\r康荣杰¹，王 聪¹，耿仕能¹，杨铖浩\r^{1, 2}\r
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AuthorsHTML:\r康荣杰¹，王 聪¹，耿仕能¹，杨铖浩\r^{1, 2}\r
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AuthorsListE:\r\rKang Rongjie ¹，Wang Cong¹，Geng Shineng¹，Yang Chenghao\r^1,2\r
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AuthorsHTMLE:\r\rKang Rongjie ¹，Wang Cong¹，Geng Shineng¹，Yang Chenghao\r^1,2\r
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Unit:\r1. 天津大学机构理论与装备设计教育部重点实验室，天津 300350；
2. 天津工业大学机械工程学院，天津 300387\r
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Unit_EngLish:\r1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education，Tianjin University，Tianjin 300350，China；
2. School of Mechanical Engineering，Tianjin Polytechnic University，Tianjin 300387，China\r
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Abstract_Chinese:\r\r连续型机器人是一种新型的仿生机器人，由于其内在的柔顺结构，适合在狭小复杂等领域中进行探测、抓持等操作．相比于传统的刚性机器人，连续型机器人不仅具有更高的安全性，而且有望获得更高的灵活性，但是目前却很少有针对连续型机器人的灵活性展开分析的研究．针对这种情况，设计开发了一种采用模块化关节的连续型机器人，基于运动学模型与雅可比矩阵等相关概念，对连续型机器人的局部灵活性指标以及全域灵活性指标进行了定义和计算，并发现当机器人的总长在一定范围内、采用不同关节长度设计时，对应的工作空间中各末端点灵活性分布存在较大的差异．而后，结合连续型机器人的结构特点，引入粒子群仿生优化算法，利用灵活性来指导机器人的关节长度设计，使机器人获得全域灵活性指标下最优的关节灵活性．最后，引入操作灵敏度指标来对采用最优关节长度设计的连续型机器人进行直观的灵活性仿真与实验验证，并与传统的各关节长度一致的结构设计进行了对比实验．结果揭示了机器人灵敏度指标与基于雅可比矩阵条件数的灵活性指标之间的关系，即灵活性较高的末端点其各向灵敏度分布亦较为均匀．\r\r
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Abstract_English:\r\rContinuum robots represent a new type of bionic robot suitable for detection and grasping in restricted environments owing to their inherently flexible structures\r．\rContinuum robots are not only safer but are also expected to achieve greater dexterity\r．\rHowever\r，\rdetailed research on their dexterity is lacking\r．\rTo address this issue\r，\rin this study we developed a continuum robot with a modular design and performed detailed analyses of its local and global dexterity indices based on a kinematic model and Jacobian matrix\r．\rIn addition\r，\rwe determined that when the total length of the robot is within a certain range and different joint lengths are assigned\r，\rthere are large differences in the distribution of dexterity of the end points in the corresponding workspace\r．\rNext\r，\rby combining the structural characteristics of the continuum robot\r，\rwe obtained its optimal joint lengths using a dexterity index by introducing a particle swarm optimization\r(\rPSO\r)\ralgorithm\r，\rwhich enables the robot to achieve the best global dexterity\r．\rFinally\r，\rwe present a sensitivity index for simulated and experimental verifications of the intuitive dexterity of the continuum robot with optimal joint lengths\r．\rWe also conducted a comparative experiment using the same length for each joint\r．\rThe results reveal a relationship between the sensitivity and dexterity indices\r；\rthat is\r，\rend points with higher dexterity show more uniform distributions of sensitivity\r．\r\r
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Keyword_Chinese:连续型机器人；灵活性；运动学模型；雅可比矩阵；结构设计\r

Keywords_English:continuum robots；dexterity；kinematic model；Jacobian matrix；structural design\r


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