Modeling and control of a rigid-flexible coupling robot for narrow space manipulations  

作　　者：Kuangda CHEN Huan ZHAO Jiexin ZHANG Mei FENG Yiwei WANG Jinliang WANG Han DING 

机构地区：[1]State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China [2]Key Laboratory of CNC Equipment Reliability,Ministry of Education,Jilin University,Changchun 130021,China [3]School of Medical Equipment Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China

出　　处：《Science China(Technological Sciences)》2025年第2期136-152,共17页中国科学(技术科学英文版)

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.52188102,52090054,52205521);the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(Grant No.GZC20240539).

摘　　要：Narrow space manipulations are crucial for equipment maintenance,as they eliminate the need for disassembly,thus reducing costs and increasing efficiency.Cable-driven flexible robots possess exceptional capabilities in maneuvering through narrow spaces,thanks to their interaction compliance and distal dexterity.However,their inherent low stiffness causes a decline in the location accuracy of the robot and could even lead to manipulation failure.To address this challenge,this paper proposes a novel type of rigid-flexible coupling robot,which increases the stiffness of the robot while ensuring the reachability within a narrow space.To achieve high-accuracy location in a narrow space,kinematic and control methods are proposed.Specifically,the robot forward kinematics are uniformly represented,and the closed-form inverse kinematics solution is derived.Furthermore,in cases where the robot's structure fails to align with Pieper's solution,a two-stage search strategy is utilized to solve the inverse kinematics,resulting in a high success rate of 99.1%.Based on the proposed kinematics,a rigid-dominated control method is then proposed to facilitate localization and pose alignment of target objects in narrow spaces.The practical comparative experiments show that the proposed robot has the capability of high accuracy control in narrow spaces.

关 键 词：narrow space manipulation rigid-flexible coupling robot KINEMATICS rigid-dominated control 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]