CN110744548A - Unified decoupling method for drive line coupling relation of multi-line drive continuum mechanical arm - Google Patents
Unified decoupling method for drive line coupling relation of multi-line drive continuum mechanical arm Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention provides a uniform decoupling method for the drive line coupling relation of a multi-wire drive continuum mechanical arm, which solves the problem that the solution of the coupling relation between the lengths of the drive lines of the continuum mechanical arm in the prior art of three-wire drive and three-wire drive is not uniform; and (3) providing a unified solution for solving the coupling relation of the lengths of the drive wires of the n-wire drive continuum mechanical arm by analyzing the coupling relation among the lengths of the drive wires. The technical scheme is as follows: based on the assumption of segmental constant curvature, an analytic relation between the length of a driving wire of the mechanical arm of the multi-wire drive continuum and the bending direction and the bending angle of the mechanical arm is deduced by establishing a geometric model of the mechanical arm joint; analyzing the coupling relation between the driving lines by using an algebraic method, introducing a comparison factor, and providing a uniform solution for solving the length coupling relation of the driving lines of the n-line drive continuum mechanical arm; and the bending direction and the bending angle of the mechanical arm can be uniquely determined only by the length of the two driving wires which are not centrosymmetric.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a unified decoupling method for a drive line coupling relation of a multi-line drive continuum mechanical arm.
Background
Minimally invasive surgery, single-hole surgery and natural orifice surgery are widely applied because of the advantages of reducing trauma and bleeding of patients, shortening hospitalization time, fast postoperative recovery and the like, and the operations are usually performed in relatively closed space in vivo to complete tasks such as clamping, shearing, ablation and the like. Traditional discrete robotic arms are not suitable for use in narrow and crowded in-vivo environments due to lack of sufficient number of degrees of freedom, thereby driving some researchers to begin studying flexible robotic arms with multiple redundant degrees of freedom, high flexibility and safety. Flexible robotic arms can be generally divided into two categories: soft bodies and continuous bodies. The soft mechanical arm mostly utilizes a bionic technology to imitate living things in nature from behavior or function, such as octopus tentacles, elephants noses, inchworms and the like, is generally made of elastic materials such as silica gel, rubber and the like, and has infinite freedom degree theoretically. Continuum robots typically have several identical or similar units in tandem or have slots cut into the sidewall of a tubular material, which have a limited number of degrees of freedom compared to soft robots, but are better in load bearing and handling than soft robots.
The continuous body mechanical arm driving mode is mostly a line driving mode, and the continuous body mechanical arm driving mode has the advantages of compact structure, flexible layout, capability of realizing long-distance accurate movement in a narrow space and the like. The continuum robot arm may be classified into a triple-drive continuum robot arm and a multi-drive continuum robot arm according to the number of drive lines. Only three driving wires are needed for driving the continuum mechanical arm to realize spatial motion, but the redundant driving wires can solve the problem of insufficient rigidity of the continuum mechanical arm, so that the research on the coupling relationship among the driving wires of the multi-wire drive continuum mechanical arm becomes necessary.
The inventor finds that the traditional drive line decoupling method for the three-line drive or four-line drive continuum mechanical arm is generally based on the condition that the lengths of all drive lines are known, and the decoupling method is not easy to implement; in addition, the solution obtained by the traditional decoupling method based on the length of the partial driving wire is not unique; for solving the coupling relation between the lengths of the drive lines of the three-wire drive and above three-wire drive continuum mechanical arm, no unified solution is available at present.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a unified decoupling method for the drive line coupling relation of the multi-line drive continuum mechanical arm, a unified solution for solving the drive line length coupling relation of the n-line drive continuum mechanical arm is provided by analyzing the coupling relation among the drive line lengths, the conclusion that the bending direction and the bending angle of the n-line drive continuum mechanical arm can be uniquely determined only by knowing the lengths of two drive lines which are not centrosymmetric is obtained, and the solving process among the drive line length coupling relations is simplified.
