Design And Research Of A Dexterous Flexible Bodies Manipulator

The grasp of irregular or soft and easily damaged objects can usually be achieved by flexible manipulator claws or manipulators.At present,although there are many research results and application examples of flexible arms,most structures and controls are often complex and expensive.This paper presents a new special flexible dexterous manipulator with simple structure and control,low cost and suitable for popularization.Compliant grip can be carried out for parts of specific shape.According to the special requirements of some environments,it can be designed to form a certain shape in advance to achieve the task of grasping,probing and detecting in this environment.In this paper,we study it in the following aspects:(1)Based on rigid body replacement method,an economical and practical structural configuration principle of flexible manipulator with single drive is proposed.(2)According to the pseudo-rigid-body model method,the rigid and flexible elements forming flexible joints are analyzed and their static models are established.On this basis,the static model of multi-rigid and flexible body elements is established.(3)According to the static model of the flexible arm,the relationship between the angle of the manipulator and the driving force and the geometric parameters of the flexible element is analyzed.On this basis,the relationship between the overall shape of multi-rigid and flexible elements,driving pull force and geometric parameters of each element is established.The relationship between the overall static shape of the flexible arm and the driving pull force is analyzed under the invisible constraint.(4)The relationship between the contact pressure distribution at each point,the driving force and the geometric parameters of each element is analyzed when the rigid body of flexible arm is in contact with a specific shape object at the same time and is subject to constraint force.(5)The calculation method of flexible arm is designed according to the requirement of keeping the deformed shape of the manipulator and ensuring the contact force between the rigid body and the object is uniform when grasping the object with a certain shape under the condition of no contact.(6)For some preset application scenarios,the corresponding flexible arm design method is proposed.According to the requirement of the transfer robot developed by our team,the specific design scheme of flexible arm is put forward,and the experiment and analysis are carried out to verify the feasibility of this method.