• CN:11-2187/TH
  • ISSN:0577-6686

›› 2010, Vol. 46 ›› Issue (13): 83-90.

• 论文 • 上一篇    下一篇

具有关节角反馈的绳驱动拟人臂机器人机构设计与张力分析

陈泉柱;陈伟海;刘荣;张建斌   

  1. 北京航空航天大学机械工程及自动化学院;北京航空航天大学自动化科学与电气工程学院
  • 发布日期:2010-07-05

Mechanism Design and Tension Analysis of a Cable-driven Humanoid-arm Manipulator with Joint Angle Feedback

CHEN Quanzhu;CHEN Weihai;LIU Rong;ZHANG Jianbin   

  1. School of Mechanical Engineering and Automation, Beihang University School of Automation Science and Electrical Engineering, Beihang University
  • Published:2010-07-05

摘要: 绳驱动与并联机构技术应用于拟人臂机器人上,设计一种绳驱动的串并混联拟人臂机器人。其特点之一是在拟人臂的各个旋转关节安装有旋转编码器,采用关节角反馈的控制方法,提高了机构的控制精度。特点之二是通过刹车线结构的使用,实现了机构肩、肘、腕关节的完全解耦,并根据旋量理论,对肩、腕关节所使用的绳驱动球面并联机构进行弱耦合研究,简化了机构的运动学公式。讨论驱动绳索的张力变化关系,针对绳驱动机构的特点提出相应的混合控制策略,并且通过试验验证了机构的可行性和算法的有效性。

关键词: 串并混联机器人, 绳驱动球面并联机构, 旋量理论

Abstract: A series-parallel hybrid humanoid-arm manipulator is designed by utilizing cable-driven and parallel mechanism technology. The first feature is that the control accuracy is improved by using joint angle feedback method, which is implemented by installing rotary encoder on each joint of the manipulator. The second feature is that the complete decoupling of shoulder, elbow, and wrist joint is realized by using a brake line structure. The weak coupling study for the cable-driven spherical parallel mechanism of the shoulder and wrist joint is carried out on the basis of screw theory and the basis of kinematics equation is simplified. The variation of the cable tension is discussed, and the corresponding hybrid control strategy is proposed according to the characteristics of the cable driven mechanism, and the feasibility of the mechanism and the effectiveness of the control strategy are verified by the experiment.

Key words: Cable-driven spherical parallel mechanism, Screw theory, Series-parallel hybrid robot

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