摘要
为了克服手臂上的安装电机由于自重对拟人臂机器人承载能力和运动灵活性造成的影响,基于最新人臂仿生和并联机器人研究的成果,提出了一种用线驱动的并联机构替代手臂的肩、腕关节的串并联结构,并将驱动电机安放在基座上.讨论了从各个关节到基座的驱动绳索的走线方式及关节之间的耦合情况,在此基础上对前向运动学进行了分析,给出了末端相对于基础坐标系的位姿态正解.由给出的两组数值解实例,在ADAMS环境下进行了仿真,验证了算法的正确性.
In order to overcome the intluence of bad load-beanng capacity and the movement flexibility by the actuators installed on the humanoid-arm, a series-parallel mechanism based on the latest theories of humanoid-arm bionics and research results of the parallel robots was proposed. The shoulder and wrist joints with a cable-driven parallel mechanism were replaced, and the motors were installed on the base. The cable-distribution from the base to the corresponding joint and the coupling instances among 3 joints were discussed. Furthermore, the forward kinematics to deduce the pose and position of the end effector respective to the base coordinate were analyzed. A simulation by means of ADAMS was carried out for two group numerical solutions to verify the effectiveness of proposed algorithm.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2006年第8期988-991,共4页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金资助项目(50375008
60575052)
关键词
线驱动
并联机器人
运动学
cable-driven
parallel manipulator
kinematics
