摘要
为提高机器人的负载能力,基于几何分析和螺旋理论的基本原理,对绳驱动拟人臂机器人的构型设计、钢绳传动方式和运动学控制问题进行了深入的分析.首先针对绳驱动走线方式的多样性选择,设计了一种具有肘、腕关节耦合和肩、肘关节耦合的绳驱动传动机构;然后以肩、肘、腕7-DOF关节为中间媒介对机器人末端和驱动钢绳间的运动学关系进行了分析,即先考虑机器人末端位姿和各关节角度之间的关系,再研究各关节角度和其相应的驱动钢绳绳长之间的关系,从而得到绳驱动机器人的运动学解;最后进行了仿真研究.仿真结果显示机器人的关节角度和绳长变化曲线十分平滑,末端的实际轨迹跟踪理想轨迹的误差非常微小,说明建议的算法正确,绳驱动机器人运行理想,可以有效克服常规机器人自重过大带来的负面影响.
To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, the configuration design, cable-driven manner, and kinematics control for a cable-driven humanoidann manipulator were analysed. Firstly, aiming at the choice of cables-driven manners, a cable-driven mechanism that is coupled between elbow and wrist, and between shoulder and elbow was designed. Secondly, taking the 7-DOF joints such as the shoulder, elbow and wrist as medium, the relationship between the end-effector and driven cables was analyzed, i.e. through considering the relationship among the end-effector＇s pose and joint angles firstly for the manipulator, and then considering the relationship among joint angles and corresponding length of cables, the kinematics of cable-driven manipulator can be solved. Lastly the simulation was realized. The simulation results show that the curves of manipulator＇s joint angles and length of cables are very smooth, and the error between actual trajectory and ideal trajectory of the end-effector is very small. These prove that the proposed algorithm is correct, the cable-driven manipulator runs well, and proposed approach can effectively overcome the negative effects from general robot brought by its deadweight.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2007年第1期94-99,共6页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金资助项目(50375008
60575052)
关键词
绳驱动
拟人臂
机器人
运动学
并联机构
cable-driven
humanoid-ann
robot
kinematics
parallel mechanism
作者简介
陈伟海（1955-），男，浙江象山人，副教授，whchenbuaa@126．com.
