基于变胞原理的球面仿生关节机构位姿正逆解分析  

Direct and Inverse Position Analysis of the Spherical Bionic Joint Mechanism Based on Metamorphic Principle

作　　者：王艳[1] 金国光[1,2] 畅博彦[1] 郭振锋[1] 

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387

出　　处：《机械设计与研究》2013年第6期8-11,共4页Machine Design And Research

基　　金：国家自然科学基金(50675154;51275352);天津市应用基础及前沿技术研究计划(09JCYBJC04600)资助项目

摘　　要：对一种新型球面仿生关节变胞机构进行分析。机构由动平台、静平台、3个环形支链和1个中间变胞支链组成,具有2个工作构态,即构态1(变胞构态)和构态2(正常构态)。机构处于构态1时,动平台相对静平台有3个转动自由度和1个径向移动自由度;机构处于构态2时,动平台只有3个转动自由度,等效于3自由度球面机构。首先根据机构支链特殊位置关系,运用矢量代数法,建立机构运动学方程。然后求解非线性方程组,得到位姿逆解解析解。最后利用MATLAB的fsovle命令搜索机构全部8组正解的数值解以及位姿矩阵。此方法分析过程简单明了,具有很强的通用性。A novel spherical bionic joint metamorphic mechanism is analyzed. It consists of a moving platform, base plate, three circle legs and one middle leg. The mechanism has two configurations, that is the 1 st metamorphic configuration and 2nd normal configuration. The moving platform has three revolution degrees of freedom and a radial translation freedom in the 1st configuration. The moving platform has only three revolution degrees of freedom in the 2nd configuration which equivalents to spherical joint. According to the special location relationship of branch chain, the kinematics equation is established firstly. The nonlinear equations are solved, analytical solutions for inverse position are obtained secondly. Finally, 8 groups of numerical solutions and pose matrix for direct position are searched out by fsovle command of MATLAB. The analysis process is simple and clear which has a strong generality.

关 键 词：仿生关节 变胞机构 位置分析 

分 类 号：TH112[机械工程—机械设计及理论]