仿人机器人轻型高刚性手臂设计及运动学分析  

Design and Kinematic Analysis of a Light Weight and High Stiffness Manipulator for Humanoid Robots

作　　者：田野[1] 陈晓鹏[1] 贾东永[1] 孟非[1] 黄强[1] 

机构地区：[1]北京理工大学智能机器人研究所,北京100081

出　　处：《机器人》2011年第3期332-339,共8页Robot

基　　金：国家自然科学基金资助项目(60874048);国家863计划资助项日(2008AA042601);"111"引智计划资助项目(B08043)

摘　　要：重点研究了7自由度轻型高刚性作业型仿人机器人手臂的机构设计和运动学分析方法.首先使用动力学仿真、有限元分析与实验测试相结合的方法,设计了仿人机器人手臂,该机械臂结构紧凑、质量轻、刚度高.同时,提出结合查询数据库和逆运动学计算去模仿人类手臂姿态,从而获得逆运动学最优解的方法.该方法不仅解决了冗余自由度带来的逆运动学多解问题,而且可以方便地确定令机械臂保持自然姿态的关节角度.实验验证了提出方法的可行性.The mechanical design and kinematic analysis method of a light weight and high stiffness manipulator with 7DOFs for humanoid robot is presented.Firstly,dynamic simulation,finite element analysis and experiments testing are combined together to design a manipulator with light weight,high stiffness and compact structure.Meanwhile,look-up database and inverse kinematics calculation are used to imitate the posture of human＇s arm to obtain optimal inverse kinematic solution.In the proposed algorithm,the problem of the multiple solutions of the inverse kinematics brought by the redundant DOF is solved and the joints＇ angle which make the manipulator＇s posture natural can be derived conveniently.Experiments show the feasibility of the method.

关 键 词：轻量化 高刚性 机构设计 自然姿态 运动学分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]