轻量化语音控制的自然拟人颈部运动平台  

Lightweight Voice Controlled Natural Humanoid Neck Movement Platform

作　　者：梅贵凤 郑飞[1] 张国良[1] 胥咸阳 MEI Guifeng;ZHENG Fei;ZHANG Guoliang;XU Xianyang(Xidian University,Xi’an 710071,China)

机构地区：[1]西安电子科技大学,陕西西安710071

出　　处：《电子机械工程》2024年第4期5-9,27,共6页Electro-Mechanical Engineering

摘　　要：并联机构具有诸多优点,其研究需求日益增加。文中设计了一种新型轻量化RS-2RPS(R:Revolute(转动副);S:Spherical(球铰);P:Prismatic(移动副))并联机构,以实现自然的人体颈部运动。俯仰与转头运动由头部内部水平放置的RS-2RPS并联机构完成。在3-RPS并联机构运动学逆解的基础上得到RS-2RPS并联机构的运动学逆解。通过Matlab计算得出满足要求的动定平台最佳尺寸。运用ANSYS对球铰所在的定平台进行静力学分析,选择合适的支撑方案并合理安排伸缩杆布局。整体运动平台的实验分析验证了RS-2RPS并联机构实现自然的人体颈部运动的可行性和合理性。该RS-2RPS并联机构性能良好,为颈部机构的设计与应用提供了新思路,并具有增加整体机构自由度与运动范围的潜力。The research demands for parallel mechanism is increasing due to its many advantages.This study designs a new lightweight RS-2RPS parallel mechanism to realize the natural human neck movement.The pitching and turning movements are realized by the horizontally-placed RS-2RPS parallel mechanism inside the head.The inverse kinematics of RS-2RPS parallel mechanism is obtained based on the inverse kinematics of 3-RPS parallel mechanism.The optimal sizes of the moving andfixed platforms that meet the requirements are computed by Matlab.The statics analysis of thefixed platform where the spherical joint is located is carried out by ANSYS,then the appropriate support scheme is selected and the layout of the telescopic rod is reasonably arranged.The experimental analysis of the whole movement platform verifies the feasibility and rationality of the natural human neck movement by RS-2RPS parallel mechanism.The RS-2RPS parallel mechanism has good performance and provides a new idea for the design and application of neck mechanism,and has the potential to increase the degree of freedom and the movement range of the whole mechanism.

关 键 词：拟人颈部运动 RS-2RPS并联机构 轻量化 结构设计 

分 类 号：TH122[机械工程—机械设计及理论]