柔性气动连续体机器人关节结构设计与运动学分析
Mechanism Design and Kinematics Analysis of Pneumatic Soft Continuum Robot Joint

基于气动人工肌肉和缆绳组合驱动，提出了一种三自由柔性气动连续体机器人关节，该关节具有结构紧凑、柔顺性高、控制简单等特点。通过分析该机器人关节结构特性，采用修正的D-H法，建立了其正反解运动学模型，求解了其位置运动学解和速度运动学解，通过仿真验证了关节结构的合理性和运动学方程的正确性。
A pneumatic soft continuum robot joint with 3 degrees-of-freedom is proposed based on the combination drive of the pneumatic artificial muscle and the cable. The joint has such features as compact structure, high flexibility and simple controlet, etc. The forward and inverse kinematics models of this continuum robot joint are built with modified D-H method, by analyzing its structural characteristics. The position kinematics solutions and the velocity kinematics solutions of the joint are solved. The structural rationality and the kinematic equation correctness of the joint are verified though kinematics simulation