论文标题
多功能伪刚性的身体建模方法
A Versatile Pseudo-Rigid Body Modeling Method
论文作者
论文摘要
提出了一种新型的半分析方法来开发由高度柔性成员（HFM）制成的机器人（PRB）模型，例如挠曲和连续机器人，对PRB模型的自由度无限。所提出的方法具有简单的公式，但精度很高。此外，它可以描述HFM沿其长度变化的曲率和刚度。该方法为PRB建模的高度耦合非线性约束优化问题提供了半分析解决方案，可以扩展到由HFM组成的可变长度机器人，例如导管和同心管机器人。我们还表明，该方法可以获得仅具有三个参数的均匀刚性HFM的PRB模型。该方法的多功能性在Continuum机器人的HFM的各种应用中进行了研究。模拟表明，PRB模型的精度总体上有很大的改善，并降低了公式的复杂性。
A novel semi-analytical method is proposed to develop the pseudo-rigid-body~(PRB) model of robots made of highly flexible members (HFM), such as flexures and continuum robots, with no limit on the degrees of freedom of the PRB model. The proposed method has a simple formulation yet high precision. Furthermore, it can describe HFMs with variable curvature and stiffness along their length. The method offers a semi-analytical solution for the highly coupled nonlinear constrained optimization problem of PRB modeling and can be extended to variable-length robots comprised of HFM, such as catheter and concentric tube robots. We also show that this method can obtain a PRB model of uniformly stiff HFMs, with only three parameters. The versatility of the method is investigated in various applications of HFM in continuum robots. Simulations demonstrate substantial improvement in the precision of the PRB model in general and a reduction in the complexity of the formulation.
