液压驱动连续型机械臂原理与设计

摘要

Continuum manipulator has many features,such as flexible movement,flexible joints,and can adapt to muti-obstacle environments.It will have great application value in the field of limited,narrow and dangerous space operations.The current continuum manipulator is mainly driven by motor,and its end bearing capacity is limited,generally less than 5 kg.In this study,a hydraulic-driven continuum manipulator is designed,and its joints are made of metal and connected by universal joints.The kinematic model is analyzed and the experimental system is built to verify the correctness of the model.%连续型机械臂具有运动灵活、可适应多障碍环境、柔性关节等特点,能在有限、狭小、危险空间内作业,在复杂设备维护方面将会有极大的应用价值.当前连续性机械臂主要采用电机驱动,其末端承载能力有限,一般小于5 kg.设计一种采用液压驱动的连续型机械臂,关节间采用金属材料,并使用万向节连接.分析了其运动学模型,并搭建了实验系统验证模型正确性.