基于耦合驱动关节的机械臂设计与运动学分析  

Design and kinematic analysis of manipulator based on coupling-driven joint

作　　者：邓飞 卢浩 陈力 朱德良 郭士杰 DENG Fei;LU Hao;CHEN Li;ZHU Deliang;GUO Shijie(College of Mechanical Engineering,Hebei University of Technology,Tianjin 300401;Institute of Engineering and Applied Technology,Fudan University,Shanghai 200433)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]复旦大学复旦大学工程与应用技术研究院,上海200433

出　　处：《机械设计》2025年第1期25-36,共12页Journal of Machine Design

基　　金：国家自然科学基金资助项目(61871173);河北省重点研发计划资助项目(19211817D)。

摘　　要：针对传统机器人关节构型无法满足大负载人机交互作业任务需求的问题,提出一种耦合驱动关节及机械臂设计方案,并进行耦合驱动原理和运动学特性分析。根据作业要求和人机相容性设计需求,确定关节的主要技术参数和传动方案,完成肩、肘、腕关节的设计。通过ADAMS软件验证了关节的耦合驱动原理,通过改进D-H法建立机械臂坐标系,推导了运动学模型,并采用MATLAB软件进行运动学仿真,同时采用蒙特卡洛法分析了操作空间和奇异性。搭建机器人平台进行运动解耦和负载试验,验证了研究的准确性。Since the traditional robot’s joint configuration cannot meet the requirements of heavy-load human-computer interaction,in this article a design scheme of the coupling-driven joint and manipulator is proposed,and the analysis is conducted on the coupling-driven principle and kinematic characteristics.According to the operation needs and the design requirements of manmachine compatibility,efforts are made to work out the joint’s main technical parameters and transmission scheme;then,the design of the shoulder,elbow and wrist joints is completed.The ADAMS software is used to verify the joint’s coupling-driving principle;the coordinate system of the manipulator is set up with the help of the improved D-H method,and the kinematic model is derived;the kinematic simulation is carried out by means of MATLAB.At the same time,the Monte Carlo method is used to explore both the operation space and singularity.Finally,the robot platform is built for motion decoupling and load experiments,which has verified that this study is accurate.

关 键 词：护理机器人 耦合驱动 机械臂设计 运动学分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]