A Versatile Continuum Gripping Robot with a Concealable Gripper  

作　　者：Shuailong Zhang Fenggang Li Rongxin Fu Hang Li Suli Zou Nan Ma Shengyuan Qu Jian Li 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China [2]Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology,Beijing 100081,China [3]School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China [4]School of Automation,Beijing Institute of Technology,Beijing 100081,China [5]Department of Mechanical,Materials,and Manufacturing Engineering,University of Nottingham,Nottingham,NG72QL,UK

出　　处：《Cyborg and Bionic Systems》2023年第1期494-504,共11页类生命系统（英文）

基　　金：supported by the National Natural Science Foundation of China(grant no.62103050);Science and Technology on Space Intelligent Control Laboratory(grant no.HTKJ2021KL502018);Innovation Team and Talents Cultivation Program of National Administration of Traditional Chinese Medicine(grant no.ZYYCXTD-C-202003);supported by the BIT Research and Innovation Promoting Project(grant no.2022YCXY031)。

摘　　要：Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects.However,the display gripper increases the size of the robots,and therefore,it tends to get stuck in constrained environments.This paper proposes a versatile continuum grasping robot(CGR)with a concealable gripper.The CGR can capture large objects with respect to the robot’s scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces.To perform the cooperative operation of the concealable gripper and the continuum manipulator,a global kinematic model based on screw theory and a motion planning approach referred to as“multi-node synergy method”for the CGR are presented.The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments.Finally,in the future,the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum,strong radiation,and extreme temperatures.

关 键 词：ROBOT ROBOT NARROW 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]