Variable stiffness structural design of a dual-segment continuum manipulator with independent stiffness and angular position
Variable stiffness structural design of a dual-segment continuum manipulator with independent stiffness and angular position
复制标题
独立刚度和角位置的双节连续体机械臂变刚度结构设计
DOI：
10.1016/j.rcim.2020.102000
复制
发表时间：
2021-02-01
影响因子：
10.4
通讯作者：
Xiang, Chaoqun
中科院分区：
文献类型：
--
作者：
Gao, Xifeng;Li, Xingchen;Xiang, Chaoqun
本文研究了一类多段连续体机械臂的变刚度问题。引入了一种主要由两种类型的气动肌肉执行器（PMA）组成的简单设计来解决这个问题。为了提供详细的分析，可变刚度的这一特性与基于几何力学和每个 PMA 中的刚度性能测试的数学分析相结合，从而形成刚度模型。此外，利用简单的设计使得由两个单元组成的连续体机械手能够独立于角位置改变其刚度。此外，仅利用每个单元中PMA的压力变化，双节机械臂还具有实现独立单元锁定的能力。实验结果进一步验证了所提出的连续介质机械臂的预期性能。
This paper investigates the problem of the variable stiffness for a class of multisegment continuum manipulators. A simple design that mainly consists of two types of pneumatic muscle actuators (PMAs) is introduced to deal with the problem. To provide a detailed analysis, this characteristic of the variable stiffness is coupled with a mathematical analysis that is built upon the geometric mechanics and the performance testing of the stiffness in each PMA, thereby forming the stiffness model. Moreover, utilizing the simple design enables the continuum manipulator composed of two units to vary its stiffness independently from the angular position. In addition, using only the pressure variation of the PMAs in each unit, the dual-segment manipulator also has the capacity to implement independent unit locking. The experimental results further validate the expected performance of the proposed continuum manipulator.