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本文介绍了基于约束型蛇形拉线机构(CTSM)的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比,基于CTSM的机器人具有更大的工作空间,更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控,包括两种操作模式——直接映射模式和增量模式。在每一种模式下,该机器人都可以采用“最大刚度”方案或“最小运动”方案来操控。CTSM的以上优点在仿真模拟和实验中均得以验证。
This article describes a new type of flexible robot system based on the Constrained Serpentine Pull Mechanism (CTSM). Compared with DaVinci Surgical Robots and Conventional Flexible Robots, CTSM-based robots have the advantages of greater work space, greater dexterity and controllability of stiffness. The robot uses the Novint Falcon haptic device for remote control and includes two modes of operation - direct mapping mode and incremental mode. In each mode, the robot can be manipulated using the “maximum stiffness” scheme or the “minimum movement” scheme. The above advantages of CTSM are validated both in simulation and experiment.