机器人双臂建模与击掌碰撞虚拟样机仿真  

Virtual prototype modeling and handclap collision simulation of robot upper limbs

作　　者：严冬明 王斌锐[1] 金英连[1] 

机构地区：[1]中国计量学院机电工程学院,浙江杭州310018

出　　处：《中国计量学院学报》2011年第3期257-262,共6页Journal of China Jiliang University

基　　金：国家自然科学基金资助项目(No.50905170);浙江省自然科学基金资助项目(No.Y1090042);机器人学国家重点实验室开放基金资助项目(No.RL0200918)

摘　　要：碰撞是仿人机器人研究的难点.今设计了5自由度仿人机器人上肢体,并且基于雅克比矩阵建立了速度运动学模型;基于拉格朗日能量函数法,建立了动力学模型;采用广义非线性等效弹簧阻尼模型,建立了碰撞动力学模型.参照人体特性,搭建了ADAMS虚拟样机仿真平台,进行了上肢体击掌动作仿真实验,开展了不同刚度系数值下的手部接触碰撞仿真.实验曲线表明动作仿人,角速度曲线满足正弦曲线形态;碰撞中,肘关节所受力矩最大;缓冲后,腕关节所受力矩大于肘关节.证明碰撞仿真平台有效,碰撞时应采用较小的仿真步长.Collision safety has been one of the most important issues for humanoid robots study.Now,humanoid robot upper limbs were with 5 degrees of freedom.Based on Jacobian matrix and Lagrange dynamics equation,velocity kinameitcs and dynamatics of the upper limbs were deduced.The impact dynamic model was established by using the nonlinear equivalent spring damping model.Reference to adult body size,virtual prototype model was built through ADAMS software.Simulations study had been carried based on the action of clapping hands.Various stiffness experiments were carried out during dynamic collision simulations.Simulation results showed that prototype motion was bionic,and joints velocity curves meet the form of sinusoidal curve.During collision of handclapping,the maximal impact influence was on elbow joint.After buffering,wrist joint was influenced higher than elbow joint.Results confirm that the simulation platform is efficient and a small calculation step should be adopted.

关 键 词：仿人机器人 双臂建模 虚拟样机 

分 类 号：TB9-55[一般工业技术—计量学]