Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator
In order to satisfy the requirements of complex space environment， a wire-driven multi-section continuous manipulator is designed. A simple modeling method for wire-driven continuous manipulators is presented based on geometric analysis method. The mapping relationship between joint space，driving sp...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.006 |
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| _version_ | 1841547368637399040 |
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| author | Wei Guiwei Xu Zhenbang Zhao Zhiyuan Yu Yang Wu Qingwen |
| author_facet | Wei Guiwei Xu Zhenbang Zhao Zhiyuan Yu Yang Wu Qingwen |
| author_sort | Wei Guiwei |
| collection | DOAJ |
| description | In order to satisfy the requirements of complex space environment， a wire-driven multi-section continuous manipulator is designed. A simple modeling method for wire-driven continuous manipulators is presented based on geometric analysis method. The mapping relationship between joint space，driving space and operation space of the single section flexible joint are analyzed，and a decoupling kinematics algorithm for three sections manipulator is given. The manipulator workspace is described using improved Monte Carlo method. The kinematics simulation of the manipulator is carried out by using Matlab. The correctness of the kinematics algorithm is verified by the experimental study of the principle prototype，and the good bending ability of the manipulator is demonstrated. |
| format | Article |
| id | doaj-art-d18a3c9029674746b9f3b12c1bdc18c3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d18a3c9029674746b9f3b12c1bdc18c32025-01-10T14:46:01ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-01323831612282Design and Kinematics Simulation of a Wire-driven Multi-section Continuous ManipulatorWei GuiweiXu ZhenbangZhao ZhiyuanYu YangWu QingwenIn order to satisfy the requirements of complex space environment， a wire-driven multi-section continuous manipulator is designed. A simple modeling method for wire-driven continuous manipulators is presented based on geometric analysis method. The mapping relationship between joint space，driving space and operation space of the single section flexible joint are analyzed，and a decoupling kinematics algorithm for three sections manipulator is given. The manipulator workspace is described using improved Monte Carlo method. The kinematics simulation of the manipulator is carried out by using Matlab. The correctness of the kinematics algorithm is verified by the experimental study of the principle prototype，and the good bending ability of the manipulator is demonstrated.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.006Wire-driven |
| spellingShingle | Wei Guiwei Xu Zhenbang Zhao Zhiyuan Yu Yang Wu Qingwen Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator Jixie chuandong Wire-driven |
| title | Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator |
| title_full | Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator |
| title_fullStr | Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator |
| title_full_unstemmed | Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator |
| title_short | Design and Kinematics Simulation of a Wire-driven Multi-section Continuous Manipulator |
| title_sort | design and kinematics simulation of a wire driven multi section continuous manipulator |
| topic | Wire-driven |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.006 |
| work_keys_str_mv | AT weiguiwei designandkinematicssimulationofawiredrivenmultisectioncontinuousmanipulator AT xuzhenbang designandkinematicssimulationofawiredrivenmultisectioncontinuousmanipulator AT zhaozhiyuan designandkinematicssimulationofawiredrivenmultisectioncontinuousmanipulator AT yuyang designandkinematicssimulationofawiredrivenmultisectioncontinuousmanipulator AT wuqingwen designandkinematicssimulationofawiredrivenmultisectioncontinuousmanipulator |