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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
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310009
E-mail:
meem_contribute@163.com
Abstract: Aiming at the problem of complex assembly, poor control accuracy, and low stiffness of assembled rope-driven flexible robots, a huper-redundant flexible robot driven by the rope used in narrow space exploration was designed. Firstly, a flexible manipulator driven by the rope connected with mortise and tenon was intended. Based on the equal-curvature bending model and Monte Carlo method, the kinematic model of the manipulator was established by MATLAB software, and the variation of its working space and rope length was simulated and analyzed. Then, the two control methods were designed respectively. The upper computer software controlled the first method, and the other was the master-slave control based on the incremental mapping model. Finally, a single joint flexible detection robot system prototype platform was built, and the model and control strategy was verified by the rotational bending and load bending experiments. Simulation and experimental data show that the new flexible manipulator can solve the problem of low stiffness of hyper-redundant flexible robots, and its kinematic characteristics and workspace are significantly better than core-type flexible robots. When the bearing capacity reaches 250g, the end position control error is less than 8%. It has good stiffness and load capacity and meets the control requirements of flexible robots.
Key words: continuum robot; robot stiffness; constant curvature modeling; control strategy; rotation/load bending test; control precision and stiffness
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