Design Analysis And Experimental Study Of Continuum Robot Driven By Parallel Platform

In this article,based on the design concept of "towed by multi-wire and driven by parallel platform",the research work on structural design and optimization,kinematics analysis,statics analysis,simulation,control system design,prototype construction and experimental research of continuum robot are systematically carried out.Firstly,a multi-wire traction mode based on the driving of parallel platform is proposed.A separate arrangement of driving wires is proposed,and the conduit layout is conducted according to the working conditions and task requirements,so as to realize the remote control of the continuum manipulator.The performance analysis and optimization of the two configurations are summarized.The motion equation and workspace of the two types of manipulator configurations are solved,and the statics of the two types of manipulator configurations in four states are analyzed.The simulation analysis is carried out with the help of ANSYS Workbench software.Comprehensively analyzing the configuration of two kinds of manipulator,the nickel-titanium alloy configuration is selected as the actuator arm of the continuum robot.Secondly,the range of wire's length variation of continuum mechanical arm is solved,the chart of wire length variation is mapped by using MATLAB software,the orientation transformation of 3-RPS parallel platform position and motion equation is solved,the static equilibrium equation of the parallel platform is deduced,and the relationship between the branch driving force of the parallel platform and the external force is obtained.The branching driving force of parallel platform is solved by choosing the 90°bending state of continuum manipulator,and the simulation and verification are carried out based on ADAMS software.Thirdly,the whole control strategy of wire-driven continuum robot is cleared and the control system are designed and built.The parallel platform control model based on Simulink module in MATLAB software is built.The selection of related components of the control system is determined and the reasonable layout of the control system circuit is realized to form the control system of "upper computer data processing + lower machinemotor drive".And the design and construction of the control system are completed.Finally,the experimental research on wire-driven continuum robot is carryed out,the anti-deformation ability of 3-wire configuration and multi-wire configuration is analyzed.The relationship between the attitude of manipulator and the change of the wire length is studied.The relationship between the attitude of a parallel platform and the displacement of the actuator is analyzed to verify the rationality and correctness of the continuum robot motion theory and control system.