Kinematic Analysis of Bionic Elephant Trunk Robot Based on Flexible Series-Parallel Structure

被引：4
|
作者：
Huang, Qitao [1 ]
Wang, Peng [1 ]
Wang, Yuhao [1 ]
Xia, Xiaohua [2 ]
Li, Songjing [1 ]
机构：
[1] Harbin Inst Technol, Sch Mechatron Engn, Harbin 150001, Peoples R China
[2] Changan Univ, Key Lab Rd Construct Technol & Equipment MOE, Xian 710064, Peoples R China
来源：
BIOMIMETICS | 2022年 / 7卷 / 04期
基金：
中国国家自然科学基金;
关键词：
flexible rod; cosserat theory; kinematic; flexible series-parallel structure; bionic elephant trunk robot; SYSTEM;
D O I：
10.3390/biomimetics7040228
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Researchers borrow ideas from biological characteristics and behavior in design to make bionic robots that can meet unstructured and complex operating environments. The elephant trunk has been widely imitated by bionic robots because of its strong dexterity and stiffness adjustability. Due to the complex structure of the current elephant trunk robot, a series-parallel elephant trunk robot based on flexible rod actuation and a 6-degree-of-freedom (6-dof) parallel module is proposed in this paper. The bionic robot has a simple structure and redundant kinematics, which can realize the control of stiffness. This work focuses on the modeling of the flexible driving rod, the kinematics of a single parallel module, and the whole biomimetic robot. The kinematics are verified by simulation, which lays a foundation for future research on stiffness regulation.
引用
收藏
页数：15
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