• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (13): 25-33.doi: 10.3901/JME.2018.13.025

• 特邀专栏:柔性机构及机器人 • 上一篇    下一篇

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多杆连续体机构:构型与应用

徐凯1,2, 刘欢3   

  1. 1. 上海交通大学机械系统与振动国家重点实验室 上海 200240;
    2. 上海交通大学机器人研究所 上海 200240;
    3. 上海交通大学密西根学院 上海 200240
  • 收稿日期:2017-07-25 修回日期:2017-11-27 出版日期:2018-07-05 发布日期:2018-07-05
  • 通讯作者: 徐凯(通信作者),男,1979年出生,副教授,博士研究生导师。主要研究方向为连续体机构及其在机器人系统创新应用方面的研究,包括手术机器人、深腔机械臂、智能假肢、外骨骼等。E-mail:k.xu@sjtu.edu.cn
  • 作者简介:刘欢,男,1986年出生,博士。主要研究方向为连续体机构,欠驱动假肢手以及机械手。E-mail:liuhuan_2013@sjtu.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51435010,51722507,91648103,51375295)。

Multi-backbone Continuum Mechanisms: Forms and Applications

XU Kai1,2, LIU Huan3   

  1. 1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240;
    2. Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240;
    3. UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai 200240
  • Received:2017-07-25 Revised:2017-11-27 Online:2018-07-05 Published:2018-07-05

摘要: 在若干刚性杆件机器人作业困难的场合,柔性机器人可轻易完成操作,因而在近十余年成为研究热点。从柔性铰链机器人到连续体机器人再到柔体机器人,柔性机器人通过逐步引入更多的弹性元件及其变形模态而不断发展。柔性机器人中的连续体机器人通常由连续体机构及其驱控、传感组件构成,其形状可描述为平面或空间曲线。介绍多杆连续体机构的多种构型及其应用。自其狭义构型到广义构型,再到广义构型的组合和连接,多种多杆连续体机构的新构型构成了手术机器人、深腔机械臂、康复外骨骼和欠驱动假肢手等新系统,并于其针对的应用场合展示出了优异的作用性能,体现了连续体机构广泛的应用前景。期望所述范例可启发连续体机构在手术治疗、康复服务和工业生产等领域更多的创新设计和应用,从而进一步拓展机器人机构学的研究范畴和理论体系。

关键词: 差分机构, 假肢手, 连续体机构, 深腔机械臂, 手术机器人, 外骨骼

Abstract: Research on flexible robots prospers in the past decades, possibly due to the consensus that flexible robots might be capable to achieve tasks that are challenging for traditional rigid-linked robots. Flexible robots came into being by gradually introducing more flexible components and deformation patterns:from robots with flexural joints, to continuum robots and soft-bodied robots. Continuum robots consist of continuum mechanisms and their control with actuation and sensing, whose shapes are usually represented by curves. Various forms and applications of a multi-backbone continuum mechanism are presented in this paper. From its basic form, to its general form and the general form's combinations in various ways, the continuum mechanisms constitute several novel robotic systems such as surgical robots, intra-cavity manipulators, exoskeletons and prosthetic hands, demonstrating superior performances. Following the presented design examples, it is expected that new forms of multi-backbone continuum mechanisms could be designed for new applications in services, healthcare practices and various industries.

Key words: continuum mechanism, differential mechanism, exoskeleton, intra-cavity manipulator, prosthetic hand, surgical robot

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