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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons
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Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

机译：嵌入式肌腱气动肌肉连续体机器人的设计

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摘要

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles. The pneumatic muscles are used to achieve large-scale movements for preliminary positioning, while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A three-dimensional dynamic model of the robot is presented using a mass-damper-spring-based network, in which elastic deformation, actuating forces, and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system.
机译：连续体机器人近年来因其固有的柔韧性而吸引了越来越多的关注，这种固有的柔韧性可实现灵巧而安全的运动。然而，这种系统中固有的柔度降低了结构刚度，因此导致降低了定位精度的问题。本文介绍了采用肌腱嵌入的气动肌肉的连续体机器人的设计。气动肌肉用于进行大规模运动以进行初步定位，而肌腱则用于位置的精细调整。这种混合致动提供了提高机器人系统精度的潜力，同时又能保持较大的位移能力。使用基于质量阻尼器弹簧的网络提出了机器人的三维动力学模型，其中考虑了弹性变形，驱动力和外力。然后借助电磁跟踪系统对机器人的设计和动态模型进行实验验证。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第2期|751-761|共11页
  • 作者

    Rongjie Kang; Yong Guo; Lisha Chen; David T. Branson III; Jian S. Dai;

  • 作者单位

    Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China;

    Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China;

    School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China;

    Faculty of Engineering, University of Nottingham, Nottingham, U.K.;

    Centre for Robotics Research, School of Physical Sciences and Engineering, King's College, London, U.K.;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Pneumatic systems; Muscles; Tendons; Dynamics; Actuators; Manipulators;

    机译：气动系统;肌肉;肌腱;动力学;执行器;机械手;

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