机器人2015，Vol.37Issue(5)：566-572,7.DOI:10.13973/j.cnki.robot.2015.0566
一种具有切口结构的连续体机械臂的力学建模
Mechanics Modeling of a Notched Continuum Manipulator
摘要
Abstract
A wire-driven planar continuum manipulator is developed, and a mechanics model for the notched hyper-redundant manipulator is presented. Based on the idea of FEM (finite element method), the mechanics model of the proposed hyper-redundant continuum manipulator is divided into several mechanics models of sub-deformation units, which results in sub-mechanics modeling. In the proposed sub-deformation unit mechanics model based on the Timoshenko beam element, the coupling between sub-deformation units of the whole manipulator during deformation is also included. In addition, the lateral force caused by the interface contact between the wire and the continuum manipulator is considered, and its influence on the flexible manipulator shape is investigated. With the proposed mechanics model, the joint angles in the joint space and each sub-joint space can be mapped to the driving force. Finally, the proposed mechanics model is experimentally validated on two continuum manipulators with different notches, which illustrates the effectiveness of the proposed mechanics model.关键词
连续体机械臂/力学模型/多冗余度/Timoshenko梁Key words
continuum manipulator/mechanics model/hyper-redundant/Timoshenko beam分类
信息技术与安全科学引用本文复制引用
杨文龙,杜志江,董为..一种具有切口结构的连续体机械臂的力学建模[J].机器人,2015,37(5):566-572,7.基金项目
国家自然科学基金(61175078). （61175078）
