Study on the load capacity of a single-section continuum manipulator

被引：18

作者：

Gao, Guohua ^{[1
]}

Wang, Hao ^{[1
]}

Xia, Qixiao ^{[2
]}

Song, Mingyang ^{[1
]}

Ren, Han ^{[1
]}

机构：

[1] Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing 100124, Peoples R China

[2] Beijing Union Univ, Coll Mech & Elect Engn, Beijing 100020, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2016年 / 104卷

基金：

中国国家自然科学基金;

关键词：

Continuum manipulator; Kinematic modeling; Loading capacity; ROBOTS; DESIGN; KINEMATICS; DYNAMICS; SURGERY; MODELS; SYSTEM; FORCE;

D O I：

10.1016/j.mechmachtheory.2016.06.010

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a simplified method to establish a mathematical model for predicting the loaded posture of a single-section continuum manipulator with arbitrary shape and size of the cross-section. The method constructs a parameter of equivalent bending stiffness for the manipulator and later considers the single-section continuum manipulator to be an equivalent Euler-beam while discussing the symmetry of the cross-section. Thus, the tip position and posture of the manipulator under load are deduced using the large deflection theory and unit load method. The loading model of the single-section continuum manipulator is verified by experiment, and the result indicates that the error between the theoretical model and the experiment is no more than 6%. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：313 / 326

页数：14

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