Study Of Flexible Manipulator Mechanism Based On Theory Of Particle Jamming

The development of robots tends to be high speed,high precision,high security,light quality,flexibility and excellent environment.It is difficult for traditional robots to achieve light quantization and flexibility for rigid structures.Flexible robot has the advantages of light weight,simple drive,high safety and variable structure,etc.,which has become one of the hot spots in the development of robot technology.However,the flexible robots have disadvantages such as low stiffness,inaccurate kinematics model and complex motion control.In recent years,the research on the jamming mechanism of the granule has been developed rapidly,and the variable stiffness can be adjusted by changing the jamming condition of the granule.In the process of the jamming,the volume change is not obvious.so it is suitable for the variable stiffness adjustment of flexible robot.This paper to solve the problem of low comprehensive utilization of the Stiffness of flexible mechanism synthetically utilizes of the pneumatic artificial muscle characteristics and granular blocking theory,and designs a flexible robotic arm based on granular blocking,through theoretical analysis and experimental research of variable stiffness characteristic of flexible manipulator was studied,the main research contents include: variable stiffness based on the theory of the granular blocking rod statics characteristic of the theoretical analysis and experimental research;Modeling and experimental research of flexible joint mechanism;Study on the stiffness enhancement of flexural joints;Modeling and analysis of flexible manipulator mechanism.Firstly,in the present situation of the development of flexible robot,this paper introduces the theory of granular jamming and its application in flexible robot,and analyzes the jamming process of the granular.Secondly,by using soybean and silica gel to make the variable stiffness rod,the jamming mechanism was studied.Based on the comprehensive experimental analysis of the vacuum degree,the particle size and the outer membrane,the static performance of the variable stiffness rod based on the jamming is revealed.The shear stiffness model and compression stiffness model of the variable stiffness rod under vacuum condition areestablished,and the authenticity of the model is verified by experimental data.The optimal material matching mode of the variable stiffness rod was obtained through the experiment of the different shape granule and the emulsion outer membrane experiment,and the experimental data were provided for the basic theory of the mechanism of the jamming mechanism.Then,a new flexible variable stiffness rod was designed by combining the particle jamming mechanism and characteristics of the aerodynamic artificial muscle.the 3D model of the a new flexible variable stiffness rod was established.According to the new variable stiffness rod structure,designing flexible single joint mechanism,through kinematics analysis to establish the model of its kinematics positive and inverse solution;Flexible joints are made from POM plastic particles and Festo pneumatic tendons.The strengthening effect of flexible joints on the stiffness was analyzed by experiments.Finally,it is necessary to realize the performance analysis of the flexible manipulator,and use the SolidWorks 3D software to design the flexible manipulator,and build the 3D model of the hybrid mechanism in series and parallel.The kinematics equations of flexible joints are established by using the equal arc hypothesis and D-H method,and its correctness is verified.The kinematics equation of flexible manipulator is obtained based on the assumption of bisection arc.