用于伤员搬运的双臂机械手研制  

Development of a double-arm manipulator for the handling of the wounded

作　　者：邹东阳 殷跃红[1] Zou Dongyang;Yin Yuehong(School of Mechanical and Power Engineering,Shanghai Jiaotong University,Shanghai,200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与制造工程》2025年第4期75-80,共6页Machine Design and Manufacturing Engineering

摘　　要：为提高伤员搬运自动化程度及效率,一定程度规避救援人员所承担的伤亡风险,设计了一台借助担架搬运伤员的双臂机械手。首先,利用SolidWorks完成双臂机械手的结构设计与分析;然后,运用改进型D-H参数法建立双臂机械手的正、逆运动学模型,结合关节角度约束简化逆运动学模型求解;最后,基于担架左右抓取点间的刚性约束,完成双臂运动轨迹规划。MATLAB仿真和样机实验表明,该双臂机械手能够协同救援人员搬运至少90 kg负载,为后续相关算法开发搭建了平台。In order to improve the degree of automation and efficiency of wounded handling and avoid the risk of casualties borne by rescuers to a certain extent,a two-arm manipulator that transports the injured with the help of stretchers is designed.Firstly,SolidWorks is used to complete the structural design and analysis of the two-arm manipulator.Then,the D-H parameter method is used to establish the positive and inverse kinematic models of the two-arm manipulator,and the inverse kinematics model is simplified by combining the joint angle constraint.Finally,based on the rigid constraint between the left and right gripping points of the stretcher,the two-arm motion trajectory planning is completed.MATLAB simulation and prototype experiments show that the two-arm manipulator can carry at least 90 kg load with rescuers,which builds a platform for subsequent algorithm development.

关 键 词：双臂机器人 运动学 协调作业 仿真 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]