Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism

被引：0
作者：
Wu G. [1 ]
Shi G. [1 ]
机构：
[1] School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai
来源：
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2022年 / 56卷 / 06期
关键词：
Constant curvature model; Continuum manipulator; Coupling; Double parallel mechanism; Large deformation;
D O I：
10.16183/j.cnki.jsjtu.2021.060
中图分类号：
学科分类号：
摘要：
A 5-degree-of-freedom continuum manipulator is designed and implemented to improve the flexible positioning ability of the continuum mechanism in applications such as interactivity operations, light object grabbing, and human-machine collaboration. In the design process, by introducing a two-segment constant curvature model, the distribution of degrees of freedom on the mechanism is explained geometrically by the method of twist. Coupling two stretchable parallel modules in series, a two-segment structure is formed for curving and each segment has two degrees of freedom in bending and one degree of freedom in stretching, thereby giving 5 degrees of freedom to the end-effector. Concentrating on the dynamic performance of the manipulator, an electromechanical system platform is built as a prototype. The experiments show that the structure realizes the control of the end-effector during large deformation of the manipulator, and is able to achieve extreme pose in 2 s with an approximation positioning error of 2% of the nominal arm length. © 2022, Editorial Board of Journal of Shanghai Jiao Tong University. All right reserved.
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页码：809 / 817
页数：8
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