一种混合驱动柔索并联仿生眼的轨迹规划  

Trajectory Planning of a Bionic Eye Using Hybrid-Driven Cable Parallel Mechanism

作　　者：谢少荣[1] 刘思淼[1] 罗均[1] 黄潮炯[1] 杨毅[1] 李恒宇[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机器人》2015年第4期395-402,共8页Robot

基　　金：国家自然科学基金重点项目(61233010);国家自然科学基金青年基金项目(61305106;51305271)

摘　　要：在与眼球运动相关的解剖学和运动学的基础上,设计了一种符合Listing定理的基于混合驱动柔索并联机构的3自由度机器人仿生眼.通过矢量封闭方法建立了逆运动学模型,求解出柔索并联机器人的雅可比矩阵和结构矩阵.利用达朗贝尔定理建立柔索并联机器人的力矩平衡方程组,采用广义逆矩阵的相关理论,以柔索张力矢量的2范数最小为目标进行张力优化.用蒙特卡洛方法计算出仿生眼球可达工作空间.最后,在Simulink环境下进行仿真,规划运动轨迹并得到柔索并联机器人运动特性的仿真结果,证明了本文设计的机构符合Listing定理.结果表明:基于混合驱动柔索并联机构的机器人仿生眼结构合理,数学模型正确.Based on anatomy and kinematics of human＇s eyeball, a 3-DOF （degree of freedom） bionic eye with hybrid- driven cable parallel mechanism （CPM） is presented according to Listing＇s law. An inverse kinematics model is built with the vector closure method, and Jacobian matrices and structure matrices of CPMs are solved. Force moment equilibrium equations of CPMs are established based on Darren Bell＇s theorem. With the aim of minimizing the 2-norm of cable tension vectors, tension distribution is optimized according to generalized inverse matrix theories. The reachable work space of the bionic eye is calculated with Monte-Carlo method. Finally, the trajectories of CPMs are planned in Simulink environment, the corresponding kinematic performance results are obtained, and the designed mechanism is proven to be in accordance with Listing＇s law. The result shows that the bionic eye using hybrid-driven CPM is reasonable, and the derived mathematical models are correct.

关 键 词：机器人仿生眼 柔索并联机器人 轨迹规划 张力优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]