Design and performance analysis of continuum manipulator with twisting rotation

IF 1.8 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Junfeng Hu, Hao Zhou
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引用次数: 0

Abstract

The continuum manipulator exhibits excellent flexibility, enabling it to navigate through unstructured and narrow spaces. However, the current motion capabilities of the continuum arm are limited to expansion, bending, or their combination, which restricts its application range and potential uses. Designing a continuum manipulator capable of twisting motion around its axis poses a significant challenge. In this study, we propose a torsion module for the continuum manipulator that enables twisting motions. This module comprises a central trunk made of a torsion spring and a driving mechanism consisting of two tendons arranged in cylindrical helix symmetry. By stretching these driving cables, the module can achieve twisting motion. We describe the principle behind torsional motion, establish a kinematic model for the continuum torsional module, and analyze how structural parameters affect its performance in terms of twisting motion. Furthermore, we construct a continuum arm incorporating this torsion module to enable both twisting and bending motions. We present examples showcasing the versatile capabilities of this continuum manipulator in various specialized scenarios. Experimental results demonstrate that the addition of torsional functionality enhances dexterity and expands design possibilities for continuum manipulators.
带扭转旋转功能的连续机械手的设计与性能分析
连续机械臂具有出色的灵活性,能够在非结构化的狭窄空间中穿行。然而,目前连续机械臂的运动能力仅限于伸缩、弯曲或它们的组合,这限制了它的应用范围和潜在用途。设计一种能够绕其轴线进行扭转运动的连续机械手是一项重大挑战。在这项研究中,我们提出了一种可实现扭转运动的连续机械手扭转模块。该模块包括一个由扭转弹簧组成的中心躯干和一个由两条呈圆柱螺旋对称排列的韧带组成的驱动机构。通过拉伸这些驱动缆绳,该模块可以实现扭转运动。我们描述了扭转运动背后的原理,建立了连续扭转模块的运动学模型,并分析了结构参数如何影响模块的扭转运动性能。此外,我们还构建了一个包含该扭转模块的连续臂,以实现扭转和弯曲运动。我们通过实例展示了这种连续机械手在各种特殊场景下的多功能性。实验结果表明,增加扭转功能可以提高灵巧性,拓展连续机械手的设计可能性。
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
CiteScore
3.80
自引率
10.00%
发文量
625
审稿时长
4.3 months
期刊介绍: The Journal of Mechanical Engineering Science advances the understanding of both the fundamentals of engineering science and its application to the solution of challenges and problems in engineering.
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