滚动接触柔性连续体机器人的设计与运动能力分析

doi:10.3901/JME.2021.19.002

机械工程学报 ›› 2021, Vol. 57 ›› Issue (19): 21-29.doi: 10.3901/JME.2021.19.002

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滚动接触柔性连续体机器人的设计与运动能力分析

曹晟阁, 于靖军, 潘杰, 裴旭

北京航空航天大学机械工程及自动化学院北京 100191

收稿日期:2020-10-07 修回日期:2021-02-25 出版日期:2021-10-05 发布日期:2021-12-13
通讯作者: 裴旭(通信作者)，男，1979年出生，博士，副教授。主要研究方向为机器人机构学和柔性机构等。E-mail：peixu@buaa.edu.cn
作者简介:曹晟阁,男,1997年出生。主要研究方向为蛇形臂机器人、连续体机器人。E-mail:shengge_cao@buaa.edu.cn;于靖军,男,1974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、精密机械设计等。E-mail:jjyu@buaa.edu.cn;潘杰,男,1991年出生,博士研究生。主要研究方向为蛇形臂机器人、软体机器人、智能材料。E-mail:panjie@buaa.edu.cn
基金资助:
国家自然科学基金资助项目（U1813221，51675016）。

Design and Moving Capability Analysis of a Flexible Continuum Robot with Rolling Contact

CAO Shengge, YU Jingjun, PAN Jie, PEI Xu

School of Mechanical Engineering and Automation, Beihang University, Beijing 100191

Received:2020-10-07 Revised:2021-02-25 Online:2021-10-05 Published:2021-12-13

摘要/Abstract

摘要： 针对航空原位检修领域对机器人在复杂、狭小空间的作业需求，基于滚动接触原理设计了一种新型的柔性连续体机器人，解决了连续体机器人轴向刚度需求与运动柔顺性之间的矛盾。对连续体机器人单元柔性关节和整体系统进行了详细分析，根据机器人的冗余自由度特点设计了主动运动与被动运动两种运动策略。对机器人单元关节的力学仿真结果表明，该柔性关节转动刚度适宜，轴向刚度较大。机器人长600 mm，最大弯曲角度大于360°，最小弯曲半径40 mm；实验结果表明该机器人运动柔顺，具备良好的环境自适应能力。

关键词: 飞机检修, 连续体机器人, 柔性关节, 滚动接触

Abstract: According to the operation requirements of aviation in-situ maintenance in complex and narrow space, a new type of flexible continuum robot based on rolling contact is proposed, which reduces the conflict between the continuum robot’s axial rigidity and flexibility. The robot’s compliant joints and the system are analyzed detailly. Then two motion strategies are designed based on the redundant DOF of the robot, which are active motion and passive motion respectively. The simulation of the unit joint illustrates that the compliant joint is with matching rotational rigidity and large axial rigidity. The robot is with 600 mm long, the max bending angle is more than 720° and the min bending radius is 40 mm. Experiment results illustrate that the robot can move flexibly and adapt to the environment well.

Key words: aircraft maintenance, continuum robot, compliant joint, rolling contact

中图分类号:

TP24

曹晟阁, 于靖军, 潘杰, 裴旭. 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, PEI Xu. Design and Moving Capability Analysis of a Flexible Continuum Robot with Rolling Contact[J]. Journal of Mechanical Engineering, 2021, 57(19): 21-29.

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滚动接触柔性连续体机器人的设计与运动能力分析

Design and Moving Capability Analysis of a Flexible Continuum Robot with Rolling Contact

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