\r康荣杰，孙慈晶\r
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AuthorsHTML:\r康荣杰，孙慈晶\r
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AuthorsListE:\rKang Rongjie，Sun Cijing\r
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AuthorsHTMLE:\rKang Rongjie，Sun Cijing\r
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Unit:\r天津大学机构理论与装备设计教育部重点实验室，天津 300350\r
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Unit_EngLish:\rKey Laboratory of Mechanism Theory and Equipment Design of Ministry of Education，Tianjin University，Tianjin 300350，China\r
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Abstract_Chinese:\r连续型机器人具有本质柔顺的本体结构，由此带来的环境适应性和安全性得到了人们的广泛关注．然而柔软的结构也可能导致机器人负载能力和定位精度的不足．针对这种情况提出了一种全新的混合驱动连续型机器人，能够平衡结构柔顺性、定位精度、刚度等性能．该机器人的驱动器在传统气动肌肉的基础上内置弹性杆，保持了系
统的紧凑性．通过模式切换机构使驱动器能够在气压驱动与弹性杆驱动两种模式间切换以实现大范围运动和小范围精确定位，并在这个过程中拥有不同的刚度．当机器人进行大范围运动时，由气动肌肉提供主要的行程和输出力；当机器人到达指定工作位置附近时，由直线电机牵引弹性杆驱动机器人末端实现精确定位并提高机器人的刚度．基于力平衡的原理建立了混合驱动器的气压-长度模型，通过模型仿真与实验结果的对比，发现驱动器死区的存在并修正了该模型，验证了机器人驱动器抗迟滞的特性．通过不同姿态与驱动方式下对机器人施加外力的实验证明了机器人的变刚度特性．通过对机器人末端的定位实验验证了混合驱动连续型机器人的重复定位能力相较于单纯气压驱动方式有显著增加．结果表明，通过混合驱动的方式提供了一种具有变刚度效果并能有效增强柔性连续型机器人定位精度的方法．\r
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Abstract_English:\rThe intrinsic compliant body structure of continuum robots endows them with great environmental adaptability and safety，and thus，such robots have attracted increasing attention in recent years. However，the compliant structure may also lead to the lack of loading capacity and positioning accuracy. Considering this situation，a novel hybrid-driven continuum robot is proposed to balance the requirements for flexibility，precision，and stiffness. The actuator of the robot incorporates a pneumatic muscle and an embedded elastic rod to maintain system compactness. By employing the mode switching mechanism，the actuator can switch the drive mode between pneumatic mode and elastic rod mode to achieve large-scale movement and precise positioning，during which the robot possesses variable stiffness. When performing large-scale movements，the pneumatic muscles provide most of displacement and force. Once the robot approaches the desired operational position，it will be driven by the linear motor through the elastic rod to achieve precise positioning，and the stiffness of the robot is also improved. Based on the principle of force balance，the pressure-length model of the hybrid actuator is established. By comparing the simulated and experimental
results，the dead zone of the actuator is found，and the model is then modified. The hysteresis of robot is also verified. The variable stiffness of the robot is validated by an experiment of applying external force to the robot tip under different configurations and drive modes. By recording the position of the robot tip，it is found that the positioning repeatability of the hybrid-driven system is significantly increased in comparison to the pure pneumatic driving mode. The results show that this design provides an effective way to enhance the positioning accuracy of the compliant continuum robot by using hybrid actuation with variable stiffness.\r
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Keyword_Chinese:连续型机器人；混合驱动；气动肌肉；弹性杆；变刚度\r

Keywords_English:continuum robot；hybrid-driven；pneumatic muscle；elastic rod；variable stiffness\r


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