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Biomimetic flexible robot arm design and kinematic analysis of a novel flexible robot arm

机译：仿生柔性机器人手臂的设计和新型柔性机器人手臂的运动学分析

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Conventional robot manipulators have singularities in their workspaces and constrained spatial movements. Flexible and soft robots provide a unique solution to overcome this limitation. Flexible robot arms have biologically inspired characteristics as flexible limbs and redundant degrees of freedom. From these special characteristics, flexible manipulators are able to develop abilities such as bend, stretch and adjusting stiffness to traverse a complex maze. Many researchers are working to improve capabilities of flexible arms by improving the number of degrees of freedoms and their methodologies. The proposed flexible robot arm is composed of multiple sections and each section contains three similar segments and a base segment. These segments act as the backbone of the basic structure and each section can be controlled by changing the length of three control wires. These control wires pass through each segment and are held in place by springs. This design provides each segment with 2 DOF. The proposed system single section can be bent 90?? with respective to its centre axis. Kinematics of the flexible robot is derived with respect to the base segment.
机译：传统的机器人操纵器在其工作空间中具有奇异性，并且空间运动受到限制。灵活的软机器人提供了克服此限制的独特解决方案。柔性机器人手臂具有生物启发性的特征，如柔性肢体和多余的自由度。通过这些特殊的特性，柔性机械手能够开发各种能力，例如弯曲，拉伸和调整刚度，以穿越复杂的迷宫。许多研究人员正在通过改善自由度及其方法论来提高柔性武器的能力。提出的柔性机器人手臂由多个部分组成，每个部分包含三个相似的部分和一个基础部分。这些段充当基本结构的骨干，并且可以通过更改三根控制线的长度来控制每个部分。这些控制线穿过每个段，并通过弹簧固定在适当的位置。该设计为每个段提供2个自由度。建议的系统单节可弯曲90英寸。与其中心轴相对应。柔性机器人的运动学是针对基本段得出的。

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