基于旋量理论的混联拟人机械腿的运动学分析  

Kinematic analysis of a hybrid humanoid mechanical leg based on screw theory

作　　者：李研彪[1] 陈科[1] 孙鹏[1] 王泽胜 LI Yanbiao;CHEN Ke;SUN Peng;WANG Zesheng(College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310032)

机构地区：[1]浙江工业大学机械学院,杭州310032

出　　处：《高技术通讯》2022年第5期511-520,共10页Chinese High Technology Letters

基　　金：国家自然科学基金(51975523,51475424);浙江省自然科学基金杰出青年(LR18E050003)资助项目。

摘　　要：针对并联机构的强耦合性导致运动分析复杂化的问题,提出了一种包含部分解耦并联机构的新型6自由度混联拟人机械腿构型。首先,根据人体腿部的运动解剖特性,阐述了该混联机构的布局形式。其次,综合Paden-Kahan子问题与空间几何法,拓展了Paden-Kahan子问题在解决少自由度并联机构位置反解问题上的应用,求出了拟人机械腿的逆解方程;基于拟人机械腿机构的几何结构,采用代数法推导了位置正解的显示解析式。然后基于李代数se(3)的双线性对称形式(Klein型),推导出混联机械腿的运动学传递矩阵。最后通过数值算例验证了基于旋量理论建立的混联机械腿运动学模型的正确性,为该机构的进一步研究奠定了理论基础。A novel six-degree of freedom hybrid humanoid mechanical leg with partially decoupled parallel mechanism is proposed aiming at the complexity of motion analysis caused by the strong coupling of parallel mechanism.Firstly,the layout form of this hybrid mechanism is described according to the anatomical motion characteristics of human legs.Secondly,the application of the Paden-Kahan sub-problem in solving the inverse solution of the position of the lower-mobility parallel mechanism is extended combining the Paden-Kahan sub-problem with the spatial geometry method,and the inverse solution equation of the humanoid leg is obtained.The display equation of position forward solution is derived by algebraic method based on the set structure of humanoid leg.Thirdly,the kinematics transfer matrix of the hybrid leg is derived via the Klein form,a bilinear symmetric form of the Lie algebra se(3).Finally,the accuracy of kinematics model of the hybrid leg based on screw theory is verified by a numerical example,which lays a theoretical foundation for the further study of the mechanism.

关 键 词：混联拟人机械腿 部分解耦 旋量理论 Klein型 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]