高技术通讯2017，Vol.27Issue(11)：958-965,8.DOI:10.3772/j.issn.1002-0470.2017.11-12.010
蛇形机械臂的机构设计与关节驱动分析
Mechanism design and joint drive analysis of snake-arm manipulators
摘要
Abstract
Considering that compared to traditional six-axis manipulators, a snake-arm has the obvious advantages in terms of movement flexibility and obstacle avoidance,a study on snake-like manipulator is conducted.In order to make a snake-like arm adapt to various types of unstructured environments, a new design method for snake-like arms based on wire driven is given, a kinematic model for snake-like arms is established by using the method for description of equivalent rotating shaft,and a static force module analysis is performed.The modules are connected in series.Fully driven of the snake-arm is based on the rope-driven approach.In the static force module analysis, the influence of the rope friction force is considered.An optimization function is introduced to analyze the traction force of the joint drive rope,so as to compensate the elongation of the rope displacement.Further, a closed-loop control system based on CAN bus is established to improve the accuracy of joint pose.Finally,the kinematic simu-lation is carried out in ADAMS simulation environment.The feasibility of the displacement compensation method is verified by comparing with the snake-arm's ideal pose,and the effectiveness of the control system is verified by the prototype test.关键词
蛇形机械臂/绳索驱动/关节驱动分析/冗余机械臂Key words
snake-like arm/wire-driven/joint drive analysis/redundant arm引用本文复制引用
马可,李斌,王聪,张良全,常健..蛇形机械臂的机构设计与关节驱动分析[J].高技术通讯,2017,27(11):958-965,8.基金项目
国家自然科学基金(61473283)资助项目. （61473283）
