Working Space Analysis Of A Manipulator With Lamina Emergent Mechanisms

The application of continuum manipulators is becoming more and more widespread,and the application in narrow spaces such as post-disaster search and rescue and micro-surgery has attracted much attention.At present,the continuum manipulator designed by the elephant trunk has been applied in many fields,but it has many limitations in more complicated spaces,such as the inability to extend or the excessive amount of extension affects the actual operation.Therefore,this paper proposes a continuum manipulator with Lamina Emergent Mechanisms as the basic unit and analyzes its working space.In view of the problem that the working space of the Lamina Emergent Mechanisms is difficult to determine,based on the pseudo-rigid body method,the Lamina Emergent Mechanisms is equivalent to an under-driven rigid parallel mechanism formed by connecting a torsion spring and a rigid rod.Stiffness and maximum torsion angle,and the finite element software was used to analyze the ultimate stress of the pseudo-rigid rod of the basic unit of this manipulator,and the correctness of the ultimate torsion angle based on the pseudo-rigid body method was verified;Based on the model,a numerical method to analyze the position of the center moving platform of the flexible Lamina Emergent Mechanisms is proposed.The absolute node coordinate method(ANCF)is used to verify the correctness of this method;based on this position analysis method,the global search method is used to solve the working space of the Lamina Emergent Mechanisms.Design a continuum manipulator with a flexible Lamina Emergent Mechanisms as the basic unit,Based on the assumption of the segmented constant curvature,the kinematic model is established using the D-H coordinate method,and the state of the single joint in any posture is simulated using ABAQUS.Verificated the correctness of its kinematics model;combined with the limit torsion angle of the equivalent torsion spring of the Lamina Emergent Mechanisms,a global search method is used to determine the working length of the single joint segment and the maximum length of the single joint segment that can be stretched in different directions and the corresponding maximum bending angle;The working space of the continuous manipulator arm was analyzed by Monte Carlo method.