三自由度欠驱动机器人系统的优化设计  

Optimal Design of Three Degree of Freedom Under-actuated Robot System

作　　者：赖火生 陈新度[1,2] 吴磊 吕思杰[1,2] 徐学 LAI Huosheng;CHEN Xindu;WU Lei;LV Sijie;XU Xue(College of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China;Computer Integrated Manufacturing System Key Lab of Guangdong Province,Guangzhou Guangdong 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]广东省计算机集成制造系统重点实验室,广东广州510006

出　　处：《机床与液压》2020年第3期14-17,共4页Machine Tool & Hydraulics

基　　金：广东省省级科技计划项目(2016B090912002)。

摘　　要：以一种串联的欠驱动机器人为研究对象,设计一种优化机器人末端控制机构,并在此基础上建立其运动学模型。提出在确定运动轨迹下,以控制机器人末端对轨迹的跟随性为目标,通过多关节配合,实现机器人末端工具对曲面的柔性跟踪。实验证明:该机器人能够按照指定的轨迹运动,并且在被动轴的作用下,机器人末端可以与跟踪曲面保持良好的柔性接触。A series of under-actuated robots is taken as the research object,and a mechanism for optimizing the end control of the robot is designed. Based on this,the kinematics model was established. The motion trajectory of the robot was determined to control the following of the end of the robot. For the purpose of the multi-joint fit,the end of the robot tool was enabled of flexible tracking of the surface. Experiments show that the robot designed can move according to the specified trajectory,and under the action of the passive axis,the robot end can maintain good flexible contact with the tracking surface.

关 键 词：欠驱动 机器人 柔性 阻抗器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]