Research On Modeling And Motion Planning Of Rope-driven Continuous Manipulato

With the exploration of space,manipulators will definitely play a huge role in space on-orbit services.However,in some unstructured narrow spaces,the movement of rigid manipulators will be restricted.continuum manipulators with flexible structures can flexibly change their shape and are suitable for movement in narrow spaces.This kind of manipulators is more suitable to complete some detection and maintenance tasks.Therefore,the research on continuum manipulators is of great significance.Combined with a research and development project of a space flexible arm,this paper studies the kinematic modeling,trajectory planning,and obstacle avoidance path planning of a type of rope-driven continuous manipulator.(1)The kinematics model of cable-driven continuum manipulator is studied.a forward kinematics model of a type of cable-driven continuum manipulator is established based on the assumption of piecewise constant curvature;The inverse kinematics solution method of continuous manipulator based on an improved PSO algorithm was proposed,and the simulation results show the effectiveness of the method.(2)Research on the trajectory planning method of the cable-driven continuum manipulator in an obstacle-free space is carried out.The configuration space trajectory planning of cable-driven continuum manipulators based on the fifth-order polynomial interpolation method is studied.The planned trajectory has the characteristics of continuum and smooth;the trajectory planning of the manipulator operating space is studied,and the space linear trajectory and arc trajectory are designed.(3)The obstacle avoidance path planning of cable-driven continuum manipulators is studied.Considering the particularity of the cable-driven continuum manipulator configuration,a collision detection model suitable for this type of manipulator is proposed.the problem of obstacle avoidance path planning of the manipulator is solved based on the artificial potential field.Aiming at the local optimal problem,a method of state backtracking and setting virtual target point is proposed.The feasibility and effectiveness of the method are verified by simulation.(4)The simulation and experimental research on cable-driven continuum manipulators are carries out.A co-simulation system of virtual prototype(ADAMS)and MATLAB is constructed to verify the proposed obstacle avoidance path planning method.Aiming at the constant curvature error problem in the simulation,a physical prototype system of the continuum manipulator is built,and the kinematic model based on the piecewise constant curvature assumption is verified experimentally.