在多段蛇机器人上进行全面的硬度调节,同时考虑寄生虫运动和摩擦效应
Nan Ma1, Haiqin Zhou2, Jujie Yuan3
1School of Engineering, Lancaster University, Lancaster LA1 4YW, United Kingdom.
Bioinspiration & biomimetics
|November 27, 2023
概括
这项研究为蛇机器人引入了一种新的宏微结构和刚度调节策略,大大提高了在狭小空间中的位置精度. 新设计通过调节驱动电缆的张力,提高了超过180%的刚性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 控制系统 控制系统
背景情况:
- 蛇机器人对于在狭窄和具有挑战性的环境中进行导航是有价值的.
- 现有的具有高长度/直径比率的蛇机器人往往患有低度,这限制了它们的精度和实际应用.
- 提高蛇机器人的刚性和位置精度对于它们在深处和狭窄空间的有效性至关重要.
研究的目的:
- 为蛇机器人提出一种新的"宏微"结构,以增强性.
- 开发一个全面的度调节策略,以提高位置精度.
- 在蛇机器人配置中创建一个准确的动静态模型用于错误预测.
主要方法:
- 为蛇机器人开发"宏微"结构设计.
- 通过调整驱动电缆张力来实施全面的硬度调节策略.
- 构建一个包含内部摩擦和电缆张力依赖硬度的动静态模型.
- 在物理原型和控制系统上进行实验验证.
主要成果:
- 新的结构和调节策略显著提高了深度和狭窄空间的位置精度.
- 实验验证显示直线配置的错误率为4.3%,曲线配置的错误率为2.5%.
- 通过调节驱动电缆张力,蛇臂的度平均增加了183.4%.
结论:
- 拟议的"宏微"结构和刚性调节战略有效地解决了现有的蛇机器人的刚性限制.
- 开发的动静电模型通过考虑内部摩擦和电缆张力效应,准确地预测错误.
- 这一进步提高了蛇机器人的实用性和精度,用于在具有挑战性的环境中进行操作.
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