绳驱柔性轮椅机械臂解耦设计与运动学分析  

Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators

作　　者：王禄 赵栋杰 张伟涛 王怡旎 张坤 WANG Lu;ZHAO Dongjie;ZHANG Weitao;WANG Yini;ZHANG Kun(School of Mechanical&Automotive Engineering,Liaocheng University,Liaocheng 252000,China)

机构地区：[1]聊城大学机械与汽车工程学院,聊城252000

出　　处：《机械传动》2025年第1期98-104,共7页Journal of Mechanical Transmission

基　　金：山东省重点研发计划项目(2017NC212010);山东省高校科研计划项目(J18KB009)。

摘　　要：【目的】针对传统刚性轮椅机械臂体积大、质量重、人机交互存在安全等问题,设计了一种6自由度绳驱动柔性轮椅机械臂。【方法】该机械臂采用一种柔性平动结构,在改变末端位置的同时可以保持末端姿态不变,实现了位置与姿态的解耦,同时可有效提高柔性机械臂刚度;基于常曲率建模方法建立了柔性机械臂的运动学模型,进行了驱动空间、关节空间、操作空间之间的运动学分析以及各柔性关节间的解耦分析;建立了基于Adams虚拟样机的仿真模型。【结果】通过与Matlab软件的数值仿真结果对比,验证了运动学算法的准确性,为后续机械臂的运动控制提供依据。[Objective]Aiming at the problems of large size,heavy weight and safety of human-machine interaction of traditional rigid wheelchair manipulators,a 6-degree-of-freedom rope driven flexible wheelchair manipulator was designed.[Methods]The manipulator adopted a flexible translation structure,which can keep the end posture unchanged while changing the end position,realized the decoupling of position and posture,and effectively improved the rigidity of the flexible manipulator.The kinematic model of the flexible manipulator was established based on the constant curvature modeling method,and the kinematic analysis between the drive space,joint space,and operation space as well as the decoupling analysis between each flexible joint were carried out.A simulation model based on Adams virtual prototype was established.[Results]By comparing with the numerical simulation results of Matlab software,the accuracy of the kinematic algorithm is verified,which provides a basis for the subsequent motion control of the manipulator.

关 键 词：柔性机械臂 运动学分析 轮椅机械臂 Adams虚拟样机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]