Development Of Prototype Of Elephant Nose Continuous Robot

Robot technology is widely used in industrial production,medical services,exploration and surveying,bioengineering,special exploration and disaster relief,space station operations and other fields.The mechanical arms of rigid robots are mostly composed of rigid mechanisms,which lacks their own compliance and flexibility and cannot adapt to the objective environment.The elephant-nose robot is a new device made of flexible materials.Its own multi-redundant degree of freedom structure and special software materials make it have the characteristics of high flexibility,adaptability to complex environments and safe human-computer interaction,etc.It has been widely concerned by scholars and institutions at home and abroad,showing good engineering applications prospect.The research of the elephant-nosed robot involves the intersection and fusion of many fields such as materials science,mechanics,chemistry,mechanical design and manufacturing,electronics and control science,and bionics.It is a brand-new robot,and its research has just begun.From materials,design,processing,sensing to control,there are a series of problems that need to continue to study.The main research content of this paper is the structure design,kinematics analysis,dynamics analysis and prototype experiment of the robot with the imitating elephant nose continuum.Aiming at the characteristics of the existing imitated nose continuum robot,such as complex structure and difficult to control,this paper develops a coneshaped imitated nose continuum robot which integrates traditional force and displacement sensors.The entire robot arm has 8 degrees of freedom.Based on the actual physical model of the ontology,it is mathematically modeled and parametrically described,and the corresponding program is written according to the motion plan,which is implanted into the STM32 development board for drive control,so as to achieve the bending of the flexible mechanical arm,thereby Change the spatial pose of the robotic arm.Aiming at the elephant-nosed prototype designed and developed at home and abroad,the driving principle and the structural characteristics of the mechanical arm are analyzed.A four-segment flexible manipulator is designed using a cylindrical coil spring,spring bending is formed by wire rope drive,and its motion is controlled to achieve obstacle avoidance and grabbing functions.According to the design requirements,the force,displacement sensor and motor are selected according to the designed mechanical arm structure.According to the actual physical model of the flexible manipulator,the screw arm theory,exponential product operation,and space geometry are used to model the kinematics of the manipulator.The mapping relationship between the manipulator drive space,joint space,and operation space is analyzed.The software completes the kinematics simulation analysis,and the simulation results prove the rationality and correctness of the kinematics.At the same time,the Lagrangian method is used to dynamically model the equivalent mechanical arm model,and MATLAB is used to complete the dynamic simulation analysis.The simulation results prove the rationality and correctness of the dynamic model.Using ADAMS software to model the virtual prototype of the experimental platform.The flexible treatment of the spring and the discrete modeling of the wire rope establish the entire rigid-flexible coupling system.Using ADAMS to analyze the kinematics of the manipulator,the theoretical simulation results are compared with the ADAMS simulation results.The simulation results verify the correctness of the kinematics model.A prototype experimental platform of the principle of elephant-like nose continuum robot was built to test the plane bending ability of single-section and twosection robot arms.The experimental results verified the correctness of the kinematics and dynamics algorithms.Finally,the flexibility and controllability of the prototype mechanical arm were verified by the plane bending of three mechanical arms and the experiment of grabbing balloons.