服务机器人解耦球型手臂运动控制方法  

Service Robot Decoupled Spherical Arm Movement Control Method

作　　者：谢艳艳[1] 胡艳华[2] 甘戈 XIE Yan-yan;HU Yan-hua;GAN Ge(Inner Mongolia Institute of Mechatronic Technology,Inner Mongolia Hohhot 010051,China;Mongolia Industrial University,Inner Mongolia Hohhot 010051,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]内蒙古机电职业技术学院,内蒙古呼和浩特010051 [2]内蒙古工业大学,内蒙古呼和浩特010051 [3]中国科学院大学,北京100049

出　　处：《机械设计与制造》2018年第9期193-196,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(11126028)

摘　　要：为了在适应极端条件下,服务机器人手臂能够满足高集成度和高性能的特殊要求,提出了一种基于解耦球型手腕的七自由度机械机构。首先分析七自由度机械手臂的机械结构特点,利用MDH法建立了机器人各个轴的相关坐标系。然后,利用牛顿迭代和传递逆方程法反向解析了手臂,手腕机理确保手腕紧性和灵活性的工作空间。最后,从电机控制和模块方向设计了七自由度软件流程。上述理论确保了该机器人机构能平稳并且能够灵活实现各个自由度的运动控制。In order to adapt to extreme conditions,service robot arm to meet the high level of integration and performance of special requirements,this paper presents a spherical wrist based on the decoupling of Seven-freedom mechanical system.It analyzes the characteristics of the mechanical structure of Seven-freedom mechanical arm,the establishment of relevant coordinates of each robot axis using MDH law.Then,using Newton iteration and inverse transfer equation method reverse analysis arm,wrist wrist mechanism to ensure compactness and flexibility of the work space.Finally,from the direction of the motor control module design and seven degrees of freedom of software processes.Above theory ensures that the robotic mechanism smoothly and flexibly implement various degrees of freedom of motion control.

关 键 词：三自由度解耦 高集成球形手腕 七轴手臂 运动学 

分 类 号：TH16[机械工程—机械制造及自动化] TG156[金属学及工艺—热处理]