Kineto-static analysis of a hybrid manipulator consisting of rigid and flexible limbs with locking function for planar shape morphing

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-10-05 DOI:10.1016/j.mechmachtheory.2024.105802

Yinjun Zhao , Fengfeng Xi , Guangbo Hao , Yingzhong Tian , Long Li , Jieyu Wang

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Abstract

The incorporation of lockable passive backbones into active compliant morphing systems efficiently results in lightweight, high-load, and large deformation systems. However, there exist challenges in kineto-static analysis due to the interaction between rigid reconfigurable kinematic constraints and the nonlinear deformation of actuated flexible limbs. This paper addresses these issues by developing a kineto-static method to analyze the motion in a novel planar 3-DOF shape-morphing manipulator. The manipulator features two actuated flexible limbs with a lockable variable geometry truss (LVGT). In this study, two isostatic topologies are selected for reconfigurable motion control under external tip loads. A multi-step sequential control strategy is proposed to maneuver the manipulator's platform for desired poses. Then, a constrained-trajectory-based kinematic model is proposed for an inverse kinematic solution considering motion planning. Subsequently, a kineto-static model is introduced, considering constraints from rigid and flexible limbs, aiming to distribute distributing redundant actuation forces. Finally, nonlinear finite element analysis (FEA) and experiments are carried out to validate the effectiveness of the proposed method.

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对由具有锁定功能的刚性和柔性肢体组成的混合机械手进行运动静态分析，以实现平面形状变形

将可锁定的被动骨架纳入主动顺应变形系统，可有效地实现轻质、高负载和大变形系统。然而，由于刚性可重构运动学约束与致动柔性肢体的非线性变形之间的相互作用，运动静力学分析面临着挑战。本文针对这些问题，开发了一种运动静力学方法，用于分析新型平面 3-DOF 形状变形机械手的运动。该机械手具有两个带可锁定可变几何桁架（LVGT）的致动柔性肢体。在这项研究中，选择了两种等静态拓扑结构，用于外部顶端负载下的可重构运动控制。研究提出了一种多步骤顺序控制策略，以操纵机械手平台实现所需的姿势。然后，提出了一个基于约束轨迹的运动学模型，用于考虑运动规划的逆运动学解决方案。随后，考虑到来自刚性和柔性肢体的约束，引入了运动静态模型，旨在分配多余的驱动力。最后，进行了非线性有限元分析（FEA）和实验，以验证所提方法的有效性。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry