Design And Research Of Continuous Manipulator Based On Tensegrity Structure

Robot related research has been attracting much attention,and related technologies have developed rapidly.With the development of social needs and application occasions,the functions of robots are becoming more and more diverse.The limitation of traditional rigid robot's own structure leads to the urgent demand for the research of continuous robot.Through the analysis of the physiological structure and motion mechanism of natural mollusks and animal organs,the research of various continuous robots has become a new hotspot in the field of robot.This paper focuses on introducing the concept of tensegrity structure into the design of continuous manipulator,making full use of the characteristics of tensegrity structure,realizing the functions of continuous manipulator in longitudinal compression and extension,bending and winding deformation,etc.,which has a certain degree of innovation significance in the field of robot research.First of all,the development and research status of the continuous manipulator are introduced briefly.Because the continuous manipulator designed in this paper adopts the tensegrity structure as the main body of the manipulator,the development and structural characteristics of the tensegrity structure are discussed,and the research status of the tensegrity robot is also introduced.Secondly,according to the application requirements of the continuous manipulator,the function and performance indexes of the manipulator are analyzed,and the continuous manipulator based on tensegrity structure is designed.Including the structure of the continuous manipulator,the driving mechanism,the motor base and so on,and analyzes the influence of the relevant design parameters on the performance of the manipulator.Then,according to the movement characteristics of the continuous manipulator with tensegrity structure,the kinematic analysis is carried out with the unit as the joint module,and the relationship among the driving space,joint space and operation space of the manipulator is given.On this basis,the multi joint kinematics is studied,the whole kinematics model of the manipulator is established,and the simulation is carried out in Matlab environment.In addition,the mechanical model of the tensegrity continuous manipulator is established,and the differential algebraic equation is solved.The results of kinematics simulation and statics simulation are compared.The compression extension process and bending deformation process of the continuous manipulator with tensegrity structure are simulated,and its static and dynamic response are analyzed.Finally,the experimental platform of the tension integral continuous manipulator is built,and the static simulation and experimental comparison of the bending deformation of the manipulator are completed,which proves the validity of the mechanical model.