The invention adopts the following technical scheme:
a unified decoupling method for a multi-drive continuum mechanical arm drive line coupling relation is based on a segmental constant curvature hypothesis, and an analytic relation between the length of a multi-drive continuum mechanical arm drive line and a mechanical arm bending direction and bending angle is deduced by establishing a geometric model of a mechanical arm joint;
analyzing the coupling relation between the driving lines by using an algebraic method, introducing a comparison factor, and providing a uniform solution for solving the length coupling relation of the driving lines of the n-line drive continuum mechanical arm; and the bending direction and the bending angle of the mechanical arm can be uniquely determined only by the length of the two driving wires which are not centrosymmetric.
Further, the arm bending angle Θ is expressed as:
wherein N represents the number of joints, and theta represents the deflection angle of the joints;
in the above formula, m is 2h2(1+cosω)+d2(sinω)2，
Wherein h represents joint non-deflectionThe length of the drive line between two units, d represents the diameter of the circumference of the drive line,
denotes the length of the drive line, ω denotes the angle between the two drive lines, and C is a constant.
Further, C ═ NH0+HB+HEWherein H is0Indicates the cell height, HBIndicating the height of the robot arm base, HEIndicating the end unit height.
Further, when givenThen Θ can be uniquely determined.
Further, and a driving line
Angle of omegaiLength of drive line
Expressed as:
wherein Φ represents an angle of the robot arm with the X-axis.
Further, Φ is expressed as:
further, by comparing with the comparison factor
The comparison may uniquely determine the robot arm configuration.
Further, the factors are compared
Compared with the prior art, the invention has the beneficial effects that:
(1) the method is based on the assumption of sectional constant curvature, and the analytic relation between the length of the driving wire of the multi-wire drive continuous body mechanical arm and the bending direction and the bending angle of the mechanical arm is deduced by establishing a geometric model of the mechanical arm joint. The coupling relation between the driving lines is analyzed by an algebraic method, and a conclusion that the bending direction and the bending angle of the mechanical arm can be uniquely determined only by the lengths of the two driving lines which are not centrosymmetric is obtained by introducing a comparison factor, so that a universal unified decoupling scheme for the multi-line drive continuum mechanical arm is provided;
(2) the decoupling method solves the problems of difficult realizability and application limitation of the traditional decoupling method of the length of the driving wire of the mechanical arm of the multi-wire drive continuum and the bending direction and the bending angle of the mechanical arm, greatly simplifies the decoupling process and improves the efficiency of the motion control algorithm of the mechanical arm of the multi-wire drive continuum.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic structural diagram of a multi-line drive continuum robot according to a first embodiment of the present invention;
fig. 2 is a side view of a multi-line drive continuum robot arm in accordance with a first embodiment of the present invention;
FIG. 3 is a schematic view of an articulation joint according to a first embodiment of the present invention;
FIG. 4 is a geometric model of a joint of a non-deflecting continuum robot arm according to a first embodiment of the present invention
FIG. 5 is a geometric model of a deflection θ angle continuum robot arm joint according to a first embodiment of the present invention;
fig. 6 is a schematic cross-sectional view of a four-wire drive continuum robot arm according to a first embodiment of the invention;
fig. 7 is a schematic cross-sectional view of an n-wire drive continuum robot arm according to a first embodiment of the invention;
wherein, 1, base, 2, joint, 3, middle unit, 4, rubber tube, 5, drive wire, 6, surgical instrument, 7, terminal unit.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
as introduced in the background art, solutions obtained by decoupling methods based on partial drive wire lengths in the prior art are not unique, and a unified solution for solving the coupling relationship between the drive wire lengths of three-wire drive and three-wire drive continuous mechanical arms is not available.
