模块化机器人结构设计及运动特性分析  

Analysis on Structure Design and Motion Characteristics of Modular Robot

作　　者：陶广宏 耿世雄 赵嘉琪 乜府祥 TAO Guanghong;GENG Shixiong;ZHAO Jiaqi;NIE Fuxiang(School of Mechatronics Engineering,Shenyang Aerospace University,Shenyang Liaoning 110000,China;Unit 32366 of PLA,Beijing 100000,China)

机构地区：[1]沈阳航空航天大学机电工程学院,辽宁沈阳110000 [2]中国人民解放军32366部队,北京100000

出　　处：《机床与液压》2024年第5期45-52,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(52005348);辽宁省教育厅面上项目(LJKMZ20220525);沈阳市中青年科技创新人才支持计划项目(RC210421)。

摘　　要：针对传统机器人关节在运动过程中的偏转角度、俯仰承载能力受限问题,以提高机器人偏转、俯仰运动能力为目标,提出单电机驱动双轴式、具有大偏转角度特性的偏转关节模块,和基于平行四边形结构及弹簧部件、具有低功耗高承载能力特性的俯仰关节模块,进行了偏转模块、俯仰模块运动特性分析。建立基于新型模块的机器人运动学模型,对比分析相同尺寸及工作条件下新型机器人与基于传统关节机器人的工作空间,结果表明:同等条件下新型机器人工作空间明显大于传统机器人结构,所提出新型关节模块可有效提升机器人运动灵活性。Aiming at the problem that the deflection angle and pitching bearing capacity of traditional robot joints are limited in the process of motion,and aiming at improving the deflection and pitching motion capacity of the robot,a single motor driven biaxial deflection joint module with large deflection angle characteristics was proposed,and a pitching joint module based on parallelogram structure and spring components with low power consumption and high bearing capacity characteristics was proposed.The motion characteristics of the deflection module and pitch module were analyzed.The kinematics model of the robot based on the new modules was established,and the workspaces of the new robot and the robot based on the traditional joint under the same size and working conditions were compared and analyzed.The results show that the workspace of the new robot is significantly larger than that of the traditional robot under the same conditions,and the new joint module proposed can effectively improve the mobility of the robot.

关 键 词：模块化机器人 关节单元 运动特性 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]