一种用于运动目标捕获的行星轮差动式欠驱动臂  

Differential planetary gears based underactuated arm for capturing moving target

作　　者：王清川[1] 全齐全[1] 邓宗全[1] 侯绪研[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《北京航空航天大学学报》2016年第10期2198-2205,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(61403106);高等学校学科创新引智计划(B07018);黑龙江省博士后基金(LBH-Z11168);中国博士后科学基金(2012M520722);教育部留学回国人员科研启动基金~~

摘　　要：为解决运动目标捕获过程中的碰撞问题,采用欠驱动自适应原理研制了具有碰撞能量吸收能力的机械臂。三自由度的机械臂由2个电机驱动:基关节由单个电机驱动;中关节和末关节由一个单输入双输出行星轮组完成动力分配。在机械臂捕获运动目标过程中,碰撞产生的部分冲击能量通过欠驱动行星轮组传递到末关节,转化为关节动能。依靠欠驱动机械系统完成对碰撞的响应,解决了控制系统因时延而无法快速对碰撞进行响应的难题。为完成对目标的抓取,基于阻抗控制提出了机械臂运动目标捕获控制算法。运动目标捕获实验验证了机械臂对碰撞的快速响应能力及运动目标捕获控制算法的可行性。A novel underactuated robotic arm was proposed for moving target capturing,which has the capability of collision energy absorption. The proposed underactuated three-degree-of-freedom robotic arm has base joint,median joint and distal joint,and three joints are driven by two actuators. The base joint is driven by a single motor. The median joint and the distal joint employ a set of one-input-dual-output planetary gears to distribute power. Upon the occurrence of a collision in the process of capturing a moving target,part of the collision energy can be transmitted to the distal joint through the planetary gears as kinetic energy. Even though the time delay exists in the control system,the underactuated joints can also move cooperatively with the collided target through the mechanical passive response. Moreover,the impedance-based control algorithm of the underactuated robotic arm is presented for capturing the target after the collision. Capture experiment for moving target was carried out to confirm desirable characteristics of the proposed arm and feasibility of the control strategy.

关 键 词：运动目标捕获 欠驱动机械臂 差动驱动 行星齿轮 阻抗控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]