Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints
Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints
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DOI：
10.1109/access.2021.3062284
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发表时间：
2021
期刊：
影响因子：
3.9
通讯作者：
Ayato Kanada;T. Mashimo
中科院分区：
文献类型：
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作者：
Ayato Kanada;T. Mashimo
刚性连接使机器人能够举起重物，但阻止它们轻轻伸展和弯曲身体。没有刚性连杆的连续体机器人具有广泛的运动范围、安全性、形状适应性和柔顺性。为了结合连续体和刚性机器人的优点，我们提出了一种通过可错位关节在离散状态和连续状态之间切换的方法。这个机械装置是由三根导线驱动的。其上部为杯形接头，下部为球头，两段由弹簧连接。杯节和球节是分离的，机械手是柔性连续体。当拉动穿过各部分的导线时，两个关节作为离散状态连接。为了阐明机械手的设计方法，我们建立了关节模型，并在仿真和实验中考虑了三种碰撞情况。该模型揭示了机器人的形状参数与机械手的运动范围之间的关系，并可视化了由于球和杯关节之间的碰撞而导致定位不确定的区域。建立了机械手样机，并通过实验验证了这种连接方式提高了机械臂的刚度。
Rigid linkages allow robots to lift heavy loads but prevent them from gently stretching and bending their bodies. Continuum robots without rigid linkages have a wide range of motion, safety, shape adaptability, and compliance. To combine the benefits of both continuum and rigid robots, we propose a method of switching between discrete and continuum states by a dislocatable joint. This mechanism is driven by three wires. It has a cup joint in an upper section and a ball joint in a lower section, and the two sections are connected by a spring. The cup and ball joints are separated, and the manipulator is a flexible continuum one. When the wires through the sections are pulled, the two joints are connected as a discrete state. To clarify the design methodology of the manipulator, we build a model of the joint and consider three collision cases in the simulation and experiment. The model reveals the relationship between the robot’s shape parameters and the manipulator’s range of motion, and it visualizes an area where the positioning is uncertain due to the collision between the ball and cup joints. We build a prototype manipulator and experimentally verify that the stiffness is improved by the connection.