面向在轨服务任务的气囊型软体机械臂运动学建模与分析
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摘要
针对软体机械臂具有质量轻、自由度多、适应复杂非结构环境、大范围变形等独特优势,提出一种气压驱动式软体机械臂。利用3节中空的波纹管并联形成软体驱动器,进而3节软体驱动器串联形成软体机械臂,通过控制不同波纹管内的气压输入实现机械臂复杂空间运动。基于局部弹性变形假设建立了机械臂运动学模型,根据气囊输入压力和机械臂物性参数,可以计算得到机械臂运动轨迹,并仿真分析了软体机械臂末端运动包络的尺寸和形状特征。建立的气囊型软体机械臂运动学模型及分析结果为机械臂设计和运动控制提供了理论基础。
Considering that the soft manipulator has the advantages of light weight, many degrees of freedom, adapting to complex non-structural environments, large-scale deformation, a pneumatically driven soft manipulator was proposed.The three-section hollow bellows were used in parallel to form a soft driver, and the three-section soft-driver was connected in series to form a soft manipulator. The complex space motion of the manipulator was realized by controlling pressure inputs in different bellows. Based on the assumption of local elastic deformation, the kinematic model of the soft manipulator was established. According to the input pressures and physical parameters of the soft manipulator, the trajectory of the soft manipulator could be calculated, and the size and shape characteristics of the end motion envelope were simulated and analyzed. The kinematic model and analysis results of the soft manipulator in this paper may provide a theoretical basis for the design and motion control of the manipulator in the future.
Considering that the soft manipulator has the advantages of light weight, many degrees of freedom, adapting to complex non-structural environments, large-scale deformation, a pneumatically driven soft manipulator was proposed.The three-section hollow bellows were used in parallel to form a soft driver, and the three-section soft-driver was connected in series to form a soft manipulator. The complex space motion of the manipulator was realized by controlling pressure inputs in different bellows. Based on the assumption of local elastic deformation, the kinematic model of the soft manipulator was established. According to the input pressures and physical parameters of the soft manipulator, the trajectory of the soft manipulator could be calculated, and the size and shape characteristics of the end motion envelope were simulated and analyzed. The kinematic model and analysis results of the soft manipulator in this paper may provide a theoretical basis for the design and motion control of the manipulator in the future.
引文
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[2] Reintsema D,Thaeter J,Rathke A,et al.DEOS-the German robotics approach to secure and de-orbit malfunctioned satellites from low earth orbits[C]//Proceedings of the i-SAIRAS.Sapporo,Japan:Japan Aerospace Exploration Agency (JAXA),2010:244-251.
[3] Flores-Abad A,Ma O,Pham K,et al.A review of space robotics technologies for on-orbit servicing[J].Progress in Aerospace Sciences,2014,68:1-26.
[4] Gefke G,Janas A,Chiei R,et al.Advances in robotic servicing technology development[C]//AIAA SPACE 2015 Conference and Exposition,2015:4426.
[5] Reed B B,Bacon C,Naasz B J.Designing spacecraft to enable robotic servicing[C]//AIAA SPACE and Astronautics Forum and Exposition,2017:5255.
[6] Ashman B,Bauer F H,Parker J,et al.GPS operations in high Earth orbit:recent experiences and future opportunities[C]//2018 Space Ops Conference.Marseille,France,2018-2568.
[7] Jing Z L,Qiao L F,Pan H,et al.An overview of the configuration and manipulation of soft robotics for on-orbit servicing[J].Science China Information Sciences,2017,60:050201.
[8] Sanan S.Soft Inflatable Robots for Safe Physical Human Interaction[D].Pittsburgh,Pennsylvania,U.S.:Carnegie Mellon University,2013.
[9] Nordmann A,Rolf M,Wrede S.Software abstractions for simulation and control of a continuum robot[C]//Simulation,Modeling,and Programming for Autonomous Robots.Springer,Berlin,Heidelberg:SIMPAR,2012.
[10] Qi R,Khajepour A,Melek W W,et al.Design,kinematics,and control of a multi joint soft inflatable arm for human-safe interaction[J].IEEE Transactions on Robotics,2017,33(3):594-609.
[11] Laschi C,Mazzolai B,Cianchetti M.Soft robotics:technologies and systems pushing the boundaries of robot abilities[J].Science Robotics,2016,1(1):3690.
[12] 张翔,黄奕勇,陈小前,等.一种模块化的气控型软体伸缩机械臂:中国国家发明专利,CN201810424655.X[P].2018.10.09.Zhang X,Huang Y Y,Chen X Q,et al.A modular air-controlled soft flexible manipulator:Chinese national invention patent,CN201810424655.X[P].2018.10.09.(in Chinese)