无线电遥控触手机器人的研制

A. Dautov, E. Kopets, A. Karimov, V. Rybin, Aliya M. Khafizova, Mariya S. Sigaeva
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引用次数: 1

摘要

本文致力于开发一种属于软机器人的机器人触手。这种机器人在难以到达的地方提供可靠的抓取物体,而不需要很大的机械力,这使得它们在协作机器人的各个领域都很受欢迎。介绍了机械触手的工作原理。提出了一种基于测压元件的反馈和基于步进电机的驱动机构的触手定位和提供运动问题的解决方案。将上述设计方案应用于触手机器人原型的创建过程中,并对其进行了研究,验证了其前瞻性。
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Development of a Radio-Controlled Tentacle Robot
The article devotes to the development of a robotic tentacle belonging to the class of soft robots. Such robots provide reliable grasping of objects in hard-to-reach places without great mechanical effort, which makes them in-demand in various fields of collaborative robotics. The working principle of a mechanical tentacle is described. A solution to the problems of positioning and providing motion of the tentacle, for which it is proposed to use feedback based on load cells and a drive mechanism based on stepper motors, is considered. The mentioned design solutions were applied and investigated during creation of a prototype of a tentacle robot, and their perspectivity is recognized.
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