Modeling and control of a rigid-flexible coupling robot for narrow space manipulations

作     者：Kuangda CHEN Huan ZHAO Jiexin ZHANG Mei FENG Yiwei WANG Jinliang WANG Han DING 

作者机构：State Key Laboratory of Intelligent Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Key Laboratory of CNC Equipment ReliabilityMinistry of EducationJilin UniversityChangchun 130021China School of Medical Equipment Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China 

出 版 物：《Science China(Technological Sciences)》 (中国科学(技术科学英文版))

年 卷 期：2025年第68卷第2期

页      面：136-152页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.52188102,52090054,52205521) the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(Grant No.GZC20240539) 

主　　题：narrow space manipulation rigid-flexible coupling robot kinematics rigid-dominated control 

摘      要：Narrow space manipulations are crucial for equipment maintenance,as they eliminate the need for disassembly,thus reducing costs and increasing ***-driven flexible robots possess exceptional capabilities in maneuvering through narrow spaces,thanks to their interaction compliance and distal ***,their inherent low stiffness causes a decline in the location accuracy of the robot and could even lead to manipulation *** address this challenge,this paper proposes a novel type of rigid-flexible coupling robot,which increases the stiffness of the robot while ensuring the reachability within a narrow *** achieve high-accuracy location in a narrow space,kinematic and control methods are ***,the robot forward kinematics are uniformly represented,and the closed-form inverse kinematics solution is ***,in cases where the robot s structure fails to align with Pieper s solution,a two-stage search strategy is utilized to solve the inverse kinematics,resulting in a high success rate of 99.1%.Based on the proposed kinematics,a rigid-dominated control method is then proposed to facilitate localization and pose alignment of target objects in narrow *** practical comparative experiments show that the proposed robot has the capability of high accuracy control in narrow spaces.