Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
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DexTeR 的设计和建模框架：灵巧连续张拉整体机械臂
DOI：
10.1115/1.4056959
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Vikas, Vishesh
中科院分区：
文献类型：
--
作者：
Woods, Cole;Vikas, Vishesh
由于张拉和压缩元件的对抗性，张拉整体在设计和建模方面面临挑战，以促进有效的制造和建模。提出了一种人-脊柱激励型连续张力机械手(Dexter)的设计方法和建模框架。Dexter是一种连续体机械手，由使用两个弯曲连杆和12根弦制造的“椎骨”模块组装而成，并使用马达-肌腱致动器进行驱动。制造方法包括构建模块的等价图，并找到恰好遍历图的每条边一次的欧拉路径。图形的顶点和边对应于机构的孔和弦或连杆。与传统的刚性机械手不同，这种设计将执行器的大部分重量集中在基座上，而对机械手动力学的影响可以忽略不计。在文献中，我们第一次制造了一个张拉整体机械手，它由10个模块组装而成，从概念上验证了该方法的时间和成本效率。采用欧拉-牛顿法和螺旋理论相结合的方法，建立了椎骨模块的动力学模型。每个刚性连杆都使用螺丝、带有角度旋转分量的六维向量和线性平移来表示。系统的非线性是由弦的不连续行为和机构的“闭链”性质引起的。弦的行为是分段连续的，以模拟其松弛、顺从或张力状态。
The field of tensegrity faces challenges in design to facilitate efficient fabrication, and modeling due to the antagonistic nature of tension and compression elements. The research presents design methodology, and modeling framework for a human-spine inspiredDexterous continuumTensegrity manipulatoR(DexTeR). DexTeR is a continuum manipulator that comprises of an assembly of “vertebra” modules fabricated using two curved links and 12 strings, and actuated using motor-tendon actuators. The fabrication methodology involves the construction of the equivalent graph of the module and finding the Euler path that traverses every edge of the graph exactly once. The vertices and edges of the graph correspond to the holes and strings or links of the mechanism. Unlike traditional rigid manipulators, the design results in centralization of the majority of the weight of the actuators at the base with negligible effect on the manipulator dynamics. For the first time in literature, we fabricate a tensegrity manipulator that is assembled using ten modules to conceptually validate the time and cost efficiency of the approach. A dynamic model of a vertebra module is presented using the Euler–Newton approach with screw theory representation. Each rigid link is represented using a screw, a six-dimensional vector with components of angular rotation, and linear translation. The nonlinearity in the system arises from the discontinuous behavior of the strings and the “closed-chain” nature of the mechanism. The behavior of the strings is piece-wise continuous to model their slack, compliant, or tension states.