一种具有切口结构的连续体机械臂的力学建模-机器人.PDF

第37 卷第5 期 机器人 ROBOT Vol.37, No.5 2015 年9 月 Sep., 2015 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 杨文龙，杜志江，董 为 （哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江 哈尔滨 150080） 摘 要：设计了一种丝驱动的平面连续体机械臂，并建立了针对该切口结构的多冗余度特性的机械臂力学模 型．基于有限元方法的基本思想，将多冗余特性的机械臂的力学模型问题分解成多个子变形单元的力学模型问题． 在建立的基于Timoshenko 梁单元的子变形单元的力学模型中，考虑了整体机械臂中子变形单元在变形过程中的相 互耦合作用；此外，在建模中也考虑了驱动丝对柔性机械臂的侧向作用力对柔性臂整体形状的影响；通过该力学 模型能够实现从驱动力到关节空间以及子关节空间的关节角度的映射．最后，通过两个不同切口的柔性机械臂的 样机实验，验证了所建立的力学模型的有效性． 关键词：连续体机械臂；力学模型；多冗余度；Timoshenko 梁 中图分类号：TP11 文献标识码：A 文章编号：1002-0446(2015)-05-0566-07 Mechanics Modeling of a Notched Continuum Manipulator YANG Wenlong ，DU Zhijiang ，DONG Wei (State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China) 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 th