可展开平移平行带簧机械手的结构设计和运动学性能

IF 1.9 4区计算机科学 Q3 ROBOTICS

Robotica Pub Date : 2024-03-22 DOI:10.1017/s0263574724000353

Hu Liu, Yawen Qin, Yi Yang

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引用次数: 0

摘要

可展开机械手具有安装空间小、工作空间大的特点，在小型无人平台中具有广阔的应用前景。现有的可展开机械手大多基于刚性链接设计，随着刚性链接和关节数量的增加，其复杂性和质量不可避免地急剧增加。受胶带弹簧卓越特性的启发，本文提出了新型可展开平行胶带弹簧机械手，具有质量小、力学简单、展开与折叠比高等特点。首先，本文提出了一种双 C 形胶带弹簧，以提高结构的稳定性。设计了组合固定驱动组件（CFDC）和组合移动驱动组件（CMDC）。然后，在 CFDC 和 CMDC 的基础上提出了新型 2-DOF 和 3-DOF 可部署平移平行机械手，并分析了它们的自由度 (DOF)、运动学和稳定性。将卷带弹簧视为阿基米德螺旋，可显著提高运动学分析的精度。通过与模拟结果和实验结果的比较，得出了欧拉公式的修正系数。此外，还给出了 2-DOF 和 3-DOF 可部署平行机械手的稳定空间。最后，制作了一个原型，并进行了实验来验证所提出的设计和分析。

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Structure design and kinematic performance of the deployable translational parallel tape-spring manipulator

A deployable manipulator has the characteristics of a small installation space and a large workspace, which has great application prospects in small unmanned platforms. Most existing deployable manipulators are designed based on rigid links, whose complexity and mass inevitably increase sharply with increasing numbers of rigid links and joints. Inspired by the remarkable properties of tape springs, this paper proposes novel deployable parallel tape-spring manipulators with low mass, simple mechanics, and a high deployed-to-folded ratio. First, a double C-shaped tape spring is presented to improve the stability of the structure. The combined fixed drive component (CFDC) and combined mobile drive component (CMDC) are designed. Then, novel 2-DOF and 3-DOF deployable translational parallel manipulators are proposed based on the CFDC and CMDC, and their degrees-of-freedom (DOFs), kinematics, and stability are analyzed. The coiled tape spring is regarded as an Archimedean spiral, which can significantly improve the accuracy of kinematic analysis. The correction coefficient of the Euler formula is obtained by comparison with simulation results and experimental results. Furthermore, the stability spaces of the 2-DOF and 3-DOF deployable parallel manipulators are given. Finally, a prototype is fabricated, and experiments are conducted to validate the proposed design and analysis.

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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.