CN110293544A - The Deformation Prediction method of the snakelike arm of variation rigidity software - Google Patents
The Deformation Prediction method of the snakelike arm of variation rigidity software Download PDFInfo
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- CN110293544A CN110293544A CN201910689202.4A CN201910689202A CN110293544A CN 110293544 A CN110293544 A CN 110293544A CN 201910689202 A CN201910689202 A CN 201910689202A CN 110293544 A CN110293544 A CN 110293544A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of Deformation Prediction methods of snakelike arm of variation rigidity software, the snakelike arm of variation rigidity software includes the hard and soft unit of several sections, hard and soft unit includes rigid end sheet, software Pneumatic artificial muscle group, super-elasticity multi-bar linkage and limit partition, super-elasticity multi-bar linkage includes the more Hyperelastic Rods of arrangement on the same circumference, driving super-elasticity multi-bar linkage, which elongates or shortens, makes the snakelike arm of variation rigidity software bending deformation occur, and method is the following steps are included: establish the geometry simplification model of the snakelike arm of variation rigidity software；The hard and soft unit for choosing force side, establishes coordinate system at its both ends respectively；Solve the expression formula between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；The hard and soft unit being connected with unit hard and soft in step 3 is chosen, repetition step 2 and step 3 can acquire the expression formula in the hard and soft unit of selection between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；It repeats the above steps, can successively solve and other respectively save hard and soft unit.
Description
Technical field
The present invention relates to a kind of prediction technique of mechanical arm shape more particularly to a kind of deformations of the snakelike arm of variation rigidity software
Prediction technique.
Background technique
The mechanical arm flexibility ratio of traditional rigid bar is limited, safety and adaptability are poor, the non-individual body machine of variation rigidity
Tool arm is the Time variable structure of a kind of close coupling, strong nonlinearity, compared to have for Rigid Robot Manipulator efficiently, low consumption, flexibly
Facilitate and have many advantages, such as bigger working space.
Non-individual body mechanical arm is all that its function is realized by structural deformation, and therefore, numerous researchs both domestic and external are all not
It is disconnected to explore new material to excite deformation, attempt new structure to realize deformation, establish computation model to describe deformation, Yi Jiji
At driving sensing to control deformation.Deformation is as most important factor in the control of variation rigidity non-individual body manipulator motion, by state
The extensive concern of inside and outside researcher.Meanwhile it is kinematics after being related to the research of variation rigidity non-individual body mechanical arm deformation, dynamic
Mechanical modeling is related to calculating the determination of the pose form of the size of driving force and end, but there is no a kind of adaptations at present
Method posture deformed to it predict.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art place, providing one kind can predict that variation rigidity software is snakelike
The method of arm deformation.
The Deformation Prediction method of this snakelike arm of variation rigidity software provided by the invention, if the snakelike arm of variation rigidity software includes
The dry hard and soft unit of section, hard and soft unit include rigid end sheet, software Pneumatic artificial muscle group, super-elasticity multi-bar linkage and limit every
Plate, super-elasticity multi-bar linkage include arrangement more Hyperelastic Rods on the same circumference, the elongation of driving super-elasticity multi-bar linkage or
Shortening makes the snakelike arm of variation rigidity software bending deformation occur, method includes the following steps:
Step 1: establishing the geometry simplification model of the snakelike arm of variation rigidity software；
Step 2: choosing the hard and soft unit of force side, coordinate system is established respectively at its both ends；
Step 3: solving the expression formula between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；
Step 4: choosing the hard and soft unit being connected with unit hard and soft in step 3, repeating step 2 and step 3 can be asked
Expression formula in the hard and soft unit that must be chosen between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；Repeat above-mentioned step
Suddenly, other expression formulas respectively saved between hard and soft unit and super-elasticity multi-bar linkage collapsing length can successively be solved.
In the step 2, when establishing coordinate system, using the geometric center of rigid end sheet as origin, it is with plane where it
X-Y plane, the direction of Z axis are to be directed toward end from force side, obtain force side coordinate system o-xyz and ending coordinates system o '-x ' y ' z '.
In the step 3,
O-xyz is rotated into θ along hard and soft unit bending direction first, obtains coordinate system o1-x1y1z1；
Secondly by each Hyperelastic Rod to y1Projection；
Then by deformed Hyperelastic Rod to plane oy1O ' projection；
Simultaneous Hyperelastic Rod is in y1Upper projection length expressions and deformed Hyperelastic Rod are in plane oy1Length is projected on o '
Spend the expression formula expression formula that you can get it between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending.
In the step 4, the hard and soft unit being connected with unit hard and soft in step 3 is chosen, repeats step 2 and step
Three can acquire the expression formula in the hard and soft unit of selection between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；Weight
Multiple above-mentioned steps, can successively solve other expression formulas respectively saved between hard and soft unit and super-elasticity multi-bar linkage collapsing length.
