仿人机械手运动空间范围特性分析  

Analysis of the Characteristics of the Spatial Range of the Humanoid Manipulator

作　　者：杨智勇 谢迪 王君[1,2] 周红军 YANG zhi-yong;XIE Di;WANG Jun;ZHOU Hong-jun(School of Mechanical Engineering,Hubei University of Technology,Hubei Wuhan 430068,China;Key Lab of Modem Manufacture Quality Engineering,Hubei University of Technology,Hubei Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]现代制造质量工程湖北省重点实验室,湖北武汉430068

出　　处：《机械设计与制造》2022年第12期73-78,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金(51907055);湖北省教育厅中青年人才项目(Q20191404)。

摘　　要：为增大工业机器人执行末端的仿人机械手工作空间尺寸,提高机械手的灵活性和通用性,对机械手手指不同关节的运动特征进行了分析,建立仿人机械手手指屈伸、侧摆及旋转运动的运动学模型;在全局坐标系下,求解机械手不同手指指尖的坐标位置范围;分析仿人机械手的运动空间范围与手指侧摆摆杆长度、侧摆角度、旋转角度间的映射关系,并通过仿真分析验证了仿人机械手的工作空间尺寸与机械手指的侧摆角及旋转角度成正比,与侧摆杆长度无关的变化规律,为后续仿人机械手的抓取运动规划提供理论依据。In order to increase the size of the humanoid manipulator’s working space at the end of the industrial robot and improve the flexibility and versatility of the manipulator,this paper analyzes the kinematic characteristics of the different joints of the manipulator’s fingers and establishes a kinematic model of the humanoid manipulator’s fingers flexion,side swing and whirling;In the global coordinate system,solve the coordinate position range of different fingertips of the manipulator;Analyze the mapping relationship between the movement space range of the humanoid manipulator and fingers’ side swing lever length,swing angle and rotation angle,and the simulation analysis verified that the working space of the humanoid manipulator is proportional to the side swing and rotation angle of the robot finger,and has a change law independent of the length of the side pendulum rod,it provides theoretical basis for the follow-up motion planning of humanoid robot.

关 键 词：仿人机械手 运动学 工作空间 空间映射 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]