论文部分内容阅读
设计了一种丝驱动的平面连续体机械臂,并建立了针对该切口结构的多冗余度特性的机械臂力学模型.基于有限元方法的基本思想,将多冗余特性的机械臂的力学模型问题分解成多个子变形单元的力学模型问题.在建立的基于Timoshenko梁单元的子变形单元的力学模型中,考虑了整体机械臂中子变形单元在变形过程中的相互耦合作用;此外,在建模中也考虑了驱动丝对柔性机械臂的侧向作用力对柔性臂整体形状的影响;通过该力学模型能够实现从驱动力到关节空间以及子关节空间的关节角度的映射.最后,通过两个不同切口的柔性机械臂的样机实验,验证了所建立的力学模型的有效性.
A wire-driven planar continuum manipulator is designed and a mechanical model of the manipulator is established to deal with the multi-redundancy characteristics of the cut structure.Based on the basic idea of the finite element method, The model problem is decomposed into the mechanical model of multiple sub-deformation units.In the mechanical model of the sub-deformation unit based on Timoshenko beam elements, the mutual coupling of the whole deformation units of the robot arm is considered; in addition, The model also considers the effect of the lateral force acting on the flexible manipulator by the driving wire on the overall shape of the flexible manipulator. The mechanical model can be used to map the joint angle from the driving force to the joint space and the joint space. Finally, The prototype experiments of two flexible arms with different incisions verified the validity of the established mechanical model.