仿象鼻机器人设计与实验
Design and Experimental Research of an Elephant Trunk-Like Robot
蒋炜忠 1韩露 1刘志洋 1滕菲 2白晓楠 1孙龙飞1
作者信息
- 1. 沈阳理工大学 机械工程学院,辽宁 沈阳 110159
- 2. 沈阳理工大学 信息科学与工程学院,辽宁 沈阳 110159
- 折叠
摘要
为了模拟象鼻的包络抓取动作,设计了基于绳索与记忆合金弹簧差动驱动的仿象鼻机器人.通过绳索驱动仿象鼻机器人关节模块弯曲,再通过象鼻模块间记忆合金弹簧等效刚度的控制,达到多种弯曲变形效果,实现对不同形状物体的包络抓取功能.采用D-H法建立了仿象鼻机器人的运动学模型,分析了机器人的工作空间.并经过样机实验验证了结构的可行性.此仿象鼻机器人在果蔬采摘、复杂物体抓取等领域有一定应用前景.
Abstract
In order to simulate the envelope-grasping action of an elephant trunk,an elephant trunk-like robot is designed based on the differential drive of rope and memory alloy springs.The rope is used to drive the joint module of the elephant trunk robot to bend,and the equivalent stiffness of the memory alloy spring between the elephant trunk modules is controlled to achieve a variety of bending and deformation effects so as to realize the envelope grasping function for different shapes of ob-jects.The kinematics model of the elephant trunk robot is established by using the D-H method to analyze the robot's working space.The feasibility of the structure is verified through prototype experiments.It has certain application prospect in the fields of fruit and vegetable picking and grasping of complex objects.
关键词
仿生机器人/绳驱动/记忆合金弹簧/结构设计Key words
bionic robot/rope drive/memory alloy spring/structural design引用本文复制引用
基金项目
辽宁省大学生创新创业训练计划项目(S202210144039)
辽宁省博士科研启动基金计划项目(2021-BS-160)
出版年
2024
NETL
NSTL
万方数据