新型机器人肩关节及其运动学分析  

Design and Kinematics Analysis of a Novel Robot Shoulder Joint

作　　者：金振林[1] 曹舜[1] 高峰[2] 

机构地区：[1]燕山大学,秦皇岛066004 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《中国机械工程》2009年第14期1639-1642,共4页China Mechanical Engineering

基　　金：国家重点基础研究发展计划资助项目(2006CB705402);上海交通大学机械系统与振动国家重点实验室开放基金(VSN-2008-06)

摘　　要：基于新型正交布置的3RRR球面并联机构,设计了一种机器人肩关节,介绍其结构布局特点,由几何关系推导了该肩关节的位置反解方程和雅可比矩阵,在给定约束条件下,绘制了肩关节的工作空间,定义了该种肩关节的灵巧度评价指标,并绘制了灵巧度评价指标在工作空间上的分布图。该肩关节具有结构紧凑、解耦性好、加工及装配性好等特点,是一种较理想的人形机器人肩关节。Based on the orthogonal 3RRR spherical parallel mechanism, an unique shoulder joint of humanoid robot with parallel architecture was investigated, and the layout feature of the shoulder joint was described. The inverse kinematics equations and Jacobian matrix were given by the relation of geometry. Condition number which was detrude by Jacobian matrix was used to define dexterity measurement. According to restriction terms of workspace the constant orientation workspace and dexterity measurement were plotted. The results of analyses indicate that the shoulder joint enjoys many advantages over its compact structure, good decoupled property, easy manufacturing and assemble. It shows good performance as a shoulder joint of humanoid robot.

关 键 词：肩关节 球面并联机器人 正交 工作空间 灵巧度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]