大负载作用下绳驱连续型机器人静力学建模分析

doi:10.3901/JME.2024.15.028

机械工程学报 ›› 2024, Vol. 60 ›› Issue (15): 28-37.doi: 10.3901/JME.2024.15.028

扫码分享

大负载作用下绳驱连续型机器人静力学建模分析

雷飞¹, 刘思宇¹, 廖峻北¹, 郭朝¹, 王志瑞^2,3, 闫曈^2,3, 党睿娜^2,3, 苏波^2,3

1. 武汉大学动力与机械学院武汉 430072;
2. 中兵智能创新研究院有限公司北京 100072;
3. 群体协同与自主实验室北京 100072

收稿日期:2023-08-25 修回日期:2023-11-22 出版日期:2024-08-05 发布日期:2024-09-24
作者简介:雷飞，男，1999年出生。主要研究方向为绳驱连续型机器人建模与控制。E-mail：2017301390036@whu.edu.cn
刘思宇，男，1999年出生，硕士研究生。主要研究方向为连续型机器人建模与仿真。E-mail：1187720032@qq.com
廖峻北，男，1998年出生，硕士研究生。主要研究方向为机器人柔顺控制。E-mail：941240907@qq.com
郭朝(通信作者)，男，1982年出生，博士，副教授。主要研究方向为外骨骼机器人，变刚度驱动器，连续型机器人。E-mail：guozhao@whu.edu.cn
基金资助:
国家重点研发计划(2023YFE0202100)、国家自然科学青年基金(51605339)和群体协同与自主实验室开放基金课题(QXZ23013101)资助项目。

Static Modeling and Analysis of Cable-driven Continuum Robots under Large Load

LEI Fei¹, LIU Siyu¹, LIAO Junbei¹, GUO Zhao¹, WANG Zhirui^2,3, YAN Tong^2,3, DANG Ruina^2,3, SU Bo^2,3

1. School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072;
2. China North Artificial Intelligence & Innovation Research Institute, Beijing 100072;
3. Collective Intelligence & Collaboration Laboratory, Beijing 100072)

Received:2023-08-25 Revised:2023-11-22 Online:2024-08-05 Published:2024-09-24

摘要/Abstract

摘要： 目前连续型机器人负载能力较弱，不能满足大负载的应用需求，设计了一种基于分布式弹性单元能够承受较大负载的绳驱动十字节连接连续型机器人，而且该机器人具备被动柔顺性，可以用于缓冲、储能等场合。为了分析该连续型机器人的弯曲变形与所受负载之间的静力学关系，建立了有负载条件下的牛顿-欧拉方程，并通过数值求解器进行计算模拟，与经典的常曲率模型假设计算结果对比，牛顿-欧拉方程的仿真结果更符合实际变形量。对连续型机器人末端进行了水平、竖直、圆周运动三组实验，实验结果表明，在7.5 kg外部负载的作用下，该机器人分隔盘边缘点与对应仿真计算点的位置平均误差最大为9.62 mm，均方误差为4.69 mm，分别占连续型机器人总长的4.20%与2.04%，表明该机器人能够实现大负载作用下的精确运动，验证了机器人承担大负载的能力。

关键词: 绳驱动, 连续型机器人, 大负载, 运动学建模, 静力学建模

Abstract: Currently, continuum robots have weak load capacity and cannot meet the application requirements of large loads. Therefore, a cable-driven continuum robot based on distributed elastic elements that can withstand large loads is designed. The robot has passive compliance and can be utilized for applications such as cushioning, energy saving condition. In order to build the static model between the bending deformation of the continuum robot and the external load, Newton-Euler equations under external loads are established, and numerical solvers are designed for simulation. Compared with the classical constant curvature model, the simulation results are more consistent with the actual deformation. Three groups of experiments are conducted for horizontal, vertical, and circular motions at the end of the continuum robot. The results show that under a 7.5 kg load, the maximum average error between the edge points of the robot disks and corresponding simulation points is 6.58 mm, and the mean square error is 4.50 mm. These values respectively account for 2.87% and 1.96% of the total length of the continuum robot, indicating that the robot can achieve accurate motion under large loads and verifying its feasibility in large loads.

Key words: cable-driven, continuum robot, large load, kinematic modeling, static modeling

中图分类号:

TP24

雷飞, 刘思宇, 廖峻北, 郭朝, 王志瑞, 闫曈, 党睿娜, 苏波. 大负载作用下绳驱连续型机器人静力学建模分析[J]. 机械工程学报, 2024, 60(15): 28-37.

