基于滚动接触的单模块多自由度柔性连续体机械臂设计

周亮,温涛,胡俊峰,周浩

Design of single-module multi-degree-of-freedom flexible continuum robotic arm based on rolling contact

Liang ZHOU,Tao WEN,Junfeng HU,Hao ZHOU

表3 柔性连续体机械臂三维抓取实验规划参数

Table 3 Experimental planning parameters for three-dimensional grasping of flexible continuum robotic arm

抓取平面 轨迹点坐标/mm 弯曲角度/(°) 拉伸/收缩长度/mm 左驱动绳 右驱动绳 前后平面 (0, 0, -300) 0 0 0 (0, 165, -148) 113 43.8 -43.8 左右平面 (0, 0, -300) 0 0 0 (128, 0, -148) 85 32.9 -32.9 (-128, 0, -148) 85 -32.9 32.9