基于形状记忆合金驱动的连续体机器人路径规划

doi:10.3901/JME.2023.15.050

机械工程学报 ›› 2023, Vol. 59 ›› Issue (15): 50-61.doi: 10.3901/JME.2023.15.050

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基于形状记忆合金驱动的连续体机器人路径规划

严鲁涛¹, 王琦¹, 李海源¹, 张勤俭²

1. 北京邮电大学现代邮政学院北京 100876;
2. 北京信息科技大学机电工程学院北京 100192

收稿日期:2022-08-06 修回日期:2022-12-24 出版日期:2023-08-05 发布日期:2023-09-27
通讯作者: 严鲁涛(通信作者),男,1984年出生,博士,副教授。主要研究方向为连续体机器人系统、智能材料与仿生结构、智能绿色制造。E-mail:yanlt@bupt.edu.cn
作者简介:王琦,男,1996年出生,硕士研究生。主要研究方向为形状记忆合金驱动的连续体机器人。E-mail:bupt124_wq@bupt.edu.cn;李海源,男,1986年出生,博士,高级工程师,硕士研究生导师。主要研究方向为医疗机器人与遥操作机器人、灵巧手与灵巧操作机器人、模块化自重构机器人。E-mail:lihaiyuan@bupt.edu.cn;张勤俭,男,1972年出生,博士,教授,博士研究生导师。主要研究方向为智能制造、机器人与特种加工。E-mail:13671245929@126.com
基金资助:
国家重点研发计划资助项目(2019YFB1309801)

Path Planning of Continuum Robot Actuated by Shape Memory Alloy

YAN Lutao¹, WANG Qi¹, LI Haiyuan¹, ZHANG Qinjian²

1. School of Modern Post, Beijing University of Posts and Telecommunications, Beijing 100876;
2. School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192

Received:2022-08-06 Revised:2022-12-24 Online:2023-08-05 Published:2023-09-27

摘要/Abstract

摘要： 连续体机器人运动灵活,能在多障碍的狭窄环境中进行连续弯曲运动。现有连续体机器人多以绳驱动为主,机械结构复杂、关节间耦合现象严重,从而导致控制复杂,且难以进行长度方向上的拓展。形状记忆合金(Shape memory alloy, SMA)作为一种新型的智能材料,同时具有驱动和传感的功能,并且其质量轻,单位体积内的驱动力大,作为机器人的驱动设备有助于减少其结构体积,并改善其控制方式。因此,在研究中,设计了一款基于SMA驱动的连续体机器人,并对其路径规划算法进行研究,在保证机器人运动效率的同时,确保其沿目标路径运行的安全性。结合SMA的驱动特性,并基于常曲率运动学模型,提出A*路径规划算法的优化方法,使其更加符合连续机器人的运动特性。研究结果表明,提出的改进型A*算法搜索时间短,规划效率高,具备良好的环境适应能力。

关键词: 连续体机器人, SMA, 运动学分析, 结构设计, 路径规划

Abstract: Continuum robot is a kind of robot that can continuously bend in the narrow environment with many obstacles. The current continuum robots are mainly actuated by rope, with complex mechanical structure and serious coupling between joints, resulting in complex control and difficulty in extending in length direction. Shape memory alloy (SMA), as a new kind of intelligent material, has the function of driving and sensing at the same time, and its weight is light, the driving force per unit volume is large, as the driving device of the robot is helpful to reduce its structural volume, and improve its control mode. Therefore, the SMA actuated continuum robot is proposed, and the path planning algorithm is analyzed to ensure the safety of the continuum robot along the path while ensuring the efficiency of the robot movement. By combining the driving characteristics of SMA, the Kinematic analysis and structure design of the continuum robot are carried out. On this basis, the A* path planning algorithm is improved and optimized by combining the constant curvature kinematic model, so that it is more consistent with the motion characteristics of the continuous robot. Experiment results illustrate that the improved A* algorithm proposed has the advantages of short search time, high planning efficiency and good adaptability to the environment.

Key words: continuum robotics, SMA, kinematic analysis, structure design, path planning

中图分类号:

TP242

严鲁涛, 王琦, 李海源, 张勤俭. 基于形状记忆合金驱动的连续体机器人路径规划[J]. 机械工程学报, 2023, 59(15): 50-61.

YAN Lutao, WANG Qi, LI Haiyuan, ZHANG Qinjian. Path Planning of Continuum Robot Actuated by Shape Memory Alloy[J]. Journal of Mechanical Engineering, 2023, 59(15): 50-61.

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基于形状记忆合金驱动的连续体机器人路径规划

Path Planning of Continuum Robot Actuated by Shape Memory Alloy

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