一种超冗余机械手设计与分析  

Design and Analysis of an Ultra-Redundant Manipulator

作　　者：马翔宇 杨武成 张迎伟 李阿为 MA Xiangyu;YANG Wucheng;ZHANG Yingwei;LI Awei(School of Mechanical Engineering, Xi＇ an Aeronautical University, Xi＇ an 710077, China;Institute of Mechanical and Electrical Technology, Xi＇ an Aeronautical University, Xi＇ an 710077, China)

机构地区：[1]西安航空学院机械工程学院,西安710077 [2]西安航空学院机电技术研究所,西安710077

出　　处：《重庆理工大学学报（自然科学）》2018年第3期117-122,共6页Journal of Chongqing University of Technology：Natural Science

基　　金：陕西省教育厅科研计划资助项目(17JK0396);西安航空学院校级科研基金项目(2017KY1113;2014KY1207)

摘　　要：针对抗震救灾中救援机械设备的低灵活性等问题,提出设计一种超冗余7自由度救援型机械手,由腰部装置、上臂机构、小臂机构、手部机构等部件构成,腰部机构由连杆折叠升降机构组成,小臂部分包含伸缩构件,以增加机械手的作业运转的空间范围,末端执行机构采用单杆式液压能转换缸体来实现;进而,基于矢量积法对所设计的超冗余机械手进行雅克比矩阵计算,求解相关数学模型;基于MATLAB仿真软件,求解三维可视化和工作空间云图,并采用UG软件对其进行运动仿真,仿真试验表明:该机械手的设计满足所设计的要求,对救援型机械手具有一定的参考价值。Aiming at the problem of low flexibility rescue machinery and equipment in the earthquake relief work,a redundant manipulator with 7 degrees of freedom of the rescue is proposed,which is consists of the waist member device,the upper part,the lower arm mechanism device and the hand mechanism structure components. And the waist mechanism is consist of a connecting rod folding lifting mechanism parts. To increase the scope of the manipulator ＇s operation, the lower arm mechanism device is formed of telescopic component. Then,the vector production of Jacobian matrixcalculation of hyper redundant manipulator is designed based on solving mathematical model. Finally,The work-space nephogram and 3D visualization are solved by MATLAB simulation software. And the motion simulation is carried out in UG software. The simulation shows that the design of the manipulator meets the design requirements,with a certain reference value to the rescue manipulator.

关 键 词：超冗余机械手 工作空间 运动学分析 

分 类 号：TH122[机械工程—机械设计及理论]