摘要
论述用并联机构构造仿生关节的原理,讨论仿生关节的结构特点,分析生物关节的运动特性及控制特点。采用三自由度具有与生物关节相似机械结构的滑块式并联机构;对采用的并联机构进行结构原理设计。建立机构位置方程,建立基于智能控制的位姿变换矩阵。设计仿生关节机构的结构参数;应用数值解法对机构的结构参数作仿真,并对其结论作分析。
Discuss the principle of the bionic joint constructed with 3 DOF parallel manipulator,analyze the kinematical performance of bionic joint and the characteristics of biotic control.Adopt 3 DOF slide-parallel manipulator which possesses the similar mechanical structure as biotica rticulation.Design the adoptive parallel mechanism in fundamental construction,establish the displacement equations of the manipulator,propose the transformation matrix of the posture based on the intelligent contrfol.Suppose the structural parameters of the bionic joint,by the practical numerical means,the shifty curves of the displacement,velocity and acceleration are drawn and the conclusions are conducted.
出处
《机械设计与制造》
北大核心
2005年第3期101-102,共2页
Machinery Design & Manufacture
基金
南京理工大学科研发展基金项目
关键词
仿生关节
并联机构
运动学
Bionic joint
Parallel manipulator
Kinematics
