球面并联式人形机器人髋关节机构运动学与仿生设计  

Kinematics and bionic design on spherical parallel hip joint mechanism of humanoid robot

作　　者：侯雨雷[1] 赵春秀[2] 范建凯[1] 胡鑫喆[1] 曾达幸[1] 周玉林[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]河北工业职业技术学院计算机技术系,河北石家庄050000

出　　处：《机械设计》2014年第12期25-30,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51275443);河北省自然科学基金资助项目(E2012203034);教育部高等学校博士学科点专项科研基金资助课题(20111333120004);河北省高等学校科学技术研究优秀青年基金资助项目(Y2011114);教育部科学技术研究重点资助项目(212012)

摘　　要：从结构和功能仿生角度出发,提出球面并联式人形机器人髋关节机构,并针对其开展运动学分析与仿生设计。根据人体髋关节结构和运动特性,选取3-SPS/S(S为球面副,P为移动副)球面并联机构作为髋关节仿生原始构型;依据螺旋理论对髋关节原型机构自由度数目、性质及位置反解进行分析;采用遗传算法,以姿态工作空间最大化为目标对并联髋关节机构进行优化;结合人体髋关节实际结构特点,提出偏置输出方式,从而使得机构实际输出空间的形状和位置更加符合人体髋关节运动轨迹需求。研究内容为人形机器人髋关节仿生的理论研究和进一步的样机研制奠定了基础。A spherical parallel mechanism for the hip joint of the humanoid robot was presented from a structural and functional bionic point of view.And the bionic design and kinematic analysis were performed. 3-SPS/S（S-spherical pair, P-prismatic pair） was chosen as the original configuration for the hip joint according to structural and kinetic characteristics of the human hip joint. Based on the screw theory, number,nature of the degree of freedom（DOF） and the inverse position solution were analyzed. The pose workspace maximum was taken as an object to optimize the parallel hip joint by genetic algorithm. An offset output mode was raised to make the shape and location of actual output space fit the trajectory demands of the human hip joint better. The results provide a foundation for the bionic hip joint study of the humanoid robot and further prototype development.

关 键 词：髋关节 球面并联机构 关节仿生 偏置输出 工作空间 

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]