多电机耦合驱动式仿人机械臂设计与传动特性分析  

Transmission Characteristics Analysis and Design of Humanoid Robot Armwith Multi - motor Coupling Drive Mode

作　　者：窦汝桐 于慎波[1] 翟凤晨 夏鹏澎 李文扬 横井浩史 姜银来 DOU Rutong;YU Shenbo;ZHAI Fengchen;XIA Pengpeng;LI Wenyang;YOKOI Hiroshi;JIANG Yinlai(School of Mechanical Engineering,Shenyang University of Technology,Shenyang Liaoning 110870,China;Department of Mechanical and Intelligent Systems Engineering,The University of Electro-Communications,Tokyo 182-8585,Japan)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]电气通信大学机械与智能系统工程学院,东京182-8585

出　　处：《机床与液压》2023年第21期23-30,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51175350);JSPS KAKENHI Grants(JP18H03761,JP19K12877)。

摘　　要：针对传统仿人机械臂载荷与自重比低的问题,提出一种多电机耦合驱动式仿人机械臂。根据人臂的运动特性,确定串联结构下的仿人机械臂构型,并将机械臂划分为肩关节模块、肘关节模块和腕关节模块。分析单电机驱动单关节的绳索传动特性,推导该模型下电机与关节的扭矩映射关系和转角映射关系。研究各模块中多电机耦合驱动多关节的电机布局和绳索绕线方式,解释各模块中多电机耦合后的工作原理,推导各模块中电机与关节的扭矩映射关系和转角映射关系。并通过实验验证各模块中映射关系的正确性,以及各模块关节的承载能力。结果表明:多电机耦合驱动方式在保证质量的前提下,可以有效提高各关节的承载力,为仿人机械臂的设计提供理论依据。Aiming at the low ratio of load and deadweight for traditional humanoid manipulators,a humanoid robot arm with a multi-motor coupling drive mode was proposed.According to the motion characteristics of the human arm,the configuration of the humanoid robot arm with series structure was determined,and the robot arm was divided into the shoulder joint module,the elbow joint module,and the wrist joint module.The rope transmission characteristics of a single motor driving a single joint model were analyzed,and the torque mapping relationship and rotation angle mapping relationship between motor and joint of the model were derived.Moreover,the motor layout and winding mode of multi-motor coupling driving multi-joint were studied in each module,and the working principle of multi-motor coupling was explained.Meanwhile,the torque mapping relationship and rotation angle mapping relationship between motor and joint in each module were deduced.The correctness of the mapping relationship in each module and the bearing capacity of each module joints were verified by experiments.The results show that the multi-motor coupling driving mode can effectively improve the bearing capacity of each joint on the premise of ensuring weight,it also provides a theoretical basis for the design of a humanoid robot arm.

关 键 词：仿人机械臂 绳索驱动 多电机耦合驱动 模块化设计 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]