摘要
磁性连续体操作手因具备无线驱动、高柔性与良好生物相容性,在微创手术等精密操作场景中展现出广阔应用前景。然而,受限于磁弹性连续体建模的非线性特性与结构参数间的强耦合关系,难以实现从目标任务需求出发的高效结构逆向设计。为此,提出一种面向工作空间需求的磁性连续体操作手结构逆向设计与优化方法。所提方法采用基于模块组合的结构表达方式,构建以任务目标为导向的工作空间性能评价模型,面向以位置为目标和以特定面积为目标的工作空间优化的两类典型任务场景,引入具有权重调节机制的优化算法,并结合COMSOL有限元仿真,完成参数优化与结构生成。基于优化结果制作了相应的操作手,并通过仿真与试验验证操作手的形变姿态轨迹与工作空间的准确性。进一步通过搬运与组装试验,验证了操作手在不同场景中的任务执行能力。研究结果表明,该方法可有效实现磁性连续体操作手在多目标场景下的定制化设计与性能适配,适用于微创医疗、柔性操控等柔性机器人关键领域。
Magnetic continuum manipulators show a broad application prospect in precision operation scenarios such as minimally invasive surgery due to their wireless actuation,high flexibility and good biocompatibility.However,due to the nonlinear characteristics of magnetoelastic continuum modeling and the strong coupling relationship between structural parameters,it is difficult to realize efficient structural reverse design from the target task requirements.To this end,a structural inverse design and optimization method oriented toward workspace requirements is proposed for magnetic continuum manipulators.The proposed method adopts the structural expression based on the combination of modules,constructs a task-objective-oriented workspace performance evaluation model,faces two types of typical task scenarios of workspace optimization with position as the objective and specific area as the objective,introduces the weight adjustment mechanism,and combines with the COMSOL finite element simulation to complete the parameter optimization and structure generation.Based on the optimization results,the corresponding manipulator is fabricated,and the accuracy of the deformation posture trajectory and workspace of the manipulator is verified through simulation and test.The task execution ability of the manipulator in different scenarios is further verified through handling and assembly tests.The results show that this method can effectively realize the customized design and performance adaptation of the magnetic continuum manipulator in multi-objective scenarios,which is applicable to the key fields of flexible robots such as minimally invasive medical treatment and flexible manipulation.
作者
向红标
赵向虹
杨璐
王收军
张森
张冕
XIANG Hongbiao;ZHAO Xianghong;YANG Lu;WANG Shoujun;ZHANG Sen;ZHANG Mian(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384)
出处
《机械工程学报》
北大核心
2025年第19期101-111,共11页
Journal of Mechanical Engineering
基金
天津市自然科学基金(20JCYBJC00790)
国家自然科学基金(52475120)资助项目。
关键词
磁性连续体操作手
结构逆向设计
工作空间优化
有限元仿真
微型软体机器人
magnetic continuum manipulator
structural reverse design
workspace optimization
finite element simulation
miniature soft robots
