可生长式蛇形臂结构设计及运动学与静力学分析  

Structural Design and Kinematic and Static Analysis of Growable Serpentine Arm

作　　者：赵宇辰 蒋周翔 刘瑞 曹磊 宋宝[2] ZHAO Yuchen;JIANG Zhouxiang;LIU Rui;CAO Lei;SONG Bao(Mechanical Electrical Engineering School,Beijing Information Science&Technology University,Beijing 100192,China;School of Mechanical Science&Engineering,Huazhong University of Science and Technology,Wuhan Hubei 430074,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《机床与液压》2025年第3期34-40,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(52175452)。

摘　　要：针对现有蛇形机械臂整机体积过大、臂体装配及维护难度较大、收纳困难等问题,提出一种新型可生长式绳驱蛇形机械臂。该机械臂采用内外臂体分离的设计方式,将装配过程拆分为骨骼伸出和骨骼外壳连接2个核心步骤,从而简化装配流程,降低机械臂维护难度。针对机械臂整机体积过大问题,分别对骨骼与外壳进行可生长式设计,解决了蛇形机械臂体积较大及收纳困难的问题,并降低了后续运动耦合问题的计算量。此外,基于新型机械结构的特点,建立“驱动装置-关节角度-末端位姿”之间的多级映射关系,并推导相应运动学方程。利用仿真软件对蛇形机械臂进行运动学建模,对蛇形机械臂的工作空间进行仿真实验分析。最后,通过静力学仿真对根部关节进行强度校核,验证了结构可行性。Aiming at the problems of the existing serpentine robotic arm that is too large in size and difficult to assemble,maintain and store the arm body,a new type of growable cable-driven serpentine robotic arm was proposed.The design of separating the inner and outer arm structures was adopted by the robotic arm,and the assembly process was divided into two main steps:bone extension and bone shell connection,simplifying the assembly process and reducing maintenance complexity in later stages.To solve the problem of large overall volume,both the skeleton and the shell were designed in a growable way.In addition,based on the characteristics of the new mechanical structure,a multi-level mapping relationship between"driving mechanism-joint angles-end effector position"was established,and the corresponding kinematic equations were derived.The kinematic modeling of the serpentine arm was carried out by simulation software,and the working space of the serpentine arm was analyzed by simulation experiments.Finally,the strength of the root joint was checked by static simulation to verify its structural feasibility.The results show that the joints meet the strength requirements.

关 键 词：蛇形机械臂 可生长式设计 运动学分析 静力学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]