一种仿人机械臂的动力学建模和固有频率研究  

Dynamic Modeling and Natural Frequency Study of a Humanoid Robotic Arm

作　　者：肖骁千里 唐怀平[1] 王吉 孔令钱 XIAO Xiaoqianli;TANG Huaiping;WANG Ji;KONG Lingqian(College of Mechanics and Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学力学与工程学院,成都610031

出　　处：《四川轻化工大学学报（自然科学版）》2020年第2期46-53,共8页Journal of Sichuan University of Science & Engineering(Natural Science Edition)

基　　金：国家自然科学基金(51778548)。

摘　　要：气动肌肉驱动器因能很好地解决机械臂柔顺性的问题,其在仿人机械臂上的应用已经成为了研究热点。但目前针对机械臂的建模多忽略驱动器质量,或考虑为集中分布情况,同时一般考虑关节铰为线弹性扭簧。这些假设不太符合气动肌肉驱动器的实际力学性能。因此通过D-H法建立了一种仿人机械臂结构的运动学模型,核算了其奇异位形。通过能量法建立了驱动器质量分散分布下的仿人机械臂的动力学模型;通过假设模态法进行离散化,得到标准特征式方程。基于Wolfram Mathematica 9进行编程,获得了该仿人机械臂在两个关键的奇异位形之间运动时,其固有频率随关节角度和关节铰刚度变化的形式。The application of pneumatic muscle actuator in humanoid robot arm has become a research hot spot,because it can fix the flexibility of robot arm.However,at present,most of the modeling of robot arm takes into account the condition that the actuator mass is ignored or distributed in a centralized way.At the same time,the joint hinge is generally considered as linear elastic torsion spring.These assumptions do not accord with the actual mechanical properties of pneumatic muscle actuators.Therefore,a kinematic model of humanoid robot arm is established by D-H method,and its singular posture is calculated.The dynamic model of the humanoid robot arm is established by energy method under the condition that the mass distribution of the actuator is dispersed and the joint hinge is non-linear elastic torsion spring.The standard characteristic equation is obtained by discretization of assuming mode method.Based on the programming of Wolfram Mathematica 9,the form of that natural frequency of the humanoid robot arm varies with the joint angle and joint stiffness when it moves between two key singular posture is solved.

关 键 词：动力学 仿人机械臂 气动肌肉 固有频率 能量法 

分 类 号：TU318[建筑科学—结构工程] TU997