The first embodiment is as follows:
the present invention is described in detail below with reference to fig. 1 to 7, and specifically, the structure is as follows:
the embodiment provides a unified decoupling method for the drive wire coupling relation of a multi-wire drive continuum mechanical arm, which is based on the assumption of segmental constant curvature, takes a four-wire drive continuum mechanical arm as an example, and provides a unified solution for solving the coupling relation of the drive wire lengths of the n-wire drive continuum mechanical arm by analyzing the coupling relation between the drive wire lengths, so that the conclusion that the bending direction and the bending angle of the n-wire drive continuum mechanical arm can be uniquely determined only by knowing the lengths of two drive wires which are not centrosymmetric is obtained, and the solving process of the coupling relation between the drive wire lengths is simplified.
As shown in fig. 1 to 3, the n-wire-drive continuum robot arm is a four-wire-drive continuum robot arm when n is 4. The mechanical arm main body is composed of a base 1, a joint 2, a tail end unit 7, a rubber tube 4, a driving wire 5 and a plurality of middle units 3, the rubber tube 4 is used as a framework to sequentially connect all the units in series, and a joint is formed between every two units through spherical surface contact. The deflection of the joint is controlled by the retraction and extension change of the driving wire 5, and the deflection superposition causes the whole bending motion of the mechanical arm.
The n drive continuous mechanical arms are controlled to move by n drive wires 5, the drive wires 5 are uniformly distributed on the same circumference, the two drive wires 5 with central symmetry receive and release the mechanical arms to be controlled to do forward and reverse bending movement in a plane, and the n drive wires 5 receive and release the mechanical arms at the same time to realize the bending movement of the mechanical arms in any direction in the XY plane.
As shown in fig. 4, the continuum robot arm joint is formed by two adjacent units through spherical contact, and the following principles are known:
wherein D represents the maximum diameter of the unit, D represents the diameter of the circumference of the drive line, H represents the length of the drive line in the unit, H0Indicates the cell height, HbAnd dbThe chamfer dimension of the units, h denotes the length of the drive line 5 between the two units when the joint is not deflected, h0Representing the drive line 5 spacing between the two units when the joint is not deflected.
As shown in FIG. 5, when the joint is deflected by an angle θ in the plane of the drive line 5, it can be deduced from the geometric relationship
Wherein h islAnd hrThe length of two drive lines 5 is in central symmetry between the two units.
Assuming that the continuum mechanical arm has N joints, according to the principle of piecewise constant curvature, the deflection angle of each joint is equal and is θ, then:
Ll＝Nhl+C
Lr＝Nhr+C (4)
wherein C is NH0+HB+HEWhich is always constant, LlAnd LrA set of drive lines 5 in the robot arm, HBIndicating the height, H, of the robot base 1EIndicating the height of the end unit 7.
Order to
The following equations (3) and (4) can be derived:
the deflection of the joint results in a bending motion of the mechanical arm, with the arm bending angle Θ being expressed as:
Θ＝Nθ (6)
there is a maximum value for the arm bending angle, which is determined by the unit own parameters of the joint:
the four-wire drive continuous body mechanical arm controls the bending motion of the four-wire drive continuous body mechanical arm through two groups of drive wires 5. As shown in FIG. 6, the robot arm has a cross section, P1、P3And P2、P4Respectively representing the positions of two groups of driving lines, assuming that the mechanical arm bends along the direction with the included angle phi with the X axis, the phi belongs to [0,2 pi ], the deflection angle of each joint is theta, P1 E、P2 E、P3 E、P4 EAre respectively P1、P2、P3、P4At the equivalent point on the imaginary axis X', the lengths of the two sets of drive lines in the robot arm are expressed as:
wherein
In particular, when Φ is 0, the robot arm is bent in the positive X-axis direction;
according to the formula (9), at this time
The size is the same and varies with the variation of theta.
Equation (8) shows that
Any two of them can solve the morphological space variables theta and phi, but if selected
In combination with or
Combining, then the problem of non-uniqueness of the phi values can arise. As givenIt cannot be judged whether the mechanical arm makes bending motion in the positive half area of the Y axis or the negative half area of the Y axis. When other combinations are selected, a set of Θ, Φ can be uniquely determined.