LEI Fei, LIU Siyu, LIAO Junbei, GUO Zhao, WANG Zhirui, YAN Tong, DANG Ruina, SU Bo. Static Modeling and Analysis of Cable-driven Continuum Robots under Large Load[J]. Journal of Mechanical Engineering, 2024, 60(15): 28-37.

参考文献

[1] ROBERT J，WEBSTER I，JONES B A.Design and kinematic modeling of constant curvature continuum robots:A review[J].The International Journal of Robotics Research，2010，29(13):1661-1683.
[2] ZHANG J，FANG Q，XIANG P，et al.A survey on design，actuation，modeling，and control of continuum robot[J].Cyborg and Bionic Systems，2022(1):1-13.
[3] 严鲁涛，王琦，李海源，等.基于SMA驱动的连续体手术机器人研究综述[J].机械工程学报，2021，57(11):138-152. YAN Lutao，WANG Qi，LI Haiyuan，et al.Review of continue surgical robot actuated by SMA[J].Journal of Mechanical Engineering，2021，57(11):138-152.
[4] 徐凯，刘欢.多杆连续体机构:构型与应用[J].机械工程学报，2018，54(13):25-33. XU Kai，LIU Huan.Multi-backbone continuum mechanisms:Forms and applications[J].Journal of Mechanical Engineering，2018，54(13):25-33.
[5] WEI D，GAO T，MO X，et al.Flexible bio-tensegrity manipulator with multi-degree of freedom and variable structure[J].Chinese Journal of Mechanical Engineering，2020，33(1):3.
[6] BURGNER-KAHRS J，RUCKER D C，CHOSET H.Continuum robots for medical applications:A survey[J].IEEE Transactions on Robotics，2015，31(6):1261-1280..
[7] MOHAMMAD A，RUSSO M，FANG Y，et al.An efficient follow-the-leader strategy for continuum robot navigation and coiling[J].IEEE Robotics and Automation Letters，2021，6(4):7493-7500.
[8] OLIVER-BUTLER K，TILL J，RUCKER C.Continuum robot stiffness under external loads and prescribed tendon displacements[J].IEEE Transactions on Robotics，2019，35(2):403-419.
[9] RUCKER D C，WEBSTER R J.Mechanics of continuum robots with external loading and general tendon routing[C]//Experimental Robotics:The 12th International Symposium on Experimental Robotics.Berlin，Heidelberg:Springer Berlin Heidelberg，2014:645-654.
[10] 刘忠振，蔡志勤，彭海军，等.位-力驱动的线驱连续型机器人的动力学建模及实验验证[J].机器人，2022，44(4):410-417. LIU Zhongzhen，CAI Zhiqin，PENG Haijun，et al.Dynamic modeling and experimental validation of cable-driven continuum robots actuated in position-force mode[J].Robot，2022，44(4):410-417.
[11] YUAN H，LI Z.Workspace analysis of cable-driven continuum manipulators based on static model[J].Robotics and Computer-Integrated Manufacturing，2018，49:240-252.
[12] CHIKHAOUI M T，LILGE S，KLEINSCHMIDT S，et al.Comparison of modeling approaches for a tendon actuated continuum robot with three extensible segments[J].IEEE Robotics and Automation Letters，2019，4(2):989-996.
[13] ZHANG X，LI W，CHIU P W Y，et al.A novel flexible robotic endoscope with constrained tendon-driven continuum mechanism[J].IEEE Robotics and Automation Letters，2020，5(2):1366-1372.
[14] YANG C，GENG S，WALKER I，et al.Geometric constraint-based modeling and analysis of a novel continuum robot with shape memory alloy initiated variable stiffness[J].The International Journal of Robotics Research，2020，39(14):1620-1634.
[15] 李冰玉，阚子云，彭海军，等.基于张拉整体结构的连续型弯曲机械臂设计与研究[J].机器人，2020，42(6):686-696. LI Bingyu，KAN Ziyun，PENG Haijun，et al.Design and research on a continuum manipulator based on tensegrity structure[J].Robot，2020，42(6):686-696.
[16] 曹晟阁，于靖军，潘杰，等.滚动接触柔性连续体机器人的设计与运动能力分析[J].机械工程学报，2021，57(19):21-29. CAO Shengge，YU Jingjun，PAN Jie，et al.Design and moving capability analysis of a flexible continuum robot with rolling contact[J].Journal of Mechanical Engineering，2021，57(19):21-29.
[17] 杨太玮，郑旭东，徐文福，等.考虑迟滞及变形影响的主被动混合驱动绳驱空间机械臂运动学建模及求解[J].机器人，2022，44(1):45-54. YANG Taiwei，ZHENG Xudong，XU Wenfu，et al.Kinematics modeling and solution of hybrid active-passive cable-driven space manipulator considering the effects of hysteresis and deformation[J].Robot，2022，44(1):45-54.
[18] YUAN H，ZHOU L，XU W.A comprehensive static model of cable-driven multi-section continuum robots considering friction effect[J].Mechanism and Machine Theory，2019，135:130-149.
[19] LIU T，MU Z，WANG H，et al.A cable-driven redundant spatial manipulator with improved stiffness and load capacity[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).2018:6628-6633.
[20] LIU T，XU W，YANG T，et al.A hybrid active and passive cable-driven segmented redundant manipulator:Design，kinematics，and planning[J].IEEE/ASME Transactions on Mechatronics，2021，26(2):930-942.
[21] ROESTHUIS R J，MISRA S.Steering of multisegment continuum manipulators using rigid-link modeling and FBG-based shape sensing[J].IEEE Transactions on Robotics，2016，32(2):372-382.
[22] RUCKER D C，JONES B A，WEBSTER III R J.A geometrically exact model for externally loaded concentric-tube continuum robots[J].IEEE Transactions on Robotics，2010，26(5):769-780.
[23] RONE W S，BEN-TZVI P.Continuum robot dynamics utilizing the principle of virtual power[J].IEEE Transactions on Robotics，2014，30:275-287.
[24] XU W，LIU T，LI Y.Kinematics，dynamics，and control of a cable-driven hyper-redundant manipulator[J].IEEE/ASME Transactions on Mechatronics，2018，23(4):1693-1704.
[25] MAVKO G，MUKERJI T，DVORKIN J.The rock physics handbook[M].3rd ed.Cambridge:Cambridge University Press，2020.
[26] GAO G，WANG H，XIA Q，et al.Study on the load capacity of a single-section continuum manipulator[J].Mechanism and Machine Theory，2016，104:313-326.
[27] WANG P，YANG X，WANG X，et al.General kinetostatic modeling and deformation analysis of a two-module rod-driven continuum robot with friction considered[J].Chinese Journal of Mechanical Engineering，2023，36(1):68.

