[1]周正东,贾峻山,魏士松,等.连续型经狭窄腔检测机器人结构设计及运动学分析[J].东南大学学报(自然科学版),2020,50(6):1030-1037.[doi:10.3969/j.issn.1001-0505.2020.06.006]
　Zhou Zhengdong,Jia Junshan,Wei Shisong,et al.Structure design and kinematics analysis of continuum detection robot through narrow cavity[J].Journal of Southeast University (Natural Science Edition),2020,50(6):1030-1037.[doi:10.3969/j.issn.1001-0505.2020.06.006]
点击复制

连续型经狭窄腔检测机器人结构设计及运动学分析()
分享到：

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
50
期数:
2020年第6期
页码:
1030-1037
栏目:
自动化
出版日期:
2020-11-20

文章信息/Info

Title:
Structure design and kinematics analysis of continuum detection robot through narrow cavity
作者:
周正东; 贾峻山; 魏士松; 刘传乐; 章栩苓; 毛玲
南京航空航天大学机械结构力学及控制国家重点实验室, 南京 210016
Author(s):
Zhou Zhengdong;  Jia Junshan;  Wei Shisong;  Liu Chuanle;  Zhang Xuling;  Mao Ling
State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
关键词:
线驱动机器人;  连续型机器人;  工作空间仿真;  运动学模型
Keywords:
wire-driven robot;  continuous robot;  workspace simulation;  kinematics model
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2020.06.006
摘要:
为了解决经狭窄腔对内部目标进行多自由度大范围检测的难题,设计了一种新型线驱动连续型机器人.首先运用几何分析对该机器人进行建模,研究了单组关节的驱动空间、关节空间和操作空间之间的运动学映射定量关系,并对其工作空间进行了分析.针对2组关节协同运动时存在的耦合问题,提出了一种新的运动学解耦算法,并对线驱动连续型机器人单组关节和2组关节运动学特性进行了仿真研究.结果表明:所设计的连续型机器人能够经狭窄腔实施大范围空间的多自由度检测作业,具有良好的弯曲性能,其单组关节最大作业半径为99.33 mm;所提出的解耦算法简明有效,为经狭窄腔对内部目标进行多自由度大范围检测的线驱动连续型机器人系统的研制奠定了理论和技术基础.
Abstract:
To solve the problem of multi-degree-of-freedom and wide range detection for the objects inside the narrow cavity, a novel wire-driven continuous robot was designed. First, a modeling method for the robot was presented based on geometric analysis. Then, the mapping relationships among driving space, joint space and operation space of the single joint segment were studied, and the workspace was analyzed. In view of the coupling influences between the joints, a novel decoupling kinematics algorithm was proposed. And the kinematics characteristics of a single-joint segment and a two-joint segment of the wire-driven continuous robot were simulated and investigated. The results demonstrate that the robot can perform multi-degree-of-freedom and wide range of detecting operations through a narrow cavity and has a good bending performance, its maximum working radius of a single-joint segment is 99.33 mm. The decoupling algorithm is more concise and effective, providing a theoretical and technical foundation for the development of the wire-driven continuous robot system for detecting internal targets in a wide range with multiple degrees of freedom through a narrow cavity.

参考文献/References:

