气动人工肌肉驱动仿人肩关节机器人的设计及力学性能分析  

Statics Analysis of a Bionic Shoulder Joint Robot Driven by Pneumatic Artificial Muscle

作　　者：刘昱[1] 王涛[1] 范伟[1] 王渝[1] 黄清珊[1] 

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《北京理工大学学报》2015年第6期607-611,共5页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(50475163)

摘　　要：柔索驱动球关节机器人采用柔索替代连杆作为机器人的传动元件,结合了并联机构和柔索传动的优点.文中提出了一种新型带有万向球轴承的仿人肩关节并联机器人,它由多支气动人工肌肉驱动,由于万向球驱动机构的引入,机器人可实现空间的三维转动.介绍了该机器人的机构构型,并对其进行了力学性能分析.该机器人的运动范围及负重能力达到并超过了人体肩关节性能指标的1/2.相比其他并联机器人,该设计具有结构简单、旋转范围大、输出力矩大等特点.Wire driven parallel robot, in which wire was used to replace the link of parallel robot, was developed from parallel robot and serial wire driven robot. This type of robot combines the advantages of the parallel mechanism and the cable driven. In this paper, a new type of wire driven bionic shoulder joint robot with a spherical hinge was proposed. Driven by a group of pneumatic artificial muscle, the robot can spatially rotate in three axis＇ rotation. Compared with the other parallel robot, this robot has more advantages. The configuration and statics were described. The study results prove that this robot can realize more moving modes. Hence, the broad application of this robot is made possible.

关 键 词：气动人工肌肉(PMA) 柔索驱动 并联机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]