基于双节串联3-RRS机构的蛇形机械臂设计及运动能力分析  

Design and Motion Capability Analysis of a Snack Arm Robot Based on the Two-Stage Series 3-RRS Mechanism

作　　者：张志刚 靳勇利 付志军 王才东 秦国栋 ZHANG Zhigang;JIN Yongli;FU Zhijun;WANG Caidong;QIN Guodong(Henan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment,Zhengzhou University of Light Industry,Zhengzhou 450002,China;Institute of Plasma Physics,Chinese Academy of Science,Hefei 230026,China)

机构地区：[1]郑州轻工业大学河南省机械装备智能制造重点实验室,郑州450002 [2]中国科学院等离子体物理研究所,合肥230026

出　　处：《机械设计与研究》2024年第6期97-102,109,共7页Machine Design And Research

基　　金：国家自然科学基金资助项目(12305251);河南省科技攻关项目(232102221036);河南省高校科技创新人才支持计划项目(22HASTIT023);河南省外籍科学家工作室项目(GZS2023011)。

摘　　要：针对强电磁、强辐射及狭小深腔作业环境,设计一种具有轴向伸缩自由度的欠驱动蛇形机械臂。在3-RRS并联机构基础上,提出了采用曲柄滑块机构进行动力传输的双节串联3-RRS机构设计方案。多组双节串联3-RRS机构通过绳索经由套管和滑轮引导串联,组成联动单元。该联动单元由3个电机驱动,可实现两个方向的弯曲和轴向伸缩3个运动自由度。将多级联动单元串联,便得到了具有更高灵活性和适应性的3-RRS蛇形机械臂。在此基础上推导了双节串联3-RRS机构的正向运动学关系及其雅可比矩阵,建立了3-RRS蛇形机械臂的运动学递推模型。通过运动学仿真,研究了双节串联3-RRS机构的运动模式;利用蒙特卡洛法计算得到了3-RRS蛇形机械臂的工作空间,系统地分析了串联级数对蛇形机械臂工作空间及运动能力的影响。An underactuated snake arm robot(SAR)with axial degree of freedom is designed for working environments with strong electromagnetic fields,radiation and narrow deep cavities.Based on the 3-RRS parallel mechanism,a two-stage series 3-RRS mechanism design scheme using a crank slider mechanism for power transmission is proposed.Multiple sets of two-stage 3-RRS mechanisms are connected in series through ropes,guided by sleeves and pulleys,forming a linkage unit.The linkage unit is driven by three motors and can achieve bending and axial expansion in two directions,with three degrees of freedom of motion.By connecting multi-level linkage units in series,a 3-RRS SAR with higher flexibility and better adaptability is obtained.The forward kinematic relation and Jacobian matrix of the two-stage series 3-RRS mechanism is derived,and a kinematic recursive model of the 3-RRS SAR is established.The motion mode of a two-stage series 3-RRS mechanism is studied by kinematic simulation.Using the Monte Carlo method,the workspace of a 3-RRS SAR is calculated,and the influence of the number of the series stages on the workspace and motion ability are systematically analyzed.

关 键 词：蛇形机械臂 运动学递推 3-RRS并联机构 轴向伸缩 工作空间分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]