基于柔性串并联结构的仿生象鼻机器人运动学分析

Kinematic Analysis of Bionic Elephant Trunk Robot Based on Flexible Series-Parallel Structure.

作者信息

Huang Qitao, Wang Peng, Wang Yuhao, Xia Xiaohua, Li Songjing

机构信息

Harbin Institute of Technology, School of Mechatronics Engineering, Harbin 150001, China.

Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an 710064, China.

出版信息

Biomimetics (Basel). 2022 Dec 5;7(4):228. doi: 10.3390/biomimetics7040228.

DOI:10.3390/biomimetics7040228

PMID:36546927

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9775251/

Abstract

Researchers borrow ideas from biological characteristics and behavior in design to make bionic robots that can meet unstructured and complex operating environments. The elephant trunk has been widely imitated by bionic robots because of its strong dexterity and stiffness adjustability. Due to the complex structure of the current elephant trunk robot, a series-parallel elephant trunk robot based on flexible rod actuation and a 6-degree-of-freedom (6-dof) parallel module is proposed in this paper. The bionic robot has a simple structure and redundant kinematics, which can realize the control of stiffness. This work focuses on the modeling of the flexible driving rod, the kinematics of a single parallel module, and the whole biomimetic robot. The kinematics are verified by simulation, which lays a foundation for future research on stiffness regulation.

摘要

研究人员在设计中借鉴生物特征和行为的思路来制造能够适应非结构化和复杂操作环境的仿生机器人。象鼻因其强大的灵活性和刚度可调性而被仿生机器人广泛模仿。由于当前象鼻机器人结构复杂，本文提出了一种基于柔性杆驱动和六自由度（6-dof）并联模块的串并联象鼻机器人。该仿生机器人结构简单且具有冗余运动学，能够实现刚度控制。这项工作聚焦于柔性驱动杆的建模、单个并联模块的运动学以及整个仿生机器人。通过仿真验证了运动学，为未来的刚度调节研究奠定了基础。