仿象鼻子实验平台的设计与运动学仿真  

Design and Kinematics Simulation of an Elephant Nose Experimental Platform

作　　者：杨淼 狄杰建 赵玉侠 赵全亮 YANG Miao;DI Jie-jian;ZHAO Yu-xia;ZHAO Quan-liang(School of Mechanical and Material Engineering,North University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100144

出　　处：《机械设计与制造》2022年第6期162-166,171,共6页Machinery Design & Manufacture

基　　金：超冗余自由度柔顺操作机器人的机构控制一体化设计方法研究(L172001)。

摘　　要：针对现有的仿大象鼻子机器人,存在着自身结构复杂、难以控制的特性,现研制了一套新型仿象鼻子机器人的实验平台,它具有结构简单、加工成本较低、控制简单等特点。整个仿象鼻子机器人的机械臂由四节组成,每节机械臂可实现两个自由度,仿象鼻子机械臂可通过12根钢丝绳的协调控制实现自身位姿的灵活改变。首先采用旋量理论和指数积方法对象鼻子机械臂进行了运动学分析,然后通过ADAMS虚拟样机软件对仿象鼻子机械臂的实验平台进行了刚柔耦合系统的运动学和动力学分析,验证了运动学分析的正确性,对后期平台实验的可行性、可控性以及结构设计的可靠性提供一定的指导意义。For the existing elephant-like nose robot,There are characteristics that are complex and difficult to control.An experimental platform for a new type of imaging nose robot has been developed.It has the characteristics of simple structure,low processing cost and simple control.The entire robot arm that mimics the nose robot consists of four sections.Each arm can achieve two degrees of freedom.The simulated nose robot arm can realize the flexible change of its own posture through the coordinated control of 12 wire ropes.The kinematics analysis of the robotic arm of the nose robot is carried out by using the theory of spin and the exponential product method.Then through the ADAMS virtual prototyping software,the kinematics and dynamics analysis of the rigid-flexible coupling system is carried out on the experimental platform of the pseudo nose robot.The simulation results are consistent with the theoretical analysis.Verification of the correctness of the theoretical analysis of the rotary finger,Feasibility of the experimental platform,It has certain guiding significance for the structural design of the platform.

关 键 词：象鼻子机器人 运动学 运动仿真 ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]