仿象鼻机器人结构设计与运动特性研究  

Research on the Structural Design and Motion Characteristics of an Elephant-Like Trunk Robot

作　　者：白晓楠 王炳昊 刘子良 孙龙飞 BAI Xiao-nan;WANG Bing-hao;LIU Zi-liang;SUN Long-fei(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159;Science and Technology Development Corporation,Shenyang Ligong University,Shenyang 110003)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159 [2]沈阳理工大学科技开发总公司,辽宁沈阳110003

出　　处：《制造业自动化》2025年第2期45-50,共6页Manufacturing Automation

基　　金：辽宁省博士科研启动基金计划(2021-BS-160);辽宁省教育厅面上项目(JYTMS20230200);沈阳理工大学引进高层次人才科研支持经费(1010147000821)。

摘　　要：抓取搬运机器人在制造业领域广泛应用。为了模仿自然界象鼻的弯曲包络抓取行为,设计了一种基于绳索和形状记忆合金弹簧联合驱动的模块化仿象鼻机器人。阐述了象鼻机器人结构设计及弯曲变形调节机理。基于D-H法建立了象鼻机器人正运动学模型,采用蒙特卡洛法得出机器人的工作空间。利用Adams对象鼻机器人进行运动学仿真分析,调节模块之间拉伸弹簧刚度大小,通过开合端张角的仿真结果,验证了象鼻机器人作为抱持机构的可行性。搭建象鼻机器人样机完成弹簧等效刚度不同拉力映射下的弯曲实验,验证了象鼻机器人的多形态弯曲包络性能。Gripping and handling robots are widely used in manufacturing sector.In order to mimic the bending envelope grasping behavior of elephant trunks in nature,a modular elephant trunk-imitating robot based on the combined drive of cable and shape memory alloy springs was designed.The structural design of the elephant trunk robot and the bending deformation regulation mechanism were described.The positive kinematic model of the elephant trunk robot was established based on the D-H method,and the Monte Carlo method was used to derive the workspace of the robot.The kinematic simulation analysis of the elephant trunk robot was carried out by using Adams,adjusting the size of the tensile spring stiffness between the modules,and verifying the feasibility of the elephant trunk robot as a holding mechanism through the simulation results of the opening and closing end tension angle.A prototype elephant trunk robot was built to complete bending experiments under different tension mappings of spring equivalent stiffness,and the polymorphic bending envelope performance of the elephant trunk robot was verified.

关 键 词：仿象鼻机器人 绳索 形状记忆合金弹簧 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]