The present invention is suitable for the snakelike arm of variation rigidity software, and this snakelike arm of variation rigidity software includes the hard and soft list of several sections
Member, hard and soft unit include that rigid end sheet, software Pneumatic artificial muscle group, super-elasticity multi-bar linkage and limit partition, super-elasticity are more
Linkage includes the more Hyperelastic Rods of arrangement on the same circumference, and driving super-elasticity multi-bar linkage, which elongates or shortens, makes variation rigidity
There is bending deformation in the snakelike arm of software, and when prediction first establishes the geometry simplification model of the snakelike arm of variation rigidity software；Then it chooses and applies
The hard and soft unit at power end establishes coordinate system at its both ends respectively；Then it solves each Hyperelastic Rod collapsing length and hard and soft unit is curved
Expression formula between song deformation；The hard and soft unit being connected with unit hard and soft in step 3 is finally chosen, step 2 and step are repeated
Three can acquire the expression formula in the hard and soft unit of selection between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；Weight
Multiple above-mentioned steps, can successively solve other expression formulas respectively saved between hard and soft unit and super-elasticity multi-bar linkage collapsing length.
So as to complete the prediction of the entire snakelike arm of variation rigidity software.
Detailed description of the invention
Fig. 1 is the axonometric schematic diagram of the snakelike arm of variation rigidity software to be predicted in this preferred embodiment.
Fig. 2 is the flow chart of a preferred embodiment of the invention.
Fig. 3 is the deformation rough schematic view of the hard and soft unit of first segment in this preferred embodiment.
Fig. 4 is a kind of deformation rough schematic view that the hard and soft unit of two sections is cascaded.
Fig. 5 is perspective view of the hard and soft unit of first segment towards pedestal disk direction.
Fig. 6 is the deformed perspective view towards perpendicular to pedestal disk plane of the hard and soft unit bending of two sections.
Specific embodiment
This method disclosed in the present embodiment is suitable for predicting the deformation of the snakelike arm of variation rigidity software, as shown in Figure 1, this
The snakelike arm of variation rigidity software includes the hard and soft unit of two sections, and every hard and soft unit of section includes rigid end sheet, software Pneumatic artificial muscle
Group, super-elasticity multi-bar linkage and limit partition, super-elasticity multi-bar linkage include four Hyperelastic Rods of arrangement on the same circumference,
Driving super-elasticity multi-bar linkage, which elongates or shortens, makes the snakelike arm of variation rigidity software bending deformation occur.
As shown in Fig. 2, the present embodiment by the drive length of known four Hyperelastic Rods and hard and soft unit bending direction,
Relationship between bending angle solves bending deformation shape of the hard and soft unit of first segment under this drive length；Similarly solve
Bending direction and bending angle of the hard and soft unit of second section relative to the hard and soft unit of first segment out can determine the hard and soft unit of two sections
Curved shape；Required two can also be solved according to the bending direction and bending angle for the hard and soft unit of two sections wanted
Save the drive length of hard and soft four Hyperelastic Rods of unit.
When specific prediction, carry out as follows:
Step 1: establishing the geometry simplification model of the snakelike arm of variation rigidity software as shown in Figure 3.
Step 2: the hard and soft unit of force side is chosen, as shown in figure 4, coordinate system is established respectively at its both ends,
When establishing coordinate system, using the geometric center of rigid end sheet as origin 0, using plane where it as X-Y plane, four super
Elastic rod a, b, c, d are R in a radius1Circle on, be located at the both ends of two diameters, X-axis is straight line where bd bar, Y
Axis is straight line where ac bar, and the direction of Z axis is to be directed toward end from force side, obtains force side coordinate system o-xyz and ending coordinates system
o′-x′y′z′。
Step 3: coordinate system o-xyz is revolved around z-axis along clockwise direction along the bending direction of the hard and soft unit of first segment
Gyration θ establishes coordinate system o1-x1y1z1.As shown in figure 5, the radius of circle where Hyperelastic Rod is R1, a, b, c, d bar is in y1Axis
On projection be respectively R1Cos θ, R1Sin θ, R1Cos θ, R1sinθ.In oy after a, b, c, d rod bending1The projection of o ' such as Fig. 6 institute
Show, if the circular arc of axis oo ' formationRadius be R2, central angle α, then the length of each section of circular arc be
La=(R2-R1 cosθ)α
Lb=(R2-R1 sinθ)α
Lc=(R2+R1 cosθ)α
Ld=(R2+R1 sinθ)α
Lo=R2α
I.e.
