山东大学学报 (工学版) ›› 2022, Vol. 52 ›› Issue (4): 76-82.doi: 10.6040/j.issn.1672-3961.0.2021.488
石振杰1,2,刘延俊1,2,3*,薛钢2,3,贾华1,2,王雨1,2
SHI Zhenjie1,2, LIU Yanjun1,2,3*, XUE Gang2,3, JIA Hua1,2, WANG Yu1,2
摘要： 为提高机器人的拟人化程度,提出一种混合驱动的仿人机械臂。将四自由度线驱动机械臂结构与二自由度机器人关节模组巧妙结合构成六自由度混合驱动仿生机械臂,并对其运动学问题进行分析。基于旋量理论建立机械臂的运动学模型,通过基于空间雅克比的牛顿-拉夫森法对机械臂的逆运动学方程进行数值求解,利用Monte Carlo法分析机械臂的工作空间,并在ADAMS软件中完成机械臂的运动学仿真,通过试验对所提出运动学模型的有效性进行了验证。试验结果表明,提出的混合驱动仿人机械臂结构设计可靠,基于旋量理论求解出的运动学方程准确,对仿人机械臂的结构设计与运动学分析具有参考价值。
中图分类号:
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