混合驱动仿人机械臂设计与运动学分析  

Design and kinematics analysis of hybrid drive anthropomorphic manipulator

作　　者：石振杰 刘延俊[1,2,3] 薛钢[2,3] 贾华 王雨 SHI Zhenjie;LIU Yanjun;XUE Gang;JIA Hua;WANG Yu(School of Mechanical Engineering,Shandong University,Jinan 250061,Shandong,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education,Shandong University,Jinan 250061,Shandong,China;Institude of Marine Science and Technology,Shandong University,Qingdao 266237,Shandong,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]山东大学高效洁净机械制造教育部重点实验室,山东济南250061 [3]山东大学海洋研究院,山东青岛266237

出　　处：《山东大学学报（工学版）》2022年第4期76-82,88,共8页Journal of Shandong University（Engineering Science）

基　　金：国家自然科学基金项目(52001186);山东省自然科学基金项目(ZR2020QE292);深圳市科技研发资金基础研究(自由探索)资助项目(JCYJ20180305164217766)。

摘　　要：为提高机器人的拟人化程度,提出一种混合驱动的仿人机械臂。将四自由度线驱动机械臂结构与二自由度机器人关节模组巧妙结合构成六自由度混合驱动仿生机械臂,并对其运动学问题进行分析。基于旋量理论建立机械臂的运动学模型,通过基于空间雅克比的牛顿-拉夫森法对机械臂的逆运动学方程进行数值求解,利用Monte Carlo法分析机械臂的工作空间,并在ADAMS软件中完成机械臂的运动学仿真,通过试验对所提出运动学模型的有效性进行了验证。试验结果表明,提出的混合驱动仿人机械臂结构设计可靠,基于旋量理论求解出的运动学方程准确,对仿人机械臂的结构设计与运动学分析具有参考价值。A hybrid drive anthropomorphic manipulator was proposed to improve the anthropomorphosis level,which combined the 4-Dof cable-driven manipulator with the 2-Dof robot joint module to form a 6-Dof hybrid drive anthropomorphic manipulator.The kinematics model of the manipulator was analyzed and established based on the screw theory.The inverse kinematics of the manipulator was numerically solved by the Newton-Raphson algorithm based on spatial Jacobian.The workspace of the manipulator was analyzed by Monte Carlo method,and the kinematics simulation of the manipulator was completed in ADAMS software.The effectiveness of the proposed kinematic model was verified by experiments.The research results showed that the design of the hybrid drive anthropomorphic manipulator was reliable and the derived kinematic theory equation based on the screw theory was correct,which had a good reference value for structural design and kinematics analysis of the anthropomorphic manipulator.

关 键 词：混合驱动 仿人机械臂 旋量法 运动学 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]