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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules
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Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules

机译：级联模块的二进制冗余机械手的设计与实现

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The subject of this paper is the design and implementation of a prototype snakelike redundant manipulator. The manipulator consists of cascaded modules eventually forming a macroscopically serial robot and is powered by shape memory alloy (SMA) wires. The SMAs (NiTi) act as binary actuators with two stable states and as a result, the repeatability of the manipulator's movement is ensured, alleviating the need for complex feedback sensing. Each module is composed of a customized spring and three SMA wires which form a tripod with three degrees of freedom (DOFs). Embedded microcontrollers networked with the (IC)-C-2 protocol activate the actuators of each module individually. In addition, we discuss certain design aspects and propose a solution that deals with the limited absolute stroke achieved by SMA wires. The forward and inverse kinematics of the binary manipulator are also presented and the tradeoff between maneuverability and computational complexity is specifically addressed. Finally, the functionality and maneuverability of this design are verified in simulation and experimentally.
机译：本文的主题是原型蛇形冗余机械手的设计和实现。该操纵器由级联模块组成，这些级联模块最终形成了宏观串行机器人，并由形状记忆合金（SMA）线供电。 SMA（NiTi）充当具有两个稳定状态的二元致动器，因此，确保了机械手运动的可重复性，从而减轻了对复杂反馈感测的需求。每个模块由定制的弹簧和三根SMA线组成，它们形成具有三个自由度（DOF）的三脚架。与（IC）-C-2协议联网的嵌入式微控制器分别激活每个模块的执行器。此外，我们讨论了某些设计方面，并提出了一种解决方案，该解决方案可解决SMA导线实现的有限绝对行程。还介绍了二进制操纵器的正向和反向运动学，并专门解决了可操纵性与计算复杂性之间的折衷问题。最后，通过仿真和实验验证了该设计的功能性和可操作性。

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