Inverse kinematics solving method suitable for two-section six-degree-of-freedom continuum mechanical arm

A technology of inverse kinematics and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2022-02-08
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention is to solve the technical problem of how to realize precise motion control for full-degree-of-freedom cont

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  • Inverse kinematics solving method suitable for two-section six-degree-of-freedom continuum mechanical arm
  • Inverse kinematics solving method suitable for two-section six-degree-of-freedom continuum mechanical arm
  • Inverse kinematics solving method suitable for two-section six-degree-of-freedom continuum mechanical arm

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Embodiment Construction

[0049] Referring to the accompanying drawings, the present invention will be further described in detail with specific embodiments.

[0050] Such as figure 1 As shown, the coil spring 1 of the 6-DOF continuum manipulator is fixed on the fixed plate 2, and the coil spring 1 is driven by six wire ropes, the first wire rope 5, the second wire rope 6, the third wire rope 7, the fourth wire rope 8, the The fifth wire rope 9 and the sixth wire rope 10 pass through the coil spring 1 , the first winding roller 4 is connected to the output shaft of the first motor 3 , and the first wire rope 5 is wound on the first winding roller 4 . Similarly, the second winding roller is connected with the output shaft of the second motor, the second wire rope 6 is wound on the second winding roller, the third winding roller is connected with the output shaft of the third motor, and the third wire rope 7 is wound on the On the third winding roller, the fourth winding roller is connected with the out...

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Abstract

The invention relates to an inverse kinematics solving method suitable for a two-section six-degree-of-freedom continuum mechanical arm, and aims to solve the technical problem of how to realize accurate motion control for a full-degree-of-freedom continuum mechanical arm. A virtual connecting rod method is adopted, a continuum mechanical arm formed by connecting two sections in series is equivalent to a connecting rod type mechanical arm, and constraints between kinematic pairs are given; physical description of the inverse kinematics model of the mechanical arm is converted into mathematical description; and the mathematical description of the model is converted into a function expression, and solving is performed.

Description

technical field [0001] The invention relates to the technical field of soft manipulators, in particular to an inverse kinematics solution method suitable for two-segment 6-DOF continuum manipulators. Background technique [0002] A continuum manipulator (or soft manipulator) is a robot that can exhibit the movement of animals such as elephant trunks and octopus tentacles. Unlike rigid robots, the motion of such robots is generated by deformation of the body rather than traditional mechanical kinematic pairs. They often have good movement flexibility, a slender body structure, and passive and flexible deformation capabilities. They are unique in the fields of single-hole endoscopic surgery, internal inspection of aeroengines, nuclear power plant maintenance, underwater fishing, and intracavitary suction and spraying. The advantages. The reference application publication number is CN109895079A, and the patent name is "a full-degree-of-freedom continuum mechanical arm". It us...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1664Y02P90/02
Inventor 邢志广王鹏远赵建文
Owner HARBIN INST OF TECH AT WEIHAI
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