摘要
分析了一种绳驱动拟人臂机器人的笛卡尔刚度,这种7自由度机械臂具有特殊的串并混联结构,机械臂的肩关节和腕关节均为绳驱动3自由度球关节,通过对其刚度表达式的推导,再结合串联机器人刚度分析方法,描述了机械臂整体笛卡尔刚度矩阵的求解过程.首先描述了绳驱动3自由度球关节的推导过程,用以求解肩关节和腕关节的刚度;然后计算单自由度肘关节的刚度;最后通过结合肩、肘和腕刚度得到的关节空间刚度矩阵,运用修正的一致保守变换得到绳驱动拟人臂机器人的笛卡尔刚度.基于以上的刚度分析,提出了一种刚度优化算法用于改善机器人在运动过程中的刚度,仿真分析验证了这种算法的有效性.
Cartesian stiffness of a 7-DOF （degree-of-freedom） hybrid cable-driven anthropomorphicarm manipulator （CDAM） was analyzed, in which the shoulder module and wrist module were both 3- DOF cable-driven spherical joint （CDSJ）. The calculation process of Cartesian stiffness matrix of the manipulator was demonstrated in detail through the analysis of the stiffness of CDSJ combined with the solution for the stiffness of serial manipulators. The calculation process could be divided into three steps： firstly, the analysis of CDSJ stiffness was introduced to solve the stiffness of shoulder and wrist; secondly, the stiffness of elbow, a cable-driven revolute joint, was calculated; lastly, by merging the stiffness of the wrist, elbow and shoulder module to the joint stiffness matrix, the modified conservative congruence transformation （CCT） was used to get the solution of Cartesian stiffness matrix of CDAM. Based on the stiffness analysis of CDAM, a stiffness optimal algorithm was proposed to enhance the stiffness in motion. The simulation result proves the effectiveness of the algorithm.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第2期12-16,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(50875011
50975017)
关键词
工业拟人机器人
机械臂
绳驱动
刚度矩阵
优化
industrial-anthropomorphic robots
robotic arm
cable-driven
stiffness matrix
optimization
