[1]齐 飞,裴海珊,窦小明,等.连续体机器人工作空间改进分析与仿真[J].常州大学学报(自然科学版),2023,35(04):61-69.[doi:10.3969/j.issn.2095-0411.2023.04.009]
　QI Fei,PEI Haishan,DOU Xiaoming,et al.Continuum robot workspace improvement analysis and simulation[J].Journal of Changzhou University(Natural Science Edition),2023,35(04):61-69.[doi:10.3969/j.issn.2095-0411.2023.04.009]
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连续体机器人工作空间改进分析与仿真()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第35卷
期数:
2023年04期
页码:
61-69
栏目:
机械制造及其自动化
出版日期:
2023-07-28

文章信息/Info

Title:
Continuum robot workspace improvement analysis and simulation
文章编号:
2095-0411(2023)04-0061-09
作者:
齐 飞1; 2;  裴海珊1;  窦小明2;  白东明3;  张 恒1;  朱 靖1
(1.常州大学 机械与轨道交通学院, 江苏 常州 213164; 2.快克智能装备股份有限公司, 江苏 常州 213000; 3.金华职业技术学院 机电工程学院, 浙江 金华 321000)
Author(s):
QI Fei1; 2;  PEI Haishan1;  DOU Xiaoming2;  BAI Dongming3;  ZHANG Heng1;  ZHU Jing1
(1.School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou 213164, China; 2.Quick Intelligent Equipment Co.,Ltd., Changzhou 213000, China; 3.School of Mechanical and Electrical Engineering,Jinhua Vocational and Technical College
关键词:
连续体机器人;  运动学建模;  蒙特卡洛法;  工作空间
Keywords:
continuum robot;  kinematics modeling;  Monte Carlo method;  workspace
分类号:
TP 242
DOI:
10.3969/j.issn.2095-0411.2023.04.009
文献标志码:
A
摘要:
首先介绍了连续体机器人的结构形式,然后对其进行正逆运动学建模,并利用传统蒙特卡洛法及Matlab软件对机器人的工作空间进行仿真分析。考虑到传统蒙特卡洛法散点分布不均匀等缺陷,通过采用正态分布生成部分边界值点的方法进行改进,改进后的工作空间散点图分布均匀,更接近实际工作空间。为进一步验证改进方法的优越性,将工作空间放置于长方体内并进行分割,对部分层所包络的工作空间面积进行对比,结果表明,总随机点数相当的情况下,改进方法精度明显优于传统算法,这为连续体机器人的结构设计和性能分析奠定理论基础。
Abstract:
The article first introduces the structure of the continuum robot, and then models its forward and inverse kinematics, and uses the traditional Monte Carlo method and Matlab software to simulate and analyze the robot's workspace. Considering the defects such as uneven distribution of scatter points in the traditional Monte Carlo method, the method of generating some boundary value points by using normal distribution was improved. The improved workspace scatter diagram has a uniform distribution and is closer to the actual workspace. In order to further verify the superiority of the improved method, the workspace was placed in a cuboid and divided, and the area of the workspace covered by some layers was compared. The results showed that when the total number of random points was equal, the accuracy of the improved method was obviously better than traditional algorithms, which lay a theoretical foundation for the structural design and performance analysis of continuum robots.

参考文献/References:

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(责任编辑:谭晓荷)

备注/Memo

备注/Memo:
收稿日期: 2023-02-15。
基金项目: 国家自然科学基金资助项目(52105103); 中国博士后科学基金资助项目(2022M711436); 江苏省教育厅自然科学基金面上资助项目(21KJB460029); 常州市科技厅资助项目(20210116)。
作者简介: 齐飞(1990—), 男, 河南新乡人, 博士, 讲师。 E-mail: qifei224@cczu.edu.cn
更新日期/Last Update: 1900-01-01