• 综合
  • 标题
  • 关键词
  • 摘要
  • 学者
  • 期刊-刊名
  • 期刊-ISSN
  • 会议名称
搜索

作者:

Gao, GuoHua (Gao, GuoHua.) (学者:高国华) | Liu, Yue (Liu, Yue.) | Wang, Hao (Wang, Hao.) | Song, MingYang (Song, MingYang.) | Ren, Han (Ren, Han.)

收录:

EI Scopus SCIE

摘要:

Purpose - The purpose of this paper is to present a new method to establish a kinematic model for a continuum manipulator, whose end can be controlled to move in a three-dimensional workspace. A continuum manipulator has significant advantages over traditional, rigid manipulators in many applications because of its ability to conform to the environment. Moreover, because of its excellent flexibility, light weight, low energy consumption, low production cost, it has a number of potential applications in areas of earthquake relief, agricultural harvesting, medical facilities and space exploration. Design/methodology/approach - This paper uses basic theory of material mechanics to deduct motion equations of the manipulator. Unlike other published papers, the manipulator is not based on segments tactics, but regarded as an integrated flexible system, which simplifies its kinematics modelling and motion controlling. The workspace of the manipulator is analysed by theoretical deducing and simulation modelling. For verification of the presented theory, simulation based on ADAMS software was implemented, while a prototype of the manipulator was developed. Both the software simulation and prototype experiment show that the theoretical analysis in this paper is reasonable. The manipulator can move accurately along the desired trajectories. Findings - This paper developed a novel and fully continuous manipulator driven by steel wires. A kinematic model of the manipulator was established. The physical manipulator developed for verifying the kinematic model can effectively track the prescribed trajectory. The presented kinematic model agrees with not only the simulation but also with the experiment. Research limitations/implications - The manipulator presented in this paper is constructed by steel wires. It possesses the advantages of structural continuity, high flexibility and low production cost. It can be extensively used in many fields, such as search and rescue robotic systems. The limitation of this research is that the dynamic model of the manipulator is not yet clear, which is one of the directions for future research. Practical implications - The manipulator breaks through the limitation of the joint-type or flexible-link-type manipulator, which can also be extensively used in many fields such as search and rescue robotic systems. Social implications - The manipulator developed in this paper, currently, is a prototype under the project of "Automatic Picking Manipulator Research". It possesses a good market value. Originality/value - The value of this research is that the manipulator breaks through the limitation of the joint-type or flexible-link-type manipulator and establishes the kinematic model for a fully continuous manipulator by a simple strategy. This is the first study that uses such a strategy for establishing the motion equations of a monolithic continuum manipulator.

关键词:

Continuum manipulator Kinematics modelling Simulation Workspace analysis

作者机构:

  • [ 1 ] [Gao, GuoHua]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 2 ] [Liu, Yue]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 3 ] [Wang, Hao]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 4 ] [Song, MingYang]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 5 ] [Ren, Han]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China

通讯作者信息:

  • [Liu, Yue]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China

电子邮件地址:

查看成果更多字段

相关关键词:

相关文章:

来源 :

INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION

ISSN: 0143-991X

年份: 2015

期: 6

卷: 42

页码: 565-571

1 . 8 0 0

JCR@2022

ESI学科: ENGINEERING;

ESI高被引阀值:114

JCR分区:4

被引次数:

WoS核心集被引频次: 8

SCOPUS被引频次: 10

ESI高被引论文在榜: 0 展开所有

万方被引频次:

中文被引频次:

近30日浏览量: 1

在线人数/总访问数:1461/2970268
地址:北京工业大学图书馆(北京市朝阳区平乐园100号 邮编:100124) 联系我们:010-67392185
版权所有:北京工业大学图书馆 站点建设与维护:北京爱琴海乐之技术有限公司