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首页> 外文期刊>IEEE Transactions on Robotics >Continuum Robot Dynamics Utilizing the Principle of Virtual Power
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Continuum Robot Dynamics Utilizing the Principle of Virtual Power

机译：利用虚拟动力原理的连续机器人动力学

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摘要

Efficient formulations for the dynamics of continuum robots are necessary to enable accurate modeling of the robot's shape during operation. Previous work in continuum robotics has focused on low-fidelity lumped parameter models, in which actuated segments are modeled as circular arcs, or computationally intensive high-fidelity distributed parameter models, in which continuum robots are modeled as a parameterized spatial curve. In this paper, a novel dynamic modeling methodology is studied that captures curvature variations along a segment using a finite set of kinematic variables. This dynamic model is implemented using the principle of virtual power (also called Kane's method) for a continuum robot. The model is derived to account for inertial, actuation, friction, elastic, and gravitational effects. The model is inherently adaptable for including any type of external force or moment, including dissipative effects and external loading. Three case studies are simulated on a cable-driven continuum robot structure to study the dynamic properties of the numerical model. Cross validation is performed in comparison to both experimental results and finite-element analysis.
机译：有效的连续机器人动力学公式对于在操作过程中对机器人形状进行精确建模非常必要。连续体机器人技术的先前工作主要集中在低保真集总参数模型（其中将驱动段建模为圆弧）或计算密集型高保真分布参数模型（其中将连续体机器人建模为参数化的空间曲线）。在本文中，研究了一种新颖的动态建模方法，该方法使用一组有限的运动学变量来捕获沿线段的曲率变化。这个动态模型是使用虚拟能量原理（也称为凯恩方法）实现的，用于连续体机器人。推导该模型以说明惯性，致动，摩擦，弹性和重力效应。该模型固有地适用于包括任何类型的外力或力矩，包括耗散效应和外部载荷。在电缆驱动的连续体机器人结构上模拟了三个案例研究，以研究数值模型的动态特性。与实验结果和有限元分析相比，进行了交叉验证。

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