一种离散驱动蛇形柔性臂的工作空间及优化设计研究

以一种离散驱动蛇形柔性臂为研究对象 ,分析并提出了弯曲型离散驱动机器人工作空间的表达方法。考虑到离散驱动机器人工作空间的离散性 ,为了便于对其运动学参数进行调整 ,以使末端操作器达到新指定的工作位置 ,提出了参数调整“标定”的概念 ,并依据使运动学参数调整值尽量小的优化原则对运动学参数进行了优化设计 ,从而解决了运动学参数设计的冗余度问题。

In this paper,a discretely actuated snake  like manipulator is taken as subject investigated,the representation of workspace for revolute discretely actuated manipulator is developed.Considering the discrete distribution of the reachable workspace of the discretely actuated manipulator,the concept"Calibration"is put forward to facilitate the adjustment of the kinematic parameter so that the end effector of the manipulator can reach the new specified workplace.Based on the principle of adjustment of the kinematic parameter minimum,the optimization design for the kinematic parameter of the manipulator is investigated,as a result,the problem of kinematic parameter redundancy is solved.

中国科学院沈阳自动化研究所机器人学研究室基金(RL2 0 0 10 5 );;上海市科技发展基金资助项目 (985 5 110 5 7)。