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An Origami-Inspired Cable-Driven Continuum Robot

delete2025-08-03
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OA
AI
Z
Zhichuan Tang *
J
Jiahui Shao
Y
Yizhou Yang
L
Libo Zhou
J
Jiayi Zheng
DOI：10.1002/aisy.202500520delete
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摘要

摘要

En 中文
现有非弹性骨架的连续体机器人功能单一，仅提供弯曲自由度（DOF）。此外，其非嵌入式实体结构限制了应用潜力。本研究受折纸结构启发，开发了一种具有双向弯曲-收缩自由度的索驱动连续体机器人。随后进行了运动学分析，以预测不同索收缩和关节参数下的变形。基于机器人的运动学特性，制造了一款由五个关节模块组成的连续体机器人，以演示其在无载和负载状态下的收缩与弯曲能力。该连续体机器人可实现最大33.87%的收缩和95.71°的弯曲角度。通过增加连续体机器人的关节数量，可制作具有不同指数的夹持器，以抓取不同形状的物体。此外，基于机器人索支撑结构的嵌入式特性，设计了一款具有两个关节模块的腕部康复矫形器。该矫形器支持个性化定制，具有两种康复运动模式，即屈伸（76.45°曲率）和桡尺偏（53.66°曲率）。性能与应用实验表明，该机器人结构具有良好的适应性，在不同交互场景中具有应用潜力，并为索驱动连续体机器人的应用提供了实践指导。
Keyword:
cable-driven continuum robots
motion patterns
origamis
wrist rehabilitation orthoses
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期刊

Advanced Intelligent Systems 封面图
Advanced Intelligent Systems
IF:
6.1
论文数:
2.0K
被引数:
8.4K

机构

Z
zhejiang university of technology
学者数:
3.3W
论文数: 2.0W
被引数: 22
引用论文

引用论文

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