Design and analysis of a continuum manipulator for use in narrow spaces

IF 1.9 4区 计算机科学 Q3 ENGINEERING, INDUSTRIAL
Fei Qi, Dongming Bai, Xiaoming Dou, Heng Zhang, Haishan Pei, Jing-de Zhu
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引用次数: 0

Abstract

Purpose This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot. Design/methodology/approach The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtual work, which is used to analyze the mapping relationship between the bending deformation and the applied forces/torques. To improve the control accuracy of the robot, a model-based controller is put forward. Findings Results of the experiments verify the feasibility of the proposed continuum structure and the correctness of the established model and the control method. The force deviation between the theoretical value and the actual value is relatively small, and the mean value of the deviation between the driving forces is only 0.46 N, which verify the established statics model and the controller. Originality/value The proposed model and motion controller can realize its accurate bending control with a few deviations, which can be used as the reference for the motion planning and dynamic model of the continuum robot.
窄空间连续机械臂的设计与分析
目的提出一种基于运动学分析和静力学控制的榫卯连续体机器人控制方法,以提高机器人的控制性能。在分段常曲率假设下,采用几何分析法推导了机器人的运动学模型,分析了机器人的工作空间和灵巧性,优化了机器人的结构参数。利用虚功原理建立了弯曲静力学模型,分析了弯曲变形与施加的力/力矩之间的映射关系。为了提高机器人的控制精度,提出了一种基于模型的控制器。实验结果验证了所提出的连续体结构的可行性以及所建立的模型和控制方法的正确性。理论值与实测值之间的力偏差较小,驱动力之间的偏差均值仅为0.46 N,验证了所建立的静力学模型和控制器的正确性。所提出的模型和运动控制器可以实现其精确的弯曲控制,误差较小,可为连续体机器人的运动规划和动力学建模提供参考。
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来源期刊
CiteScore
4.50
自引率
16.70%
发文量
86
审稿时长
5.7 months
期刊介绍: Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world. The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to: Automatic assembly Flexible manufacturing Programming optimisation Simulation and offline programming Service robots Autonomous robots Swarm intelligence Humanoid robots Prosthetics and exoskeletons Machine intelligence Military robots Underwater and aerial robots Cooperative robots Flexible grippers and tactile sensing Robot vision Teleoperation Mobile robots Search and rescue robots Robot welding Collision avoidance Robotic machining Surgical robots Call for Papers 2020 AI for Autonomous Unmanned Systems Agricultural Robot Brain-Computer Interfaces for Human-Robot Interaction Cooperative Robots Robots for Environmental Monitoring Rehabilitation Robots Wearable Robotics/Exoskeletons.
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