滚动接触式连续体机械臂运动学分析与堆叠构型优化  

Stack Configuration Optimization for Rolling-contact Continuum Robot Based on Kinematics Analysis

作　　者：金滔 汪田鸿 普京 张泉 田应仲[1,2] 李龙[1,2,3] JIN Tao;WANG Tianhong;PU Jing;ZHANG Quan;TIAN Yingzhong;LI Long(Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai 200444;School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200444;School of Future Technology,Shanghai University,Shanghai 200444)

机构地区：[1]上海市智能制造及机器人重点实验室,上海200444 [2]上海大学机电工程与自动化学院,上海200444 [3]上海大学未来技术学院,上海200444

出　　处：《机械工程学报》2024年第21期27-37,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金(61973207,62273222);上海市自然科学基金(21ZR1423000);上海市启明星项目扬帆专项(23YF1413200)资助项目。

摘　　要：滚动接触式连续体机械臂具有良好的柔顺性和灵活性,能够更好地执行非结构化狭窄环境中检修和探测等任务,但由于滚动接触单元堆叠构型的不同,可能造成机械臂在运动时存在整体弯曲角和末端姿态角不一致的现象,从而影响机械臂的可达性。针对上述问题,设计滚动接触式关节单元,提出三种不同堆叠构型的连续体机械臂,通过坐标变换方法建立机械臂的运动学模型;基于机械臂末端弯曲角和姿态角的数学模型,对比分析三种堆叠构型机械臂弯曲角和姿态角的偏差曲线以及末端操作空间。在此基础上,开展三种堆叠构型机械臂在狭小弯曲管道内运动的实验,结果证实对称堆叠构型的机械臂在狭窄弯曲路径内具有完整的视野和最佳的通过性。上述研究为滚动接触式连续体机器人在微创手术、空间探测等非结构化复杂环境下的精确控制提供了技术支撑。The rolling-contact continuum robot has good compliance and dexterity,and it can better perform maintenance and detection tasks in unstructured narrow environments.However,due to the different stacking configurations of rolling-contact units,the overall bending angle and the end attitude angle may be inconsistent during the motion of the robot,thus affecting the accessibility.In order to solve this problem,the rolling-contact joint unit is designed to construct three kinds of continuum robots with different stacking configurations,and their kinematic models are established by coordinate transformation method,respectively.Based on the mathematical model of the end bending angle and attitude angle,the deviation curve of the bending angle and attitude angle are compared while the end operating space are analyzed.On this basis,experiments are carried out to verify the movement of three rolling-stacked continuum robots in curved pipelines,and the results prove that the symmetrically stacked robot has a complete view and the best accessibility for narrow curved paths.This research provides technical support for the precise control of continuum robots in unstructured complex environments such as minimally invasive surgery and space exploration.

关 键 词：连续体机械臂 滚动接触关节 堆叠优化 运动学 

分 类 号：TG242[金属学及工艺—铸造]