一种7DOF冗余手臂构形的运动学与动力学特性研究

冗余度机构具有高度的灵活性和避障能力,利用冗余自由度可以改善仿人机器人手臂的运动性能。以实现人体手臂的运动特性和操作灵活性为目标,研制了一种7DOF冗余仿人机器人手臂,根据冗余手臂的机构学特点,研究了手臂的运动学和动力学性能,并在工作空间、肘部关节的自运动能力以及手臂自重引起的关节重力矩等方面与其它两种典型的冗余手臂构形进行了比较分析。

The main difference of the humanoid robot from traditional robots is that it must be able to cope with the wide variety of tasks and objects encountered in dynamic unstructured environments. Redundant arm could be in infinite distinct configurations with the same hand position and orientation. The self-motion of redundant arm provides the capability for criteria optimization, obstacle and singularity avoidance and this is especially important for applications in hazardous environments. In order to achieve a high degree of flexibility and to allow the simple and direct cooperation with humans, the author developed a 7 DOFS redundant arm through synthesis of mechanism under the criterion of manipulability and the theory of 3DOF planar manipulator. To evaluate the performance and motion abilities of the anthropomorphic arm, the formulations of dynamics were addressed and the kinematics and dynamic property including workspace, singularity, self-motion, and moment of gravity were discussed. Theoretical analysis and computer simulations indicate this arm was provided with better mechanical characteristics.

国家863高技术研究发展计划资助项目(2001AA422170);;辽宁省自然科学基金项目(20032036)