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绳驱动拟人臂机器人的动力学建模及张力分析

陈伟海 游贤强 崔翔 于守谦

陈伟海, 游贤强, 崔翔, 等 . 绳驱动拟人臂机器人的动力学建模及张力分析[J]. 北京航空航天大学学报, 2013, 39(3): 335-339.
引用本文: 陈伟海, 游贤强, 崔翔, 等 . 绳驱动拟人臂机器人的动力学建模及张力分析[J]. 北京航空航天大学学报, 2013, 39(3): 335-339.
Chen Weihai, You Xianqiang, Cui Xiang, et al. Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 335-339. (in Chinese)
Citation: Chen Weihai, You Xianqiang, Cui Xiang, et al. Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 335-339. (in Chinese)

绳驱动拟人臂机器人的动力学建模及张力分析

基金项目: 国家自然科学基金资助项目(50875011,50975017)
详细信息
    作者简介:

    陈伟海(1955-),男,浙江宁波人,教授,whchenbuaa@126.com.

  • 中图分类号: TP242

Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot

  • 摘要: 与传统的机械臂相比,绳驱动拟人臂机器人采用串并混联的结构形式,模拟了人手臂肌肉的并联驱动方式,但是,绳索的引入也增加了动力学分析的难度.将绳驱动拟人臂机器人视为基座、大臂、小臂和末端四连杆串联机构,采用迭代牛顿-欧拉法建立动力学方程的递推形式,考虑绳驱动的冗余特性和绳索的单方向受力性,提出基于动态最小预紧力的张力分配算法,求解出各绳索的驱动力.与未进行张力分配的方法及基于静态最小预紧力的方法相比,所提出的算法可使各绳索驱动力根据动态最小预紧力进行实时调节,满足了不同工作条件下机构的刚度要求.

     

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出版历程
  • 收稿日期:  2012-02-21
  • 网络出版日期:  2013-03-31

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