混合驱动仿人机械臂设计与运动学分析

doi:10.6040/j.issn.1672-3961.0.2021.488

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

混合驱动仿人机械臂设计与运动学分析

石振杰^1,2,刘延俊^1,2,3*,薛钢^2,3,贾华^1,2,王雨^1,2

1.山东大学机械工程学院, 山东济南 250061;2.山东大学高效洁净机械制造教育部重点实验室, 山东济南 250061;3.山东大学海洋研究院, 山东青岛 266237

出版日期:2022-08-20 发布日期:2022-08-24
作者简介:石振杰(1993— ),男,山东泰安人,硕士研究生,主要研究方向为机器人控制、智能控制理论和方法. E-mail:shizhenjie1992@163.com . *通信作者简介:刘延俊(1965— ),男,山东济南人,教授,博士生导师,主要研究方向为自动化机械系统、流体动力控制、波浪能发电技术、深海探测技术与装备. E-mail:lyj111ky@163.com
基金资助:
国家自然科学基金项目(52001186);山东省自然科学基金项目(ZR2020QE292);深圳市科技研发资金基础研究(自由探索)资助项目(JCYJ20180305164217766)

Design and kinematics analysis of hybrid drive anthropomorphic manipulator

SHI Zhenjie^1,2, LIU Yanjun^1,2,3*, XUE Gang^2,3, JIA Hua^1,2, WANG Yu^1,2

1. School of Mechanical Engineering, Shandong University, Jinan 250061, Shandong, China;
2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan 250061, Shandong, China;
3. Institude of Marine Science and Technology, Shandong University, Qingdao 266237, Shandong, China

Online:2022-08-20 Published:2022-08-24

摘要/Abstract

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。

关键词: 混合驱动, 仿人机械臂, 旋量法, 运动学, ADAMS仿真

中图分类号:

TP242

石振杰, 刘延俊, 薛钢, 贾华, 王雨. 混合驱动仿人机械臂设计与运动学分析[J]. 山东大学学报 (工学版), 2022, 52(4): 76-82.

SHI Zhenjie, LIU Yanjun, XUE Gang, JIA Hua, WANG Yu. Design and kinematics analysis of hybrid drive anthropomorphic manipulator[J]. Journal of Shandong University(Engineering Science), 2022, 52(4): 76-82.

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混合驱动仿人机械臂设计与运动学分析

Design and kinematics analysis of hybrid drive anthropomorphic manipulator

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