摘要
机械臂以其独特的灵活性、强大的感知能力以及突出的适应能力被广泛应用于国防军事领域,如太空探索、工业装配、战场防爆等危险场景。通过仿生结构设计模仿生物体内微结构的排布方式与应急调控机理,可大幅度提升机械臂结构在复杂服役环境下的多功能适应性,提高生产效率、拓宽应用领域,推动科技进步。本文依据刚度特性将机械臂主要分为刚性机械臂、刚柔耦合机械臂和柔性机械臂三类,分别阐述了三类机械臂的优势、劣势、研究现状及应用情况,并从机械臂运动原理及结构设计方法、机械臂仿生设计的驱动方法及控制策略角度阐述了机械臂设计制造中的关键技术。最后介绍了仿生柔性机械臂在航空航天领域的应用现状及发展趋势。
With its unique flexibility,powerful perception ability and outstanding adaptability,manipulators are widely used in national defense and military fields,such as space exploration,industrial assembly,battlefield explosion prevention and other dangerous scenarios.The bionic structure design mimics the arrangement of biological microstructures and the emergency regulation mechanism,which can greatly improve the multi-functional adaptability of the manipulator structure in the complex service environment,improve the production efficiency,expand the application field,and promote scientific and technological progress.In this paper,according to the stiffness characteristics,the manipulator can be divided into three categories:rigid manipulator,rigid-flexible coupling manipulator and flexible manipulator.The advantages,disadvantages,research status and applications of the three types of manipulators are described,and the key technologies in the design and manufacture of the manipulators are described from the perspectives of the motion principle and structure design method,the driving method and control strategy of the bionic design of the manipulators.Finally,the research status and development trend of lightweight aerospace manipulator are introduced.
作者
吴琪
王志刚
杨宇
芦奕菲
刘钢
石欣桐
鲍盘盘
Wu Qi;Wang Zhigang;Yang Yu;Lu Yifei;Liu Gang;Shi Xintong;Bao Panpan(National Key Laboratory of Strength and Structural Integrity,Aircraft Strength Research Institute of China,Xi’an 710065,China;Beihang University,Beijing 100191,China)
出处
《航空科学技术》
2024年第5期60-73,共14页
Aeronautical Science & Technology
关键词
机械臂
发展现状
关键技术
仿生结构
manipulator
development status
key technology
bionic structure
