北京航空航天大学学报 ›› 2006, Vol. 32 ›› Issue (08): 988-991.

• 论文 • 上一篇    下一篇

线驱动拟人臂机器人机构与前向运动学分析

陈泉柱, 陈伟海, 张建斌   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2005-10-24 出版日期:2006-08-31 发布日期:2010-09-19
  • 作者简介:陈泉柱(1980-),男,湖北天门人,硕士生, cqz1980@163.com.
  • 基金资助:

    国家自然科学基金资助项目(50375008,60575052)

Mechanism and forward kinematic analysis for cable-driven humanoid-arm manipulator

Chen Quanzhu, Chen Weihai, Zhang Jianbin   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2005-10-24 Online:2006-08-31 Published:2010-09-19

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.

Abstract: In order to overcome the influence of bad load-bearing 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 wristjoints 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.

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