空间连续体机械臂运动学分析与末端控制方法  

Kinematics Analysis and End Control Method of Space Soft Manipulator

作　　者：张宇 汪田鸿[1,2,3] 金滔 林杨乔 李龙 田应仲[1,2] 罗均 张泉[1,2,3] ZHANG Yu;WANG Tianhong;JIN Tao;LIN Yangqiao;LI Long;TIAN Yingzhong;LUO Jun;ZHANG Quan(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444;Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai 200444;School of Future Technology,Shanghai University,Shanghai 200444;College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044)

机构地区：[1]上海大学机电工程与自动化学院,上海200444 [2]上海市智能制造及机器人重点实验室,上海200444 [3]上海大学未来技术学院,上海200444 [4]重庆大学机械与运载工程学院,重庆400044

出　　处：《机械工程学报》2025年第1期13-29,共17页Journal of Mechanical Engineering

基　　金：国家自然科学基金(61973207);上海市外国专家(23WZ2503000);装备预研教育部联合基金(8091B032228);上海市启明星扬帆专项(23YF1413200)资助项目。

摘　　要：为满足日渐增长的太空作业需求,设计了一种线驱中心杆型连续体机械臂,通过分析运动机理得到驱动空间、关节空间以及工作空间之间的正逆运动学关系,由单段臂到多段臂详细介绍了运动学建模方法;然后提出了基于Newton-Raphson法的逆运动学数值解法,并进行多解优化;最后针对正运动学与逆运动学各进行了一组实验。在正运动学模型验证实验中,末端最大误差为机械臂总长度的3.10%;在逆运动学模型验证实验中,臂形最大误差为机械臂总长度的3.63%。实验结果证明了运动学模型的准确性以及末端位姿控制方法的合理性,为线驱连续体机械臂的运动控制提供了理论基础。To meet the increasing demand of space operation,a wire driven central rod type continuum manipulator is designed.The forward and inverse kinematics relationship among driving space,joint space and working space is obtained by analyzing the motion mechanism.The kinematic modeling method from single segment manipulator to multi-segment manipulator is introduced in detail.Then,a numerical solution of inverse kinematics based on Newton-Raphson method is proposed and multi-solution optimization is carried out.Finally,a set of experiments are carried out for forward kinematics and inverse kinematics respectively.In the forward kinematics model verification experiment,the maximum error of the manipulator end is 3.10%of the total length of the manipulator.In the inverse kinematics model verification experiment,the maximum error of the manipulator shape is 3.63%of the total length of the robot arm.The experimental results show that the kinematics model is accurate and the manipulator end pose control method is reasonable.It provides a theoretical basis for the motion control of wear driven continuum manipulator.

关 键 词：空间机械臂 线驱连续体机械臂 机械臂末端位姿 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]