基于双节串联3-RRS机构的蛇形机械臂设计及运动能力分析
Design and Motion Capability Analysis of a Snack Arm Robot Based on the Two-Stage Series 3-RRS Mechanism
张志刚 1靳勇利 1付志军 1王才东 1秦国栋2
作者信息
- 1. 郑州轻工业大学 河南省机械装备智能制造重点实验室,郑州 450002
- 2. 中国科学院 等离子体物理研究所,合肥 230026
- 折叠
摘要
针对强电磁、强辐射及狭小深腔作业环境,设计一种具有轴向伸缩自由度的欠驱动蛇形机械臂.在3-RRS并联机构基础上,提出了采用曲柄滑块机构进行动力传输的双节串联3-RRS机构设计方案.多组双节串联3-RRS机构通过绳索经由套管和滑轮引导串联,组成联动单元.该联动单元由3个电机驱动,可实现两个方向的弯曲和轴向伸缩3个运动自由度.将多级联动单元串联,便得到了具有更高灵活性和适应性的3-RRS蛇形机械臂.在此基础上推导了双节串联3-RRS机构的正向运动学关系及其雅可比矩阵,建立了 3-RRS蛇形机械臂的运动学递推模型.通过运动学仿真,研究了双节串联3-RRS机构的运动模式;利用蒙特卡洛法计算得到了 3-RRS蛇形机械臂的工作空间,系统地分析了串联级数对蛇形机械臂工作空间及运动能力的影响.
Abstract
An underactuated snake arm robot(SAR)with axial degree of freedom is designed for working environments with strong electromagnetic fields,radiation and narrow deep cavities.Based on the 3-RRS parallel mechanism,a two-stage series 3-RRS mechanism design scheme using a crank slider mechanism for power transmission is proposed.Multiple sets of two-stage 3-RRS mechanisms are connected in series through ropes,guided by sleeves and pulleys,forming a linkage unit.The linkage unit is driven by three motors and can achieve bending and axial expansion in two directions,with three degrees of freedom of motion.By connecting multi-level linkage units in series,a 3-RRS SAR with higher flexibility and better adaptability is obtained.The forward kinematic relation and Jacobian matrix of the two-stage series 3-RRS mechanism is derived,and a kinematic recursive model of the 3-RRS SAR is established.The motion mode of a two-stage series 3-RRS mechanism is studied by kinematic simulation.Using the Monte Carlo method,the workspace of a 3-RRS SAR is calculated,and the influence of the number of the series stages on the workspace and motion ability are systematically analyzed.
关键词
蛇形机械臂/运动学递推/3-RRS并联机构/轴向伸缩/工作空间分析Key words
snake arm robot/recursive kinematics/3-RRS parallel mechanism/axial expansion/workspace analysis引用本文复制引用
出版年
2024
NETL
NSTL
万方数据