 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4760 |
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| Liyuan Liu, Hao Lv, Weitao Li, Yuming Gao, Mingwang Gao, and Zonggao Mu, "A Modified Backbone Curve Method for Inverse Kinematics of Rigid-Flexible Serial Robots," Mech. Solids. 58 (4), 1309-1318 (2023) |
| Year |
2023 |
Volume |
58 |
Number |
4 |
Pages |
1309-1318 |
| DOI |
10.3103/S0025654423600551 |
| Title |
A Modified Backbone Curve Method for Inverse Kinematics of Rigid-Flexible Serial Robots |
| Author(s) |
Liyuan Liu (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Hao Lv (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Weitao Li (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Yuming Gao (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Mingwang Gao (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Zonggao Mu (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China; School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055 China; Shandong Jite Industrial Technology Company Limited, Rizhao, 262300 China, muzonggao@163.com) |
| Abstract |
Conventional robots is usually too large to inspect narrow spaces, such as the interior of a nuclear reactor. In this paper, a rigid-flexible serial robot with rigid mechanism and flexible mechanism is designed, and a modified backbone curve method is also proposed for its inverse kinematics.
Different from traditional inverse solution methods, overall configurations of the rigid-flexible serial robot are planned by adjusting shapes of the backbone curve. Firstly, the rigid mechanism is pre-fitted as closely as possible to the determined backbone curve. Secondly, the flexible mechanism is regarded as a biarc and fitted to the determined backbone curve. Parameters of the biarc are solved based on current end position of the rigid mechanism and that of the backbone curve. Thirdly, the rigid mechanism will be re-fitted to the determined backbone curve based on the solved initial position of the biarc. Finally, the work space, typical trajectory, and work scene are all simulated. Results verify the effectiveness of the modified backbone curve method for inverse kinematics of rigid-flexible serial robots. |
| Keywords |
rigid-flexible serial robots, backbone curve method, inverse kinematics |
| Received |
05 June 2023 | Revised |
19 May 2023 | Accepted |
14 June 2023 |
| Link to Fulltext |
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