中国空间科学技术（中英文）2025，Vol.45Issue(3)：89-99,11.DOI:10.16708/j.cnki.1000-758X.2025.0041
面向空间抱捕的连续型机械臂机构设计
Design of continuum robot for space capture
摘要
Abstract
Aiming at the requirement of reliable acquisition of objects of different sizes and shapes in space,a rope-driven continuum robot with"C"type linkage is designed,which can realize the"form-closed"and reliable capture of objects in the absence of some accurate measurement information.The continuum robot can be applied to the acquisition task of targets of different sizes by flexibly increasing or decreasing the number of joints,and has the characteristics of uniform operation capability in all directions.First the"C"type linkage design scheme of continuum robot is introduced,then the flexibility description index based on the Jacobian matrix condition number for the kinematic model of linkage continuum robot is established,and particle swarm optimization algorithm is adopted to optimize the rod length allocation of continuum robot with flexibility as the optimization objective.The results show that the flexibility index of the continuum robot with optimized rod length is 4.6%higher than that of the continuum robot with average rod length.Finally,the simulation results show that with the increase of the flexibility index,the anisodirectional motion ability of continuum robot becomes more similar.It is proved that the flexibility of continuum robot can be improved by using this index as optimization basis.关键词
连续型机械臂/空间抱捕/结构设计/运动学模型/灵活性优化Key words
continuum robot/space capture/structure design/kinematic model/flexibility optimization引用本文复制引用
杨承旭,赵志军,王耀兵,王捷,王丽华..面向空间抱捕的连续型机械臂机构设计[J].中国空间科学技术（中英文）,2025,45(3):89-99,11.基金项目
国家自然科学基金(U22B2080) （U22B2080）
