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A Hyper-redundant Elephant’s Trunk Robot with an Open Structure:Design,Kinematics,Control and prototype

Chinese Journal of Mechanical Engineering 2020年第6期33卷 158-176页

作者： Yongjie Zhao Xiaogang Song Xingwei Zhang Xinjian Lu Department of Mechatronics Engineering Shantou UniversityShantou515063China Guangdong Goldenwork Robot Technology Ltd. Foshan528226China

As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles,the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity *** hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus *** with traditional robots,the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure.A hyper-redundant elephant’s trunk robot(HRETR)with an open structure is developed in this *** content includes mechanical structure design,kinematic analysis,virtual prototype simulation,control system design,and prototype *** design is inspired by the flexible motion of an elephant’s trunk,which is expansible and is composed of six unit modules,namely,3UPS-PS parallel in ***,the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic *** that,the backbone mode method is used to establish the kinematic model of the *** simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is *** the help of ANSYS,the static stiffness of each component and the whole robot is *** this basis,the materials of the weak parts of the mechanical structure and the hardware are selected ***,the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design ***,the prototype is built and its performance is *** proposed research provides a method for the design and development for the hyper-redundant bionic robot.

关键词： Hyper-redundant elephant's trunk robot Mechanical structure design Kinematic analysis Virtual prototype simulation Control system prototype building

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