仿人机械臂的设计与轨迹规划分析  

Design and trajectory planning analysis of humanoid robotic arm

作　　者：王欣然 王春荣[1] 夏尔冬[1] 卫沅 熊昌炯[1] WANG Xin-ran;WANG Chun-rong;XIA Er-dong;WEI Yuan;XIONG Chang-jiong(School of Mechanical&Electronic Engineering,Sanming University,Sanming,Fujian 365004,China;College of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang,Henan 471003,China)

机构地区：[1]三明学院机电工程学院,福建三明365004 [2]河南科技大学车辆与交通工程学院,河南洛阳471003

出　　处：《宁德师范学院学报（自然科学版）》2022年第1期18-25,共8页Journal of Ningde Normal University(Natural Science)

基　　金：国家级大学生创新创业项目(202011311002);国家自然科学基金项目(51805149);福建省中青年教师教育科研项目(JAT200641);福建省引导性项目(2020H0048);福建省自然科学基金项目(2018J01513);三明市引导性科技项目(2021-G-7)。

摘　　要：为提高机械臂的运动性能,以人臂为参照对象,设计一款与人臂高度相似的仿人机械臂.首先,利用SolidWorks设计仿人机械臂三维模型,其具有6个自由度,包含肩关节、肘关节、腕关节与手指结构;其次,建立仿人机械臂的D-H坐标系,对其正逆运动学进行分析;最后,利用MATLAB的Robotic-Toolbox研究仿人机械在直角坐标系与关节坐标系下的轨迹规划.仿真实验表明,所设计的仿人机械臂的正逆解具有唯一性,且轨迹规划都非常的平稳,各关节的角位移、角速度与角加速度的变化均非常的均匀连贯,表明所设计的机械臂结构合理.In order to improve the motion performance of the robotic arm,a humanoid robotic arm with the height similar to the human arm is designed.Firstly,the 3D model of humanoid robotic arm is designed based on SolidWorks.It has 6 degrees of freedom,including shoulder joint,elbow joint,wrist joint and finger structure.Secondly,the D-H coordinate system of humanoid robotic arm is established,and its forward and inverse kinematics are analyzed.Finally,the Robotic-Toolbox of MATLAB is used to study the trajectory planning of humanoid robotic arm in Cartesian coordinate system and joint coordinate system.The simulation experiment shows that the forward and inverse solutions of the designed humanoid robotic arm are unique,and the trajectory planning is very stable.Especially,the angular displacement,angular velocity and angular acceleration of each joint are uniform and coherent,indicating that the designed humanoid robotic arm is reasonable.

关 键 词：仿人机械臂 SOLIDWORKS MATLAB 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]