| 绳驱咽拭子机器人的设计与实验 |
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| 引用本文： | 贾利慧,高玉明,牟宗高,宋汝君,岳正伟,张乃军.绳驱咽拭子机器人的设计与实验[J].机床与液压,2023,51(12):82-86. |
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| 作者姓名： | 贾利慧 高玉明 牟宗高 宋汝君 岳正伟 张乃军 |
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| 作者单位： | 山东理工大学机械工程学院;山东理工大学机械工程学院;山东吉特工业科技股份有限公司 |
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| 基金项目： | 国家自然科学基金项目（61903100）；山东省高等学校青年创新团队发展计划（2022KJ235；2022KJ234）；山东省新旧动能转换重大产业攻关项目；山东省精密制造与特种加工重点实验室资助项目 |
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| 摘 要： | 为了避免医护人员在繁重的采样过程中受新冠等病毒的感染，设计一种代替人工采样的绳驱咽拭子机器人。该机器人包括同轴绳驱机械臂和驱动系统。同轴绳驱机械臂外层绳驱机构和内层绳驱机构的配合提高了机器人采样的灵活性。驱动系统控制机械臂平移运动扩大了机器人的工作空间。通过Simulink建立绳驱咽拭子机器人的多刚体模型及控制系统。仿真和实验验证了绳驱咽拭子机器人对复杂采样环境的适应性及绳驱咽拭子机器人采样的有效性。
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| 关 键 词： | 绳驱机器人 同轴机器人 Simulink仿真 |
Design and Experiment of a Cable-Driven Robot for Oropharyngeal Swab Sampling |
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| JIA Lihui,GAO Yuming,MU Zonggao,SONG Rujun,YUE Zhengwei,ZHANG Naijun.Design and Experiment of a Cable-Driven Robot for Oropharyngeal Swab Sampling[J].Machine Tool & Hydraulics,2023,51(12):82-86. |
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| Authors: | JIA Lihui GAO Yuming MU Zonggao SONG Rujun YUE Zhengwei ZHANG Naijun |
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| Abstract: | In order to avoid the infection of COVID-19 and other viruses in the numerous sampling process,a cable-driven robot was designed for oropharyngeal swab sampling.The robot included a concentric cable-driven manipulator and a drive system.Its sampling flexibility was increased through the coordination between the inner and outer cable-driven mechanism.Its working space was expanded through the drive system controlling the translational movement of manipulator.The multi-rigid body model and control system of the cable-driven robot were established by Simulink.Finally,simulations and experiments validate the adaptation of the cable-driven robot for oropharyngeal swab sampling in complex sampling environments and the effectiveness of the cable-driven robot for oropharyngeal swab sampling. |
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| Keywords: | Cable-driven robot Concentric manipulator Simulink simulation |
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