La=Lo-R1 cosθ·α
Lb=Lo-R1 sinθ·α
Lc=Lo+R1 cosθ·α
Ld=Lo+R1 sinθ·α
Because the radius of circle where axial length and Hyperelastic Rod is it is known that it is only necessary to know that the wherein drive length of two bars,
The drive length of other two bars, the bending direction and bending angle of the hard and soft unit of first segment can be found out.If known non-individual body machine
The length of the hard and soft unit of tool arm and the direction and bending angle of end disk can determine first using known mathematical relationship
Save the drive length of hard and soft four Nitinol Hyperelastic Rods of unit.
Step 4: unit hard and soft for the second section, it is known that condition is consistent with first segment, can obtain following formula:
La'=Lo-R1 cosθ′·α′
Lb'=Lo-R1 sinθ′·α′
Lc'=Lo+R1 cosθ′·α′
Ld'=Lo+R1 sinθ′·α′
Similarly it is only necessary to know that the wherein drive length of two bars, can find out the drive length of other two bars, the second section is rigid
The bending direction of the bending angle of soft unit and the hard and soft cell end of the second section relative to the hard and soft cell end of first segment.If known
The length of the hard and soft unit of non-individual body mechanical arm and the direction and bending angle of end disk can be with using known mathematical relationship
Determine the drive length of the hard and soft four Nitinol Hyperelastic Rods of unit of the second section.
The present invention in fact can be according to the bending direction parameter alpha and α ' of the predictable Hyperelastic Rod out of the drive length of each Hyperelastic Rod
With bending angle θ and θ ', that is, it can determine the deformed shape of the hard and soft unit of two sections；Bending can also be known according to deformed shape is determined
Directioin parameter α and α ', bending angle θ and θ ', it is known that the length for needing each Hyperelastic Rod to need to drive.It can be effectively according to defeated
The deformation for entering the prediction prediction snakelike arm of variation rigidity software, solves its targeted attitude, can also be determined according to specific targeted attitude super
The drive length of elastic rod.Conducive to the research of variation rigidity non-individual body mechanical arm deformation, it is convenient for kinematics, Dynamic Modeling.
Claims (4)
1. a kind of Deformation Prediction method of the snakelike arm of variation rigidity software, the snakelike arm of variation rigidity software include the hard and soft unit of several sections,
Hard and soft unit includes rigid end sheet, software Pneumatic artificial muscle group, super-elasticity multi-bar linkage and limit partition, the more bar machines of super-elasticity
Structure includes the more Hyperelastic Rods of arrangement on the same circumference, and driving super-elasticity multi-bar linkage, which elongates or shortens, makes variation rigidity software
There is bending deformation in snakelike arm, which is characterized in that method includes the following steps:
Step 1: establishing the geometry simplification model of the snakelike arm of variation rigidity software；
Step 2: choosing the hard and soft unit of force side, coordinate system is established respectively at its both ends；
Step 3: solving the expression formula between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；
Step 4: choosing the hard and soft unit being connected with unit hard and soft in step 3, choosing can be acquired by repeating step 2 and step 3
Expression formula in the hard and soft unit taken between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；It repeats the above steps,
Other expression formulas respectively saved between hard and soft unit and super-elasticity multi-bar linkage collapsing length can successively be solved.
2. the Deformation Prediction method of the snakelike arm of variation rigidity software as described in claim 1, which is characterized in that in the step 2
In, when establishing coordinate system, using the geometric center of rigid end sheet as origin, using plane where it as X-Y plane, the direction of Z axis is
It is directed toward end from force side, obtains force side coordinate system o-xyz and ending coordinates system o '-x ' y ' z '.
3. the Deformation Prediction method of the snakelike arm of variation rigidity software as claimed in claim 2, which is characterized in that in the step 3
In,
O-xyz is rotated into θ along hard and soft unit bending direction first, obtains coordinate system o1-x1y1z1；
Secondly by each Hyperelastic Rod to y1Projection；
Then by deformed Hyperelastic Rod to plane oy1O ' projection；
Simultaneous Hyperelastic Rod is in y1Upper projection length expressions and deformed Hyperelastic Rod are in plane oy1O ' goes up projected length table
Up to the formula expression formula that you can get it between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending.
4. the Deformation Prediction method of the snakelike arm of variation rigidity software as claimed in claim 3, which is characterized in that in the step 4
In, the hard and soft unit being connected with unit hard and soft in step 3 is chosen, the hard and soft of selection can be acquired by repeating step 2 and step 3
Expression formula in unit between each Hyperelastic Rod collapsing length and the deformation of hard and soft unit bending；It repeats the above steps, it can be successively
Solve other expression formulas respectively saved between hard and soft unit and super-elasticity multi-bar linkage collapsing length.
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