Improving the stability of a planar tape-spring hyper-redundant manipulator

IF 3.1 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Yushu Yu , Hu Liu , Tonghuan Ding , Yi Yang
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引用次数: 0

Abstract

The planar tape-spring hyper-redundant manipulator presented in this paper is mainly constructed from tape springs, fixed-drive components, and mobile-drive components. It not only has high robustness and excellent transformability, but also high packaging efficiency. However, when the manipulator extends to a long range in motion experiments, some segments of the tape springs buckle. To address this drawback, a kinematic model of the planar tape-spring hyper-redundant manipulator is established, and, a configuration planning method based on a virtual spring model is proposed to solve the inverse kinematics problem. To enhance stability, the column stability is then incorporated into the configuration planning model. This approach relies on only configuration planning to prevent buckling. An alternative approach of adding auxiliary rods into the manipulator is also proposed. With this method, extra intermediate supports have been added to the manipulator. The effective column length of some segments is shortened, which effectively increases the critical buckling load of those segments of the tape spring. Finally, a prototype was subjected to motion and stability experiments to validate the presented approaches and analysis.

Abstract Image

提高平面胶带弹簧超冗余机械手的稳定性
本文介绍的平面胶带弹簧超冗余机械手主要由胶带弹簧、固定驱动组件和移动驱动组件构成。它不仅具有很高的鲁棒性和出色的可变换性,还具有很高的封装效率。然而,在运动实验中,当机械手伸展到很远的距离时,胶带弹簧的某些部分会发生弯曲。针对这一缺陷,我们建立了平面胶带弹簧超冗余机械手的运动学模型,并提出了一种基于虚拟弹簧模型的配置规划方法来解决逆运动学问题。为了增强稳定性,将支柱稳定性纳入配置规划模型。这种方法仅依靠配置规划来防止屈曲。此外,还提出了在机械手中添加辅助杆的替代方法。通过这种方法,在机械手中增加了额外的中间支撑。某些区段的有效支柱长度被缩短,从而有效增加了胶带弹簧这些区段的临界屈曲载荷。最后,对原型进行了运动和稳定性实验,以验证所提出的方法和分析。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Mechatronics
Mechatronics 工程技术-工程:电子与电气
CiteScore
5.90
自引率
9.10%
发文量
0
审稿时长
109 days
期刊介绍: Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.
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