Cao Ning, Liu Jinsheng, Shen Feiling, Pei Xuming, Liu Yupu, Li Hengyu
College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China.
School of Electrical and Information Engineering, Henan University of Engineering, Zhengzhou 451191, China.
Appl Bionics Biomech. 2024 May 31;2024:9439878. doi: 10.1155/2024/9439878. eCollection 2024.
Flexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of underactuated bionic scorpion robot arms can be developed to explore the stable capture and accurate alignment motion operations. Overall structure design and D-H kinematic simulation of bionic scorpion robot arm can be conducted to analyze virtual three-key typical motions. Motion optimization of structural parameters and corresponding motion workspaces verification can be adopted to evaluate motion range and ability. Experiments can be utilized to verify the rationality of theoretical modeling and optimization simulation of bionic scorpion robot arm. Experimental results illustrate that it is evident to demonstrate that the motion behaviors of bionic scorpion robot arm can be verified to be consistent with three key states of virtual theoretical motions. The key joints possessing minor errors may also be utilized to illustrate the relatively excellent dynamic motions existing in bionic scorpion robot arm. Further, advancing the stable motion behaviors of bionic scorpion robot arm may solve the problems of low-accuracy and misalignment polarizer attachments.
具有高对比度以实现高清显示的柔性屏幕可归因于偏振器组件的精度。与现有的附着在柔性屏幕上的偏振器不同，现有偏振器会导致附着精度低和不对准的问题，而可以开发一种独特的欠驱动仿生蝎子机器人手臂方法来探索稳定捕获和精确对准的运动操作。可以进行仿生蝎子机器人手臂的整体结构设计和D-H运动学仿真，以分析虚拟三键典型运动。可以采用结构参数的运动优化和相应运动工作空间验证来评估运动范围和能力。可以利用实验来验证仿生蝎子机器人手臂理论建模和优化仿真的合理性。实验结果表明，很明显可以证明仿生蝎子机器人手臂的运动行为与虚拟理论运动的三个关键状态一致。具有较小误差的关键关节也可用于说明仿生蝎子机器人手臂中存在的相对优异的动态运动。此外，推进仿生蝎子机器人手臂的稳定运动行为可以解决偏振器附着精度低和不对准的问题。
