Aiming at the kinematics of single-segment and multi-segment continuum robots, this paper proposed a complete forward and inverse kinematics analysis method combining segmented constant curvature and particle swarm algorithm. Taking the double-segment wire-driven continuum robot as the research object, it designed the robot prototype with translation segment. Then it established the mutual mapping between the driving space and the joint space using the piecewise constant curvature method, and obtained the positive mapping relationship from the joint space to the working space according to the homogeneous transformation. Finally, it used the linearly decreasing weight particle swarm algorithm to realize the inverse mapping from the workspace to the joint space. The kinematics of the two-segment continuum robot was simulated and the time-consuming test of the inverse kinematics solution was carried out, and carried out the experimental verification on the developed prototype. The simulation results show the rationality of the proposed kinematics research method and the rapidity of the inverse kinematics solution. The experimental results show that the average position error is less than 6.22% of the length of the two-segment continuum robot body, which verifies the effectiveness of the proposed kinematics.

[2021-10-05] Printed Article /doc/2021.03.0060/v2