Forward and Inverse Kinematics Analysis of SMA Spring-Driven Flexible Manipulator

In the flexible robot domain, due to the high nonlinear characteristics of flexible robot actuators, infinite degrees of freedom in theory, and multidisciplinary integration of mechanics, electricity, chemistry, etc., the establishment of its kinematics model is pretty difficult and imprecise. This paper analyzes the kinematics of a flexible manipulator driven by SMA spring. In the process of forward kinematics, based on Jacobian matrix, use both Newton-Raphson iteration method and Vpasolve function to solve and simulate the position of the end of the robot arm. In the process of inverse kinematics, use the SMA constitutive knowledge and genetic algorithm with nonlinear programming fusion to solve the posture of each joint. The simulation is carried out on Matlab platform, and the motion of the flexible robot arm can be well simulated. The kinematics analysis based on this paper provides a theoretical basis for the dynamic modeling, chaos analysis and nonlinear control of the flexible manipulator in the future.