Liu Yuwang, Wang Dongqi, Zhang Yongchao, Yuan Zhongqiu, Liu Jinguo, Yang Sheng, Yu Yi
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China.
Micromachines (Basel). 2021 May 9;12(5):536. doi: 10.3390/mi12050536.
Space capture actuators face problems such as insufficient flexibility and electrical components that are vulnerable to extreme space environments. To address these problems, a centralized-driven flexible continuous robot based on a multiple scissor mechanism units is proposed in this study. The continuous robot body is composed of two scissor mechanism units coupled in series, and the base container's three motors to drive the robot. The two scissor mechanism units ensure a wide range of flexible operations and the light weight of the robot. The centralized drive with three motors not only reduces the number of driving sources, but also ensures temperature control and protection of electrical components in the space environment. The kinematics and dynamics of the robot are analyzed, and the workspace and deformation performance of the robot are verified through experiments. Compared with other continuous robots, the proposed continuous robot retains the characteristics of continuous robots in a wide range of flexible operations. At the same time, the configuration is light and a small number of driving sources are used, which is suitable for extreme temperatures, vacuum, radiation, and strict resource-constrained environments in space.
空间捕获执行器面临诸如灵活性不足以及电气部件易受极端空间环境影响等问题。为解决这些问题，本研究提出了一种基于多个剪叉机构单元的集中驱动柔性连续机器人。连续机器人主体由两个串联耦合的剪叉机构单元组成，基座容器内有三个电机来驱动机器人。这两个剪叉机构单元确保了机器人具有广泛的灵活操作范围以及较轻的重量。由三个电机进行的集中驱动不仅减少了驱动源的数量，还确保了对空间环境中电气部件的温度控制和保护。对机器人的运动学和动力学进行了分析，并通过实验验证了机器人的工作空间和变形性能。与其他连续机器人相比，所提出的连续机器人在广泛的灵活操作中保留了连续机器人的特性。同时，其结构轻巧且使用的驱动源数量少，适用于空间中的极端温度、真空、辐射以及资源严格受限的环境。
