Research On Reinforcement Design Of Hybrid Manipulator Based On Cable Driven Parallel Helix Actuator

When performing a task,robots need to interact with targets or environments.In this process,the end-effectors will face some key problems and challenges.In particular,the adaptability of unstructured environments.An actuator with automatic compliance is more eligible and more adaptable with the aid of its stiffness control.Based on the adaptability of the end-effectors and the unstructured environment,combined with the stiffness control and the cable parallel robot,the research of the floating actuator based on screw drive principle and stiffness controllable finger is developed.Firstly,the paper analyzes the working environment and proposes the passive degree of freedom to solve the problem of the interaction between the robot and the unstructured environment.Based on the traditional rigid mechanism,the flexible element is gradually introduced,and the cable parallel robot is selected as the basic configuration.The concept of the Cable-Driven Parallel-Helix-Actuator with multiple passive degrees of freedom actuator is proposed,and the driving principle and its configuration stability are analyzed.Then derived the stiffness matrix expression of the actuator.Secondly,by constructing the spatial actuator from the planar actuator,the configuration of the spatial actuator is given.Through the mechanism design analysis,the configuration parameters of the different configuration actuators are given,and then the actuator and the three-degree-of-freedom parallel mechanism are designed as wrist structure of the robotic hand.Then,the stiffness control model of the finger is derived by the model of shape memory alloy and the pneumatic flexible unit.Finally,based on the design parameters and theoretical guidance,the experimental prototype of the manipulator wrist was built,and the analysis results were verified by experiments.