一种混合式绳驱动机器人的运动学分析与仿真  

Kinematic Analysis and Simulation for Hybrid Type Cable-driven Manipulator

作　　者：董礼港[1] 陈伟海[2] 张建斌[1] 满征[2] 

机构地区：[1]北京航空航天大学机械工程与自动化学院,北京100083 [2]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《系统仿真学报》2007年第17期4007-4011,共5页Journal of System Simulation

基　　金：国家自然科学基金项目(50375008;60575052)

摘　　要：基于人臂结构和绳驱动技术,提出一种混合式绳驱动拟人臂机器人的设计方案。将驱动电机布置在基座附近,通过绳索传递运动和力,能有效的提高机器人的运动性能。首先通过Pro/E建立了绳驱动拟人臂机器人的机构模型;然后采用POE以及改进的牛顿-拉夫逊数值迭代方法分析了机器人前向运动学、逆向运动学;在此基础上针对此特殊机构分别对肩关节和肘关节处进行了解耦分析;最后通过Matlab和Adams联合仿真实验,得到一条和预定轨迹相吻合的实际轨迹,从而证明了运动学算法的正确性,以及机构的可行性。Based on the structure of human arm and cable-driven technique, a hybrid type cable-driven approach for the kinematic analysis of a humanoid-arm manipulator with hybrid driven mechanism, conventional driven and cable driven mechanism, was proposed. Through assembling all motors near the base, transmitting forces for the motion of the manipulator through cables, the proposed approach could improve the motion properties of the manipulator obviously. The mechanism model of cable-driven humanoid-arm manipulator was established in the environment of Pro/E, The POE and the modified numerical iterative method were employed to analyze the forward and inverse kinematics of the redundant manipulator. The decoupling analysis of shoulder joint and elbow joint were made. The correctness of the kinematics solution and feasibility of the new mechanism were verified by some simulations under the environment of Matlab and Adams.

关 键 词：绳驱动 冗余度机器人 运动学 并联机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]