基于改进粒子群的绳驱连续型机械臂逆运动学分析

绳驱连续型机械臂具有良好的柔性和灵活性，能够在狭小的空间内运动，但相对于离散型机械臂，利用D-H参数构建运动学模型的方法不再适用，且连续型机械臂具有无穷自由度，逆运动学求解困难。本文针对一种两节的绳驱连续型机械臂的运动学问题，基于分段常曲率假设，建立了运动学模型，并分析了两节之间的运动学耦合关系。在此基础上，利用改进粒子群优化算法求解连续型机械臂逆运动学，仿真验证了该逆解算法的可行性和有效性，搭建了绳驱连续型机械臂的物理样机系统，并验证了基于分段常曲率假设的正运动学模型的正确性。

Kinematics Analysis of Cable-Driven Continuum Manipulator Based on Improved Particle Swarm Optimization

Cable-driven continuum manipulator has strong flexibility and can pass through narrow space. However, compared with the discrete manipulator, the kinematics modeling method by using D-H parameters is not fit for this kind of manipulator and the continuum manipulator has infinite degrees of freedom which is difficult to solve the inverse kinematics. In this paper, the kinematics model is established based on the assumption of piecewise constant curvature and the kinematics coupling relationship between the two sections is analyzed. On this basis, the inverse kinematics of the continuum manipulator is solved by using the improved particle swarm optimization (PSO). The feasibility and effectiveness of the inverse solution algorithm are verified by simulation. The physical prototype system of the cable-driven continuum manipulator is built to verify the forward kinematics model based on the assumption of piecewise constant curvature.