This paper focuses on the design and dynamic modeling of a novel multi-section continuum and compliant robotic manipulator with large workspace. In large scales, many of the design techniques and actuator types which have proved advantageous in creating continuum robots at smaller scales are not applicable. Fluidic muscles, a class of pneumatic muscle actuators (PMAs) with large scale movements, high actuation forces and compliant nature, are utilized in the design of the continuum manipulator. However, these actuators are capable of applying axial contracting forces and cannot produce bending movements. Moreover, their asymmetric hysteresis nonlinearity causes difficulties in the accurate control procedure. These drawbacks are addressed in the design and presented model of the manipulator. The presented model is based on constant curvature method and concentrated masses. The Bouc–Wen hysteretic function is modified to describe the asymmetric force/length hysteresis of the utilized PMAs in this model. Experimental results show that the proposed model has a proper performance to characterize the asymmetric hysteresis loop of the actuators. Finally, the design and dynamic model of the robot are validated experimentally on the implemented manipulator.

本文重点研究具有大工作空间的新型多截面连续体和柔顺机器人机械手的设计和动态建模。在大尺度上，许多已被证明有利于在较小尺度上创建连续机器人的设计技术和执行器类型并不适用。流体肌肉是一类具有大规模运动、高致动力和柔顺性的气动肌肉执行器 (PMA)，用于设计连续体机械手。然而，这些致动器能够施加轴向收缩力并且不能产生弯曲运动。此外，它们的非对称滞后非线性给精确控制过程带来困难。这些缺点在机械手的设计和呈现的模型中得到解决。所提出的模型基于恒定曲率方法和集中质量。修改 Bouc-Wen 滞后函数以描述该模型中使用的 PMA 的非对称力/长度滞后。实验结果表明，所提出的模型具有适当的性能来表征执行器的非对称滞后回线。最后，机器人的设计和动力学模型在实现的机械手上进行了实验验证。