System Development & Application
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 10
3085-3088,3103

Practical kinematics research for wire-driven continuum robot

Chen Yuanke1
Ma Feiyue2
Xiang Guofei1
Ma Congjun1
Chen Lei2
Ni Hui2
Dian Songyi1
1. College of Electrical Engineering, Sichuan University, Chengdu 610065, China
2. Power Research Institute of State Grid Ningxia Power Co. Ltd. , Yinchuan 750002, China
DOI: 10.19734/j.issn.1001-3695.2021.03.0060

Abstract

Aiming at the kinematics of single-segment and multi-segment continuum robots, this paper proposed a complete forward and inverse kinematics analysis method combining segmented constant curvature and particle swarm algorithm. Taking the double-segment wire-driven continuum robot as the research object, it designed the robot prototype with translation segment. Then it established the mutual mapping between the driving space and the joint space using the piecewise constant curvature method, and obtained the positive mapping relationship from the joint space to the working space according to the homogeneous transformation. Finally, it used the linearly decreasing weight particle swarm algorithm to realize the inverse mapping from the workspace to the joint space. The kinematics of the two-segment continuum robot was simulated and the time-consuming test of the inverse kinematics solution was carried out, and carried out the experimental verification on the developed prototype. The simulation results show the rationality of the proposed kinematics research method and the rapidity of the inverse kinematics solution. The experimental results show that the average position error is less than 6.22% of the length of the two-segment continuum robot body, which verifies the effectiveness of the proposed kinematics.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.03.0060
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 10
Section: System Development & Application
Pages: 3085-3088,3103
Serial Number: 1001-3695(2021)10-035-3085-04

Publish History

[2021-10-05] Printed Article

Cite This Article

陈元科, 马飞越, 向国菲, 等. 用于丝驱动连续体机器人的实用运动学研究 [J]. 计算机应用研究, 2021, 38 (10): 3085-3088,3103. (Chen Yuanke, Ma Feiyue, Xiang Guofei, et al. Practical kinematics research for wire-driven continuum robot [J]. Application Research of Computers, 2021, 38 (10): 3085-3088,3103. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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