deformation laws of one bioinspired fishbone unit and two cross-arranged fishbone units under different cable driving forces and different tip loads.Compared with the experimental results,it was proved that the errors of theoretical value were within 1.5mm,which was 1.2%of its length.The research result can provide a configuration for rigid-flexible-soft continuum robots,as well as a theoretical reference for the statics modeling of cable driven rigid-flexible-soft coupling continuum robots.

关 键 词：刚柔软耦合结构 连续型机器人 静力学 COSSERAT理论 

分 类 号：TH122[机械工程—机械设计及理论]