摘要
利用UG软件建立模拟人类咀嚼机构的仿生咀嚼机器人的6-PSS三维模型;利用齐次变换矩阵描述动平台在运动过程中的位姿状态,建立运动学模型进而进行位置逆解的分析计算;确定工作空间搜索范围及影响因素,采用边界搜索法进行工作空间的边界求解,并分析比较了不同咀嚼姿态下的工作空间;通过分析工作空间与咀嚼机构尺寸参数的相关性分析,确定了工作空间优化模型的设计变量、目标函数及约束条件,利用坐标轮换法对球副支柱向量和杆长进行了优化,进而获得了运动性能良好的工作空间区域。仿生咀嚼机器人工作空间的优化对其运动路径规划、动态特性分析及系统的精确控制都具有重要的指导意义。
A 6-PSS three dimensional parallel mechanism for simulating jaw chewing system is constructed via UG software. Based on the homogeneous transformation matrix, which is used to describe the position and orientation of the moving platform state during exercise, the formulae for solving the inverse problems are derived. Then, the boundary of the workspace is solved with boundary search method after the workspace search scope and influence factors are determined. The workspaces of different chew styles are compared. Through the analysis on workspace and the correlation analysis on the dimension parameters of chewing mechanism, design variables, objective functions and constraints of workspace optimization model are determined. And the rod length and the spherical joint support vectors are optimized by the coordinates of the rotation law technique. Furthermore, the suitable workspace to meet with the bionic essentiality of the manipulator has been obtained. The workspace optimization has a great guiding significance for trajectory planning, dynamics analysis and control design of the simulator.
出处
《机械科学与技术》
CSCD
北大核心
2016年第4期573-579,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51375209)资助
关键词
仿生咀嚼机器人
位置逆解
工作空间分析
参数优化
bionic chewing robot, inverse problems, parameter optimization,workspace analysis
作者简介
王加森（1989-），硕士研究生，研究方向为并联机器人、仿生机械设计，wiason0212@163．com；
俞经虎（联系人），教授，博士，jhyu@jiangnan．edu．cn
