Design of a Flexible Capture Mechanism Inspired by Sea Anemone for Non-cooperative Targets

作     者：Jiankun Yang Chengwei Ren Chenghao Yang Youyu Wang Shumin Wan Rongjie Kang Jiankun Yang;Chengwei Ren;Chenghao Yang;Youyu Wang;Shumin Wan;Rongjie Kang

作者机构：Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationTianjin UniversityTianjin 300350China State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Beijing Institute of Spacecraft System Engineering CASTBeijing 100094China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2021年第34卷第4期

页      面：236-248页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0817[工学-化学工程与技术] 0807[工学-动力工程及工程热物理] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Key R&D Program of China(Grant Nos.2019YFB1309800,2018YFB1304600) National Natural Science Foundation of China(Grant No.51875393) State Key Laboratory of Robotics Foundation-China(Grant No.2019-O04). 

主　　题：Non-cooperative targets Continuum arm group Wire-driven mechanism 

摘      要：Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured environments.In this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed.It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control.Wire-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness regulation.Through finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.