具有并联关节的两足步行机器人运动学反解分析  

Inverse kinematics for a biped robot with parallel mechanism joint

作　　者：戚开诚[1,2] 高峰[3] 刘伟[1,2] 杨加伦[3] 

机构地区：[1]北京航空航天大学机械制造及自动化学院,北京100083 [2]河北工业大学机械学院,天津300130 [3]上海交通大学机械工程学院,上海200240

出　　处：《机械设计》2010年第5期39-44,共6页Journal of Machine Design

基　　金：国家973计划资助项目(2006CB705402);自然科学基金重点资助项目(60534020);国家自然科学基金资助项目(50775065);天津市自然科学基金资助项目(08JCYBJC03200)

摘　　要：分析了人体腿部关节的运动特点,提出了一种3自由度3-RRR并联机构作为髋关节,2自由度球面机构Ur作为踝关节,转动副R作为膝关节的新型两足步行器;对两个并联关节的位置反解进行了研究;采用解析方法对步行机器人的位置反解进行了分析,得出反解的解析表达式,最后用实例验证了求解过程。该研究对机器人步态规划、动力学分析及控制的研究有重要意义。The features of the human being＇ s leg joints were studied in this paper. A new biped robot with parallel mechanism 3-RRR and Ur joint was put forward. The inverse kinematics of 3- RRR and Ur were analyzed here. Then the inverse of the biped ro- bot was analyzed as a whole through an analytical process. The computation formula of inverse kinematics was deduced, a example was conducted, which verified the process of the analysis. The research in our paper is important for gait planning, dynamics and control.

关 键 词：步行机器人 并联机构 反解 关节 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]