大负载作用下绳驱连续型机器人静力学建模分析

Static Modeling and Analysis of Cable-driven Continuum Robots under Large Load

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 10

编辑推荐

Metrics

本文评价

[1]	李海利, 姚建涛, 张泰铭, 周盼, 柳春烨, 陈新博. 大负载气动软体末端执行器的设计与分析[J]. 机械工程学报, 2020, 56(3): 56-63.
[2]	乔尚岭, 刘荣强, 郭宏伟, 丁戍辰, 李兵, 邓宗全. 3-DOF索杆桁架式欠驱动机械手运动控制[J]. 机械工程学报, 2020, 56(23): 78-88.
[3]	陈令坤, 乔涛, 毕树生, 任行伟, 蔡月日. 仿蝠鲼机器鱼软体胸鳍建模与仿真[J]. 机械工程学报, 2020, 56(19): 182-190.
[4]	吴石磊, 邵忠喜, 苏海军, 富宏亚. 大负载高精度光栅拼接柔顺并联机构的设计方法[J]. 机械工程学报, 2020, 56(19): 113-121.
[5]	李海利, 姚建涛, 周盼, 赵无眠, 许允斗, 赵永生. 无系留大负载软体抓持机器人研究发展综述[J]. 机械工程学报, 2020, 56(19): 28-42.
[6]	侯月阳, 吴伟国. 具有张力反馈和关节位置全闭环的挠性驱动单元性能测试[J]. 机械工程学报, 2016, 52(11): 11-18.
[7]	吴伟国;侯月阳. 机器人关节用挠性驱动单元研制与负载特性试验[J]. , 2014, 50(13): 16-21.
[8]	常勇;马书根;王洪光;谈大龙;宋小康. 轮式移动机器人运动学建模方法[J]. , 2010, 46(5): 30-36.
[9]	胡海燕;王鹏飞;孙立宁;赵勃;李满天. 线驱动连续型机器人的运动学分析与仿真[J]. , 2010, 46(19): 1-8.
[10]	陈泉柱;陈伟海;刘荣;张建斌. 具有关节角反馈的绳驱动拟人臂机器人机构设计与张力分析[J]. , 2010, 46(13): 83-90.