Open AccessKinematic and Static Analysis and Experimental Study for Dual-arm Continuum Robot
Author(s) -
Guohua Gao,
Yuhang Zheng,
Hao Wang
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1267/1/012102
Subject(s) - kinematics , statics , robot , robot kinematics , constant curvature , computer science , simulation , robotic arm , robot calibration , curvature , control theory (sociology) , classical mechanics , physics , mathematics , artificial intelligence , mobile robot , geometry , control (management)
The continuum robot, which is different from the traditional rigid robot, consists of a flexible structure, and becomes a research hotspot in the field of robots, because of its good flexibility and adaptability in the complex environment. According to the advantages of the continuum robot, it could be applied in medical, exploration and agricultural operations. This paper proposed a cable-driven dual-arm continuum robot with three-degree-of-freedom. The kinematics of posture parameters and driving parameters, as well as the statics, was established. And the dual-arm coordinated reachable work space was described according to the principle of constant curvature deformation, on the basis of which, the theoretical motion model of the continuum robot was simulated using MATLAB, and experiments of the posture of the dual-arm continuum robot was conducted on the prototype to verify the accuracy of the theoretical kinematics and statics model.