Compared to traditional rigid robots, continuum robots have intrinsic compliance and therefore behave dexterously when performing tasks in restricted environments. Although there have been many researches on the design and application of continuum robots, a theoretical investigation of their dexterity is still lacking. In this paper, a two-joint wire-driven continuum robot is utilized to demonstrate dexterity by introducing the concept of orientability taking into account two indices, the accessible ratio and angle of the robot, when its tip reaches a certain task space inside the workspace. Based on the kinematic model, the accessible ratio and angle of the continuum robot are calculated using the Monte-Carlo method. From this, the influence of individual joint lengths on the proposed orientability indices and the optimal joint length are then investigated via an improved particle swarm optimization algorithm. Finally, the presented methods were validated through experiments showing that the use of optimal joint length can increase the accessible ratio and reduce the minimum accessible angle by more than 10° in the task space.

中文翻译：

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基于任务空间的线驱动连续体机器人定向分析与优化

与传统的刚性机器人相比，连续体机器人具有内在的柔顺性，因此在受限环境中执行任务时表现得非常灵巧。虽然已经有很多关于连续体机器人的设计和应用的研究，但对其灵巧性的理论研究仍然缺乏。在本文中，当其尖端到达工作空间内的某个任务空间时，通过引入考虑到机器人的可达比率和角度这两个指标的定向性概念，利用双关节线驱动连续体机器人来展示灵巧性。 . 基于运动学模型，采用蒙特卡罗方法计算连续体机器人的可达比和角度。由此，然后通过改进的粒子群优化算法研究单个关节长度对提出的定向性指数和最佳关节长度的影响。最后，通过实验验证了所提出的方法，表明使用最佳关节长度可以增加任务空间中的可达比率并将最小可达角度减少 10° 以上。