新型电磁球型手腕解耦驱动机理  

Decoupling Drive Mechanism of a New Type of Electromagnetic Spherical Wrist

作　　者：张永顺[1] 刘高仁 刘志军[1] 刘振虎[1] 董海[1] ZHANG Yongshun;LIU Gaoren;LIU Zhijun;LIU Zhenhu;DONG Hai(State Key Laboratory of High-performance Precision Manufacturing,Dalian University of Technology,Dalian 116024)

机构地区：[1]大连理工大学高性能精密制造国家重点实验室,大连116024

出　　处：《机械工程学报》2024年第19期1-10,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(62173059)。

摘　　要：为了摆脱复杂机械类传动手腕的弊端,突破现有球型电磁类关节电磁解耦和磁矩奇异性难题,满足非结构环境对电磁柔性手腕变刚度控制性能的特殊需求,依据旋转磁场内磁体转子的旋转定轴效应,提出一种电磁驱动两自由度变刚度球型机器人手腕解耦驱动机理。在机构方面,通过内置磁体转子的万向随动机构实现手腕输出轴线侧摆与俯仰运动正交解耦,在电磁驱动方面,通过空间万向旋转磁场方位解耦实现旋转定轴磁矩在侧摆与俯仰方向的正交解耦,进而实现球型手腕侧摆、俯仰磁矩与运动双重解耦下的二自由度主动驱动。该球型电磁关节能实现磁场精确建模和耦合磁矩正交解耦,可望显著提高手腕的输出磁矩和输出刚度控制精度,为实现非结构复杂环境的万向电磁线性变刚度柔顺控制奠定了基础。In order to get rid of the drawbacks of the complex mechanical drive type wrist,break through the electromagnetic decoupling and magnetic moment singularity problems of the existing spherical electromagnetic type joint,as to meet the special need on the variable stiffness control performance of the electromagnetic flexible wrist in non-structural special environments,based on rotating magnetic coaxial effect of a magnet rotor in rotational magnetic field,the decoupling drive mechanism of an electromagnetic spherical robot wrist with two DOFs(degree-of-freedoms)and variable stiffness is proposed.In terms of mechanism,the orthogonal kinematic decoupling of the wrist output axis along pitch and yaw axis is realized by the universal follower mechanism with the built-in magnet rotor,and in terms of electromagnetic drive,the orthogonal orientation decoupling of the rotating coaxial magnetic moment is realized by the orientation decoupling of the spatial universal rotating magnetic field along pitch and yaw axis,thus active drive of the spherical wrist with two DOFs is realized by aid of the orthogonal kinematic decoupling and the rotating coaxial magnetic moment decoupling both along pitch and yaw axis.With the accurate modeling of magnetic field and orthogonal magnetic moment decoupling,the control accuracy of the output magnetic moment and stiffness of the wrist is expected to be significantly improved,which lays the foundation for the realization of compliance control by universal electromagnetic linear variable stiffness in non-structural complex environments.

关 键 词：球型手腕 旋转定轴效应 电磁驱动 万向变刚度 磁矩解耦 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]