CN-121973173-A - Rope-driven soft continuum robot deformation recovery method

CN121973173ACN 121973173 ACN121973173 ACN 121973173ACN-121973173-A

Abstract

The invention relates to the technical field of robots, and particularly discloses a deformation recovery method of a rope-driven soft continuous body robot, which comprises the following steps of S1) controlling a rope driving mechanism to cooperatively regulate a plurality of driving ropes based on a target movement instruction so as to enable a soft continuous body to complete target bending deformation, S2) controlling the rope driving mechanism to execute driving rope release or rollback after completing the target bending deformation so as to enable the robot to enter a reset preparation state, S3) applying current to a shape memory alloy elastic element to perform Joule heating so as to enable the shape memory alloy elastic element to generate shrinkage recovery force, thereby driving the soft continuous body to return to a preset reference configuration, S4) after the soft continuous body returns to the reference configuration, utilizing controlled gas flow to perform accelerated cooling on the shape memory alloy elastic element, and S5) circularly executing the steps S1) to S4), wherein the deformation recovery method of the rope-driven soft continuous body robot is high in reset consistency and repeated movement precision under long-term repeated actions and suitable for long-period repeated tasks.

Inventors

XIA CHONGKUN
ZHENG YUQUAN
YANG JINGRUI
LUO XIYUE
WU HAIHAO

Assignees

中山大学·深圳
中山大学

Dates

Publication Date: 20260505
Application Date: 20260319

Claims (7)

1. The deformation recovery method of the rope-driven soft continuum robot is characterized by comprising the following steps of: S1) based on a target movement instruction, controlling a rope driving mechanism to cooperatively regulate a plurality of driving ropes so as to enable a soft continuum body to complete target bending deformation; S2) after the target bending deformation is completed, controlling a rope driving mechanism to execute driving rope release or rollback so that the robot enters a reset preparation state; S3) applying current to the shape memory alloy elastic element to perform Joule heating, so that the shape memory alloy elastic element generates shrinkage restoring force, and the soft continuum body is driven to return to a preset reference configuration; s4) after the soft continuous body returns to the reference configuration, utilizing the controlled gas flow to accelerate and cool the shape memory alloy elastic element; s5) cyclically executing steps S1) to S4).
2. The method for recovering deformation of a rope-driven soft continuum robot according to claim 1, wherein the step S2) of releasing or retracting the driving rope comprises reducing tension of the driving rope below a preset threshold value or retracting a length of the driving rope to a reference length range so as to reduce interference of a rope driving residual force on the recovery process of the shape memory alloy elastic element.
3. The method according to claim 2, wherein the heating control of the shape memory alloy elastic element in step S3) is performed by using a constant current or constant power strategy, and the heating duration is determined according to one or more of the condition that the soft continuum body is restored to the reference configuration, the length of the driving rope is restored to the reference value, or the shape memory alloy elastic element reaches a preset temperature.
4. A method of recovering deformation of a rope-driven soft continuum robot according to claim 3, wherein the controlled gas flow in step S4) is compressed air, the compressed air is covered on the shape memory alloy elastic element through the flow passage, and the compressed air is finally discharged through the exhaust passage.
5. The method for recovering deformation of rope-driven soft continuum robot according to claim 4, wherein the target motion command in the step S1) is mapped into rope length variation of each driving rope through a constant curvature or piecewise constant curvature kinematic model, and for a multi-section serial robot structure, coupling compensation is performed on the driving rope length of the distal section so as to offset extra length variation caused by bending of the proximal section.
6. A non-transitory tangible storage medium having stored thereon computer executable instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1 to 5.
7. A rope-driven soft continuum robot with a deformation recovery mechanism is characterized by comprising a soft continuum body, a rope driving mechanism, a shape memory alloy elastic element, a gas cooling flow passage, a gas supply assembly and a control device; The rope driving mechanism is provided with a plurality of driving ropes, the driving ropes are connected with the soft continuum body, and the rope driving mechanism is used for driving the robot to generate bending deformation; the shape memory alloy elastic element is used for generating shrinkage restoring force when being electrified and heated; the gas cooling flow passage is arranged in the soft continuous body, the shape memory alloy elastic element is arranged in the gas cooling flow passage, and the gas cooling flow passage is used for guiding gas flow to cover the shape memory alloy elastic element so as to accelerate heat dissipation of the shape memory alloy elastic element; the air supply assembly is used for providing cold air for the air cooling flow passage; The cord drive mechanism, shape memory alloy spring element, gas cooling flow channel and gas supply assembly are all electrically connected to the control device, which performs the method according to any one of claims 1 to 5.

