新型过约束球面并联式关节机构仿生设计  

Bionic Joint Design Based on a Novel Over-constrained Spherical Parallel Mechanism

作　　者：侯雨雷[1] 胡鑫喆[1] 周玉林[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《新型工业化》2013年第8期50-55,共6页The Journal of New Industrialization

基　　金：国家自然科学基金资助项目(51275443);教育部高等学校博士学科点专项科研基金资助课题(20111333120004);教育部科学技术研究重点项目(212012);河北省高等学校科学技术研究优秀青年基金项目(Y2011114);河北省自然科学基金青年科学基金项目(E2012203034)

摘　　要：关节设计是人形机器人研发的关键。以3-RRR 3自由度球面并联机构为原型,在其静力学及刚度特性分析基础之上,从仿生学角度出发,通过植入中心球面副的方式,提出两种改进的可应用于人形机器人肩、髋关节的过约束四支链仿生关节机构,并实现了静力全部或部分卸载及刚度均衡。对引入的机构中心球面副进行结构改进,大幅扩大了机构实际工作空间。本文新型仿生关节机构的提出及其结构设计对人形机器人关节的研制具有理论指导意义和实际应用价值。The design of joint is the key point for development of humanoid robots. Two bionic joint mechanisms with four over-constraint chains were proposed based on the 3-RRR spherical 3-DOF spherical parallel mechanism, which could be applied to the shoulder and hip joint for humanoid robot. In the view of bionics, we introduced the center spherical pair based on the statics and stiffness characteristics analysis, which can realize the unloading for full or part of the static and the equilibrium of stiffness. The practical workspace was expanded widely with the improvement of the structure of the center spherical pair. The presentation and structure design of the novel bionic joint mechanism possess an important theoretical significance and practical value for the development of the humanoid robot joint.

关 键 词：球面并联机构 仿生关节 静力卸载 刚度 工作空间 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]