【摘要】 目的 针对连续体机器人在具有高柔性而刚度较差，限制了其在某些要求高精度高负载场合下应用的问题。方法 提出了一种基于多股绳扭转驱动器的力锁合方法，用于仿生脊柱结构连续体机器人，以改变其刚度。首先，提出了一种仿脊柱基体构型设计，该设计相比其它连续体构型，更适应力锁合这一变刚度方法；其次，对提出的多股绳扭转(Twisted Multi-string Actuators, TSA)变刚度方法进行了几何关系与刚度的理论分析，为其数学建模提供基础；最后，搭建了实验样机，对两股绳与三股绳条件下的TSA变刚度方法在不同电机扭转角度与不同末端负载的末端位移进行测量。结果 证明了机器人刚度随着TSA扭转的增加而增加，并且在绳的股数增加后提高了机器人失效点。结论 表明设计有效，结构简单，响应迅速并调节范围较大，对连续体机器人的设计与应用提供了参考价值。更多还原

【Abstract】 Objective To address the problem that continuum robots have high flexibility but poor stiffness, which limits their applications in certain high-precision and high-load scenarios. Methods A force-locking method based on multi-stranded rope torsion actuators for bionic spine-structured continuum robots was proposed to change their stiffness. Firstly, a bionic spine-like configuration design was proposed, which better adapted to force-locking compared with other continuum configurations. Secondly, geometric relationships and stiffness of the proposed Twisted String Actuators(TSA) method were theoretically analysed to provide a foundation for mathematical modelling. Finally, an experimental prototype was developed to measure end displacements under different motor torsion angles and end loads by using two-strand and three-strand configurations. Results Experimental data demonstrated that robot stiffness increased with TSA torsion, and the number of strands increasing enhanced the failure load. Conclusion The proposed design proves effective, with advantages of simplicity, rapid response, and a wide adjustment range, providing valuable references for the design and applications of continuum robots.更多还原