Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons
Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons
复制标题
一种基于气动肌肉的嵌入式肌腱连续体机器人的设计
DOI：
10.1109/tmech.2016.2636199
复制
发表时间：
2017-04-01
影响因子：
6.4
通讯作者：
Dai, Jian S.
中科院分区：
文献类型：
--
作者：
Kang, Rongjie;Guo, Yong;Dai, Jian S.
连续体机器人由于其固有的顺应性，允许灵巧和安全的运动，近年来吸引了越来越多的关注。然而，这种系统中的固有柔度降低了结构刚度，因此导致定位精度降低的问题。本文提出了一种基于腱嵌入气动肌肉的连续体机器人的设计。气动肌肉用于实现初步定位的大规模运动，而肌腱用于位置的微调。这种混合致动提供了提高机器人系统的精度的潜力，同时保持大位移能力。一个三维动力学模型的机器人使用的质量阻尼器弹簧为基础的网络，其中考虑了弹性变形，驱动力，和外力。的设计和动态模型的机器人，然后验证实验的帮助下，电磁跟踪系统。
Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles. The pneumatic muscles are used to achieve largescale movements for preliminary positioning, while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A three-dimensional dynamic model of the robot is presented using a mass-damper-spring-based network, in which elastic deformation, actuating forces, and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system.