从人手关节到连续机器人:关节表面形态如何在基于模板的设计中塑造灵活性和稳定性。

IF 3.1 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY
Chendi Liang, Yu Wang, Yanzhen Liu, Sutuke Yibulayimu, Qingnan Sun, Chao Shi, Yunning Wang
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引用次数: 0

摘要

连续体机器人的设计经常涉及柔性和刚度的两难选择,其中柔性的增加可能会降低刚度和控制精度。人的手通过利用不同的关节结构来实现力量抓握和精确抓握,特别是拇指,它在平衡灵巧性和稳定性方面起着关键作用。受人类拇指三个不同关节的启发,我们设计了三种类型的连续机械臂,包括单轴关节、球窝关节和马鞍关节。采用模板表面设计来控制所有其他变量,确保关节接触面之间的唯一差异是它们的高斯曲率。分析涵盖了运动学建模、有限元仿真、工作空间测量和刚度实验等方面。实验结果表明,鞍关节机械手的工作空间是球窝关节的0.73倍,是单轴关节的1.69倍。在稳定性方面,鞍形关节的抗扭刚度比球窝式关节最大提高了5.51倍,弯曲刚度最大提高了2.68倍。与单轴关节相比,抗扭刚度提高了3.73倍,抗弯刚度提高了2.44倍。这说明马鞍关节连续结构设计可以在保持柔韧性的同时增强刚度。这项工作为连续体机器人设计中实现平衡的灵活性和稳定性提供了一种新的途径。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
From human hand joints to continuum robot: how articular surface morphology shapes flexibility and stability in template-based designs.

The design of continuum robots often involves a dilemma between flexibility and stiffness, where increased flexibility may reduce stiffness and control precision. The human hand achieves both power grasp and precision grasp by leveraging different joint structures, particularly in the thumb, which plays a key role in balancing dexterity and stability. Inspired by the three distinct joints of the human thumb, we designed three types continuum manipulators featuring uniaxial, ball-and-socket, and saddle joints (SJ). A templated surface design was employed to control all other variables, ensuring that the only difference among the joint contact surfaces was their Gaussian curvature. The analysis covers aspects such as kinematic modeling, finite element simulations, workspace measurement, and stiffness experiments. Experimental results show that the workspace of the SJ manipulator is 0.73 times that of the ball-and-socket joint (BSJ) and 1.69 times that of the uniaxial joint (UJ). In terms of stability performance, the SJ achieves a maximum increase of 5.51 times in torsional stiffness and 2.68 times in bending stiffness compared to the BSJ. Compared to the UJ, the maximum improvements are 3.73 times in torsional stiffness and 2.44 times in bending stiffness. This suggests that the SJ continuum structure design can enhance stiffness while maintaining flexibility. This work provides a new approach for achieving a balanced flexibility and stability in continuum robot design.

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来源期刊
Bioinspiration & Biomimetics
Bioinspiration & Biomimetics 工程技术-材料科学:生物材料
CiteScore
5.90
自引率
14.70%
发文量
132
审稿时长
3 months
期刊介绍: Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.
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