基于柔性并联连续体的灵巧操作手的设计及分析

doi:10.3901/JME.2020.19.122

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 122-131.doi: 10.3901/JME.2020.19.122

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

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基于柔性并联连续体的灵巧操作手的设计及分析

汪培义, 郭盛, 王向阳, 宋马军, 林华杰

北京交通大学机械与电子控制工程学院北京 100044

收稿日期:2020-02-21 修回日期:2020-05-06 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 郭盛(通信作者),男,1972年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学。E-mail:shguo@bjtu.edu.cn
作者简介:汪培义,男,1995年出生,博士研究生。主要研究方向为机器人机构学和连续体机器人。E-mail:19116019@bjtu.edu.cn
基金资助:
国家自然科学基金（51875033）和北京市自然科学基金（L172021）资助项目。

Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

WANG Peiyi, GUO Sheng, WANG Xiangyang, SONG Majun, LIN Huajie

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received:2020-02-21 Revised:2020-05-06 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 提出了一种新型4-DOF柔性并联连续体机构，将该机构与末端绳驱动的抓手相结合，设计完成具有灵活抓取性能的操作手。将该柔性机构通过柔性支链等效的方式等效为传统刚性连杆的并联机构，并且运用螺旋理论对该机构进行自由度分析；采用经典的Cosserat Rod模型对机构进行运动学建模；通过对比分析三种并联连续体机构的可操作度，4-DOF并联连续体机构由于具有一个额外的扭转自由度，使得操作手能够更加灵活地抓取物体，在此基础上给出了一组操作手抓取的仿真实例。最后通过试验验证机构自由度以及运动学模型的数值解，并且实现操作手灵活抓取的性能。

关键词: 并联连续体机构, Cosserat Rod模型, 操作手, 灵活抓取, 运动可操作度

Abstract: A new four-degree-of-freedom parallel continuum manipulator is presented, which was combined with a cable-driven gripper to improve the performance of dexterous grasp. This manipulator is approximately equivalent to the traditional rigid link parallel mechanism by complaint branch equivalent method, and the degree of freedom analysis of the manipulator is performed by using the screw theory. The classic Cosserat Rod model is applied to model the kinematics of the continuum manipulator. By comparative analysis among three types of parallel continuum manipulator, the proposed manipulator can provide an additional torsional movement which make the gripper grasp the object more flexibly. Based on this, a simulation example of dexterous grasp is given. Finally, experiments verify the degree of freedom and kinematics of the manipulator and the performance of flexible grasping of the gripper.

Key words: parallel continuum manipulator, Cosserat Rod model, gripper, flexible grasp, kinematic manipulability

中图分类号:

TG156

汪培义, 郭盛, 王向阳, 宋马军, 林华杰. 基于柔性并联连续体的灵巧操作手的设计及分析[J]. 机械工程学报, 2020, 56(19): 122-131.

WANG Peiyi, GUO Sheng, WANG Xiangyang, SONG Majun, LIN Huajie. Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator[J]. Journal of Mechanical Engineering, 2020, 56(19): 122-131.

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基于柔性并联连续体的灵巧操作手的设计及分析

Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

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