Such as selectionCombining, let m equal to 2h2+d2，
From equation (8):
due to the fact that
So when given
When, theta can be uniquely determined by the formula (10), the definition
To determine the comparison factor of the bending direction of the mechanical arm, the equations (9) and (10) can be calculated
When in useCan determine
When in use
While, can determine
When in use Can determine
When in useCan determine
When in use
Can determine
And a group of theta and phi can be uniquely determined by combining the formula (11).
The results show that for the four-wire drive continuum mechanical arm, only the lengths of two drive wires which are not centrosymmetrically distributed need to be known, and the comparison factor can be passedThe bending direction and the bending angle of the mechanical arm are determined uniquely by comparing the sizes of the driving lines, and the decoupling process of the coupling relation between the driving lines is simplified.
The conclusion can be popularized to n line drive continuum mechanical arms, wherein n is more than or equal to 3.
As shown in FIG. 7, two driving lines with an included angle ω are selected
ω ∈ (0, π), at which timem＝2h2(1+cosω)+d2(sinω)2，
And a driving wire
Angle of omegaiLength of drive line
Expressed as:
wherein, ω isi∈[0,π]。
Θ can still be calculated by equation (10), and the calculation equation for Φ becomes:
combining equations (10), (13), also by comparison with a comparison factorThe size comparison can uniquely determine the shape of the mechanical arm, and the specific analysis process is the same as that of the four-wire drive continuum mechanical arm, and is not repeated here.
The formulas (10), (12) and (13) give a unified solution for solving the length coupling relation of the drive wires of the n-wire continuum mechanical arm, and the solution has uniqueness.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A unified decoupling method for a multi-wire drive continuum mechanical arm drive wire coupling relation is characterized in that an analytic relation between the length of a multi-wire drive continuum mechanical arm drive wire and a mechanical arm bending direction and bending angle is deduced by establishing a geometric model of a mechanical arm joint based on a segmental constant curvature hypothesis;
analyzing the coupling relation between the driving lines by using an algebraic method, introducing a comparison factor, and providing a uniform solution for solving the length coupling relation of the driving lines of the n-line drive continuum mechanical arm; and the bending direction and the bending angle of the mechanical arm can be uniquely determined only by the length of the two driving wires which are not centrosymmetric.
2. The method for uniformly decoupling the drive line coupling relationship of the multi-wire drive continuum manipulator of claim 1, wherein the manipulator bending angle Θ is expressed as:
wherein N represents the number of joints, and theta represents the deflection angle of the joints;
in the above formula, m is 2h2(1+cosω)+d2(sinω)2，
WhereinH represents the length of the drive line between the two units when the joint is not deflected, d represents the diameter of the circumference on which the drive line is located,denotes the length of the drive line, ω denotes the angle between the two drive lines, and C is a constant.
3. The method as claimed in claim 2, wherein C ═ NH is NH0+HB+HEWherein H is0Indicates the cell height, HBIndicating the height of the robot arm base, HEIndicating the end unit height.
4. The method of claim 2, wherein the decoupling method is performed in a unified manner when the driving line coupling relationship of the multi-line drive continuum mechanical arm is givenThen Θ can be uniquely determined.
5. The method of claim 2, wherein the method is used for uniformly decoupling the driving line coupling relationship of the multi-line drive continuum mechanical arm, and is characterized in that the method is used for uniformly decoupling the driving line coupling relationship of the multi-line drive continuum mechanical arm
Angle of omegaiLength of drive line
Expressed as:
wherein Φ represents an angle of the robot arm with the X-axis.
6. The method for uniformly decoupling the drive line coupling relationship of the multi-wire drive continuum mechanical arm according to claim 5, wherein Φ is represented as:
7. the method as claimed in claim 5, wherein the comparison factor is compared with a comparison factor to determine the coupling relationship between the driving lines of the multi-line-drive continuum mechanical arm
The comparison may uniquely determine the robot arm configuration.
8. The method of claim 7, wherein the comparison factor is a comparison factor
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