一种机器人末端执行器的运动学分析和实际应用  

Kinematics Research and Practical Application of a Robot Actuator

作　　者：龚智强[1] 陈进[1] 尹小琴[1] 马履中[1] 

机构地区：[1]江苏大学机械工程学院,江苏镇江212013

出　　处：《机械设计与研究》2012年第5期18-22,共5页Machine Design And Research

基　　金：国家高技术研究发展计划资助项目(2008AA040205);江苏省普通高校研究生科研创新计划项目(CXZZ12_0661)

摘　　要：首先,介绍了一种新型推拿机器人末端执行器,运用螺旋理论分析了该末端执行器并联机构自由度及动平台的运动特性,通过理论分析可以实现相应中医推拿的动作要求。其次,用矢量封闭形方法对并联机构进行位置正反解分析,得到相应的位置方程,并对其求导得到了机构的速度、加速度正反解数学表达式。最后,采用MATLAB与ADAMS进行了联合仿真,证明了该中医推拿机器人末端执行器可以实现中医推拿操作,为该中医推拿机器人末端执行器的动力学建模和实际应用提供了理论基础。Firstly,a new type of Massage robot actuator is introduced.The screw theory is applied to calculating DOF of parallel mechanism and analysizing motion characteristics of the moving platform,so the operation of Traditional Chinese Medical Massage can be achieved through theoretical analysis.Secondly,vector closed form method and homogeneous coordinate transformation method are used for positions on the parallel mechanism of positive and negative solutions.Thus the correspondent mathematical expressions can be obtained and through derivation both the velocity and acceleration solution can be gotten.Finally,MATLAB and ADAMS are used for joint simulation,where not only the Traditional Chinese Medicine Massage robot effector can be proved,but also the Chinese Medicine Massage operations can be achieved.Therefore the theoretical basis is provided for dynamic and practical application of the Traditional Chinese Medical Massage robot actuator.

关 键 词：中医推拿 并联机构 螺旋理论 运动学 仿真 

分 类 号：TH112[机械工程—机械设计及理论]