| 杜静恩， 许勇， 贾云博， 刘佳莉， 赖磊捷， 徐蕊.折叠式柔性关节设计及运动学建模[J].轻工机械,2021,39(6):12-21 |
| 折叠式柔性关节设计及运动学建模 |
| Design and Kinematics Modeling of Folding Flexible Joint |
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| DOI：10.3969/j.issn.1005 2895.2021.06.003 |
| 中文关键词: 折叠式柔性复合关节 三浦折痕原理 改进水弹折痕 折叠式扭转关节 摆转关节 绳驱动 |
| 英文关键词:folding flexible composite joint Miura crease principle improving hydroelastic crease folding torsion joint pendulum rotation joint line drive |
| 基金项目:上海市自然科学基金(21ZR1426000)。 |
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| 中文摘要: |
| 针对串联柔性连续体在实际应用时不能很好地适应作业环境所需的末端位姿的问题，课题组提出了折叠式柔性复合关节:利用三浦折痕原理设计了折叠式扭转关节；改进水弹折痕设计了折叠式摆转关节；将折叠式扭转关节与摆转关节按一定顺序串联得到折叠式柔性复合关节。用几何方法得到了各个单元和折叠式柔性复合关节的运动学模型。软件仿真结果验证了所提出的模型的正确性。课题组的设计增强了串联连续体对作业环境的适应性。 |
| 英文摘要: |
| In order to solve the problem that the serial flexible continuum could not adapt to the desired end position in the practical application, a folding flexible composite joint was proposed.The folding torsion joint was designed by using Miura crease principle.The folding swing joint was designed by improving the hydroelastic crease.The final flexible composite joint was obtained by series of the folding torsion joint and the pendulum rotation joint in a certain order.The kinematics models of each element and the folding flexible composite joint were obtained by geometric method.The software simulation results verify the correctness of the proposed model.The design enhances the adaptability of the serial continuum to the operating environment. |
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