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Alternative TitleMechanism design and joint drive analysis of snake-arm manipulators
马可; 李斌; 王聪; 张良全; 常健
Source Publication高技术通讯
Contribution Rank1
Funding Organization国家自然科学基金( 61473283) 资助项目
Keyword蛇形机械臂 绳索驱动 关节驱动分析 冗余机械臂
Other AbstractConsidering 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 simulation 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.
Document Type期刊论文
Corresponding Author马可
Recommended Citation
GB/T 7714
马可,李斌,王聪,等. 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(11-12):958-965.
APA 马可,李斌,王聪,张良全,&常健.(2017).蛇形机械臂的机构设计与关节驱动分析.高技术通讯,27(11-12),958-965.
MLA 马可,et al."蛇形机械臂的机构设计与关节驱动分析".高技术通讯 27.11-12(2017):958-965.
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