套索驱动柔性机械臂设计与研究  

Design and Research of Flexible Manipulator Driven by Lasso

作　　者：曹璐刚 韩亚丽[1] 朱晓军 韩子瑒 徐闵海 CAO Lugang;HAN Yali;ZHU Xiaojun;HAN Ziyang;XU Minhai(School of Mechanical Engineering,Nanjing Insititue of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167

出　　处：《南京工程学院学报（自然科学版）》2023年第4期55-63,共9页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：国家自然科学基金青年基金项目(51205182);江苏省重点研发计划项目(社会发展项目)(BE2019724);江苏省研究生科研与实践创新计划项目(SJCX22_1052)。

摘　　要：针对刚性机械臂在狭小环境下运行困难、操作难度较大等问题,提出一种仿生象鼻的柔性机械臂.采用分段常曲率的假设对连续体进行分段处理,搭建连续体动力学模型;代入每段套索长度、弯曲角度等变量数据进行动力学仿真,绘制连续体三维模型;改变弹簧长度、弹簧刚度、套索协调方式,对柔性机械臂的机构进行仿真,确定模型的材料要求;搭建样机进行弯曲缠绕试验.仿真与试验结果表明,以弹簧、套索为核心的柔性机械臂可在较短时间内实现360°弯曲,完成弯曲缠绕动作.In order to solve the problem posed by the difficult operation of rigid manipulators in confined spaces,a biomimetic trunk-like flexible robotic arm is proposed.The assumption of piecewise constant curvature is applied to segment the continuous structure,establishing a dynamic model for the segmented structure.The dynamic simulation is conducted by inputting data on variables such as the length of each segment,bending angles,etc.,to generate a three-dimensional model of the continuous structure.Simulations are performed by varying parameters such as spring length,spring stiffness,and coordination of the cables to determine the material requirements for the flexible robotic arm.A prototype is constructed for bending and winding experiments.The manipulator can achieve 360°bending in a short time.The experimental results show that the flexible manipulator with spring and lasso as the core can better complete the bending and winding actions,which is beneficial to the relatively narrow working conditions.

关 键 词：柔性机械臂 分段常曲率 动力学仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]