Kinematic Simulation and Experimental Research for an Under-actuated Joint Group. Issue 1 (1st February 2022)

• Record Type: Journal Article
• Authors: Guo, Yaxing; Ou, Yangsheng; Zheng, Jigui; Jia, Longfei; Tao, Yunfei
• Is Part Of: Journal of physics. Volume 2188:Issue 1(2022)
• Publication Date: 2022-02-01
• Subjects: Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/2188/1/012001
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: Considering the problems of the existing joint group for continuous manipulator, including that it is unrealized to meet the required length of the manipulator and the large bending angle of the joint, a new type of under-actuated linkage joint group is proposed in this paper. The parameterized models of the joint group based on the elastic deformation of the linkage rope and the variable-diameter transmission wheel are established respectively, and the kinematics mapping model of the joint group is derived. Based on the establishment of the model, simulation verification was carried out by applying Adams. Finally, the proposed joint group and kinematics model was verified through experiments. The research results show that the total length of the joint group is 750mm, the maximum movement angle of a single joint in the joint group is greater than 30°, and the maximum movement angle of the joint group is greater than 90°, which improves the maximum movement space and maximum movement angle of the existing joint group. Besides, the joint group can realize the coupling motion of three joints.