Description

Rope-driven soft continuum robot deformation recovery method Technical Field The invention relates to the technical field of robots, in particular to a deformation recovery method of a rope-driven soft continuum robot. Background The rope-driven soft continuum robot has high flexibility and high degree of freedom, and is suitable for safe operation in a limited-domain and unstructured environment. However, soft materials generally have viscoelastic, hysteresis and creep effects, resulting in residual deformation and gradual accumulation during repeated bending-resetting cycles, manifested as "initial posture drift after each resetting", thereby reducing repeated motion accuracy and long-term task reliability. The existing compensation method depends on complex model control, learning control or external high-precision sensing feedback, and the complexity, cost and deployment threshold of the system are often increased. Therefore, there is a need for a highly repeatable deformation recovery method that is more compact, easy to implement in engineering, and less dependent on external perception. Disclosure of Invention The invention aims to provide a deformation recovery method of a rope-driven soft continuum robot, which has high resetting consistency and repeated motion precision under long-term repeated actions and is suitable for long-period repeated tasks. In order to achieve the above purpose, the invention adopts the following technical scheme: in a first aspect, the invention provides a deformation recovery method of a rope-driven soft continuum robot, comprising the following steps: S1) based on a target movement instruction, controlling a rope driving mechanism to cooperatively regulate a plurality of driving ropes so as to enable a soft continuum body to complete target bending deformation; S2) after the target bending deformation is completed, controlling a rope driving mechanism to execute driving rope release or rollback so that the robot enters a reset preparation state; S3) applying current to the shape memory alloy elastic element to perform Joule heating, so that the shape memory alloy elastic element generates shrinkage restoring force, and the soft continuum body is driven to return to a preset reference configuration; s4) after the soft continuous body returns to the reference configuration, utilizing the controlled gas flow to accelerate and cool the shape memory alloy elastic element; s5) cyclically executing steps S1) to S4). In the method for recovering deformation of the rope-driven soft continuum robot provided in at least one embodiment of the present disclosure, the releasing or retracting the driving rope in the step S2) includes reducing the tension of the driving rope below a preset threshold value, or retracting the length of the driving rope to a reference length range, so as to reduce the interference of the rope driving residual force on the recovery process of the shape memory alloy elastic element. In the method for recovering deformation of the rope-driven soft continuum robot according to at least one embodiment of the present disclosure, the heating control of the shape memory alloy elastic element in the step S3) adopts a constant current or constant power strategy, and the heating duration is determined according to one or more conditions of recovering the soft continuum body to the reference configuration, recovering the length of the driving rope to the reference value, or achieving the preset temperature of the shape memory alloy elastic element. In the method for recovering deformation of the rope-driven soft continuum robot according to at least one embodiment of the present disclosure, the controlled gas flow in the step S4) is compressed air, the compressed air is covered on the shape memory alloy elastic element through the flow channel, and the compressed air is finally discharged through the exhaust channel. In the method for recovering deformation of the rope-driven soft continuum robot provided by at least one embodiment of the present disclosure, the target motion command in the step S1) is mapped into the rope length variation of each driving rope through a constant curvature or piecewise constant curvature kinematic model, and for a multi-segment serial robot structure, coupling compensation is performed on the driving rope length of the distal segment to offset the extra length variation caused by the bending of the proximal segment. In a second aspect, the present invention also provides a non-transitory tangible storage medium having stored thereon computer executable instructions that, when executed by a computer, cause the computer to perform the rope-driven soft continuum robot deformation recovery method described above. In a third aspect, the invention also provides a rope-driven soft continuum robot with a deformation recovery mechanism, which comprises a soft continuum body, a rope driving mechanism, a shape memory alloy elastic element, a ga