[1] Li Z, Du R X. Design and analysis of a bio-inspired wire-driven multi-section flexible robot[J]. International Journal of Advanced Robotic Systems, 2013,10(10): 209-220. DOI: 10.5772/56025.
[2] 闫继宏, 石培沛, 张新彬, 等. 软体机械臂仿生机理、驱动及建模控制研究发展综述[J]. 机械工程学报, 2018, 54(15): 1-14. DOI:10.3901/JME.2018.15.001.
Yan J H, Shi P P, Zhang X B, et al. Review of biomimetic mechanism, actuation, modeling and control in soft manipulators[J]. Journal of Mechanical Engineering, 2018, 54(15): 1-14. DOI:10.3901/JME.2018.15.001. (in Chinese)
[3] 王田苗, 郝雨飞, 杨兴帮, 等. 软体机器人: 结构、驱动、传感与控制[J]. 机械工程学报, 2017, 53(13): 1-13. DOI:10.3901/JME.2017.13.001.
Wang T M, Hao Y F, Yang X B, et al. Soft robotics: Structure, actuation, sensing and control[J]. Journal of Mechanical Engineering, 2017, 53(13): 1-13. DOI:10.3901/JME.2017.13.001. (in Chinese)
[4] Niu G C, Zheng Z C, Gao Q J. Collision free path planning based on region clipping for aircraft fuel tank inspection robot[C]//2014 IEEE International Conference on Robotics and Automation(ICRA). May 31-June 07, 2014, Hong Kong, China. New York: IEEE, 2014: 3227-3233. DOI:10.1109/ICRA.2014.6907323.
[5] 向立清, 鞠锋, 齐飞, 等. 用于航空发动机原位检测的连续体机器人运动研究[J]. 机电工程, 2019, 36(5): 464-469, 528. DOI:10.3969/j.issn.1001-4551.2019.05.003.
Xiang L Q, Ju F, Qi F, et al. Kinematics research of continuum robot for in situ detection of aero-engine[J]. Mechanical & Electrical Engineering Magazine, 2019, 36(5): 464-469, 528. DOI:10.3969/j.issn.1001-4551.2019.05.003. (in Chinese)
[6] Dong X, Axinte D, Palmer D, et al. Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines[J].Robotics and Computer-Integrated Manufacturing, 2017, 44: 218-229. DOI:10.1016/j.rcim.2016.09.004.
[7] 胡海燕, 李伟达, 李娟, 等. 结肠镜机器人结构设计与通过性研究[J]. 哈尔滨工程大学学报, 2013, 34(2): 233-239. DOI:10.3969/j.issn.1006-7043.201204049.
Hu H Y, Li W D, Li J, et al. Structure design and trafficability of colonoscopic robot[J]. Journal of Harbin Engineering University, 2013, 34(2): 233-239. DOI:10.3969/j.issn.1006-7043.201204049. (in Chinese)
[8] 杨正馨. 面向单孔腔镜手术的连续型机械臂运动建模及力感知研究[D]. 哈尔滨: 哈尔滨工业大学, 2018.
　　Yang Z X.Research on kinematic modeling and force perception of continuous manipulator for single port laparoscopy surgery[D]. Harbin: Harbin Institute of Technology, 2018.(in Chinese)
[9] Rosen J, Sekhar L N, Glozman D, et al. Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery[C]//2017 IEEE International Conference on Robotics and Automation(ICRA). May 29-June 3, 2017, Singapore. New York: IEEE, 2017: 2364-2370. DOI:10.1109/ICRA.2017.7989274.
[10] Sato H, Harada K, Arata J, et al. Design and prototyping of a handheld 3-DOF laparoscopic ultrasound manipulator for liver surgery[J].Procedia CIRP, 2016, 49: 121-124. DOI:10.1016/j.procir.2015.09.005.
[11] Arata J, Fukami K, Oguri S, et al. Laparoscopic ultrasound manipulator with a spring-based elastic mechanism[J].International Journal of Computer Assisted Radiology and Surgery, 2018, 13(7): 1063-1072. DOI:10.1007/s11548-018-1709-7.
[12] 荣健, 高雪官. AP1000蒸汽发生器接管焊缝无损检测机器人的设计、仿真及优化[J]. 机械工程与技术, 2018, 7(1): 18-28. DOI:10.12677/MET.2018.71003.
Rong J, Gao X G. Mechanical design, simulation and optimization of weld-inspection robot in AP1000[J].Mechanical Engineering and Technology, 2018, 7(1): 18-28. DOI:10.12677/MET.2018.71003. (in Chinese)
[13] Bloss R. Snake-like robots “reach” into many types of applications[J].Industrial Robot, 2012, 39(5): 436-440. DOI:10.1108/01439911211249724.
[14] Dong X, Raffles M, Cobos-Guzman S, et al. A novel continuum robot using twin-pivot compliant joints: Design, modeling, and validation[J].Journal of Mechanisms and Robotics, 2016, 8(2): 021010. DOI:10.1115/1.4031340.
[15] Ji D, Kang T H, Shim S, et al. Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery[J].International Journal of Computer Assisted Radiology and Surgery, 2019, 14(8): 1365-1377. DOI:10.1007/s11548-019-01976-4.

备注/Memo

备注/Memo:
收稿日期: 2020-05-26.
作者简介: 周正东(1969—),男,博士,副教授,zzd_msc@nuaa.edu.cn.
基金项目: 国家自然科学基金资助项目(51575256)、江苏省重点研发计划(社会发展)重点资助项目(BE2017730)、重庆市产业类重点研发资助项目(重大主题专项项目)(cstc2017zdcy-zdzxX0007)、上海航天科技创新基金资助项目(SAST 2019-121)、江苏高校优势学科建设工程资助项目(PAPD).
引用本文: 周正东,贾峻山,魏士松,等.连续型经狭窄腔检测机器人结构设计及运动学分析[J].东南大学学报(自然科学版),2020,50(6):1030-1037. DOI:10.3969/j.issn.1001-0505.2020.06.006.
更新日期/Last Update: 2020-11-20