丝驱动蛇形臂机器人的被动柔顺特性分析

来源 :机械科学与技术 | 被引量 : 0次 | 上传用户：angelagao00

【摘要】

：

常见的丝驱动蛇形臂机器人在末端受到外部横向力作用时易发生丝松弛现象,导致丝驱动蛇形臂机器人的构型不可控,这种特性即为被动柔顺特性.为解决被动柔顺问题,首先总结并分析了典型丝驱动蛇形臂机器人关节类型及其结构特点.其次以一种含有典型关节的丝驱动蛇形臂机器人为例,详细分析被动柔顺特性的产生机理,进而提出一种被动柔顺指标.通过研究丝驱动蛇形臂机器人的关节结构参数对被动柔顺指标的具体影响,得到了可避免被动柔顺特性的关节参数设计要求.在此基础上,建立3种不具有被动柔顺特性的丝驱动蛇形臂机器人构节.

【作者】

：

刘北尹来容黄龙胡波

【机构】

：

长沙理工大学汽车与机械工程学院,长沙 410114;长沙理工大学汽车与机械工程学院,长沙 410114;长沙理工大学机械装备高性能智能制造关键技术重点实验室,长沙 410114

【出处】

：

机械科学与技术

【发表日期】

：

2022年2期

【关键词】

：

丝驱动蛇形臂机器人被动柔顺关节类型关节参数设计

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丝驱动蛇形臂机器人的被动柔顺特性分析

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