...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs
【24h】

A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs

机译：使用串联的双层平面弹簧的新型连续体机械手设计

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

There is a surge of research interest in the field of “continuum robotics.” Robots created under this paradigm offer many advantages and represent unique features in terms of flexibility, dexterity, safety, and weight reduction. This paper introduces a novel continuum manipulator that integrates multiple layers of compliant planar springs—a structure that provides several notable advantages over existing designs. First, it possesses precise linear large-displacement motion. In this context, we utilize the linear output motion of each layer of springs. With the serial connection of multiple conjoined layers, the manipulator demonstrates linear predictable bending even when executing large bends. An analytical method is provided to study the compliance characteristics of the planar spring and derive the compliance matrix to represent the force–deflection relationships, allowing an accurate motion prediction. Second, compared with work elsewhere, this structure demonstrates an effective way of decoupling bending from contraction and expansion. It reduces the uncontrolled compression when generating normal deflections, thus controlling robot bending is simplified. Third, the reachable workspace of the end effector is enlarged by means of varying the length of the continuum manipulator via controlled contraction and expansion. A 3-D printed prototype of this continuum manipulator is experimentally evaluated. The conducted experiments demonstrated validity of our approach.
机译：在“连续机器人”领域，研究兴趣激增。在此范式下创建的机器人具有许多优势，并在灵活性，灵巧性，安全性和减轻重量方面表现出独特的功能。本文介绍了一种新颖的连续介质操纵器，该操纵器集成了多层顺应性平面弹簧，该结构提供了一些优于现有设计的明显优势。首先，它具有精确的线性大位移运动。在这种情况下，我们利用了每层弹簧的线性输出运动。通过多个相连层的串行连接，即使执行大弯折，该机械手也能显示出线性可预测的弯折。提供了一种分析方法来研究板簧的柔度特性，并导出柔度矩阵来表示力-挠度关系，从而可以进行准确的运动预测。其次，与其他地方的工作相比，这种结构展示了一种有效的方式将弯曲与收缩和膨胀分离。它减少了在产生法向挠度时的不受控制的压缩，从而简化了机器人弯曲的控制。第三，通过控制收缩和膨胀来改变连续操纵器的长度，可以扩大末端执行器的可到达工作空间。实验上评估了该连续机械手的3D打印原型。进行的实验证明了我们方法的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号