绳驱7自由度仿人机械臂设计及其刚度建模与性能分析

doi:10.3901/JME.2023.17.017

机械工程学报 ›› 2023, Vol. 59 ›› Issue (17): 17-32.doi: 10.3901/JME.2023.17.017

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绳驱7自由度仿人机械臂设计及其刚度建模与性能分析

吴志伟¹, 王博文¹, 闫磊¹, 徐文福^1,2

1. 哈尔滨工业大学(深圳)机电工程与自动化学院深圳 518055;
2. 哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150001

收稿日期:2022-09-16 修回日期:2022-11-20 出版日期:2023-09-05 发布日期:2023-11-16
通讯作者: 徐文福(通信作者),男,1979年出生,博士,教授,博士研究生导师。主要研究方向为空间智能机器人、仿生飞行机器人、精细作业柔性机器人、多足移动机器人、协作机器人。E-mail:wfxu@hit.edu.cn
作者简介:吴志伟,男,1995年出生,博士研究生。主要研究方向为空间智能机器人、绳驱冗余机器人。E-mail:760101865@qq.com;王博文,男,1996年出生,硕士研究生。主要研究方向为绳驱冗余机器人。E-mail:981737081@qq.com;闫磊,男,1991年出生,博士,助理教授。主要研究方向为冗余机械臂、空间机器人、双臂协同操作、多机器人协作。E-mail:lei.yan@hit.edu.cn
基金资助:
国家自然科学基金（62203140）、深圳市基础研究重点（JCYJ20220818102415034）和深圳市高层次人才团队（KQTD20210811090146075）资助项目。

Design of a Cable-driven 7-DOF Anthropomorphic Robotic Arm and Its Stiffness Modeling and Performance Analysis

WU Zhiwei¹, WANG Bowen¹, YAN Lei¹, XU Wenfu^1,2

1. The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055;
2. The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2022-09-16 Revised:2022-11-20 Online:2023-09-05 Published:2023-11-16

摘要/Abstract

摘要： 针对传统绳驱机械臂刚度小、末端精度低等问题，研制了一种同时具有轻质量、低惯量和高刚度、高精度特点的绳驱7自由度仿人机械臂系统。采用模块式思想，将整个机械臂分为肩部、肘部、腕部三部分，分别设计了基于闭环绳索驱动的单自由度肘关节和3自由度肩、腕部关节，在运动副上配置编码器用于检测关节位置，有效提升了关节控制精度。建立了“驱动空间-关节空间-任务空间”多重运动学模型，分析了肘部拮抗关节和腕部耦合关节的运动规律，简化了运动传递关系、提高了传动精度和效率。推导了机械臂关节的等效刚度表达式，分析了不同关节角下的刚度特性。最后，针对所研制的绳驱7自由度仿人机械臂开展了样机的关节刚度测试、末端精度测试、负载测试等性能测试。实验结果表明，设计的绳驱机械臂具有运动灵活、定位精度和刚度高等特点。

关键词: 绳驱冗余机械臂, 拮抗关节, 双编码器, 等效刚度

Abstract: Aiming at the problems of low stiffness and low precision of traditional cable-driven manipulators, a novel cable-driven 7-DOF anthropomorphic manipulator system is designed with the characteristics of light weight, low inertia, high stiffness and high positioning accuracy at the same time. Using the design principle of modular robotic arm, the entire robotic arm is divided into three parts:shoulder, elbow and wrist. The one degree of freedom (DOF) elbow joint and three DOF wrist and shoulder joints based on closed-loop rope actuation are designed respectively. The encoder is integrated into the motion pair to detect the joint position, which effectively improves the joint control accuracy. The multiple-layer kinematics models among the actuation space, joint space and task space are established, and the motion equations of the antagonistic elbow joint and the coupled wrist joint are further derived, which simplifies the motion transfer relationship between different space and improves the transmission accuracy and efficiency. The equivalent stiffness of the manipulator joint is calculated, and the stiffness characteristics under different joint angles are analyzed. Finally, the performance tests of the prototype, such as joint stiffness test, end precision test, and load test, are carried out. The experimental results show that the designed cable-driven 7-DOF anthropomorphic manipulator has the characteristics of dexterous movement, high positioning accuracy and high stiffness.

Key words: cable-driven redundant manipulator, antagonistic joints, dual encoders, equivalent stiffness

中图分类号:

TP242

吴志伟, 王博文, 闫磊, 徐文福. 绳驱7自由度仿人机械臂设计及其刚度建模与性能分析[J]. 机械工程学报, 2023, 59(17): 17-32.

WU Zhiwei, WANG Bowen, YAN Lei, XU Wenfu. Design of a Cable-driven 7-DOF Anthropomorphic Robotic Arm and Its Stiffness Modeling and Performance Analysis[J]. Journal of Mechanical Engineering, 2023, 59(17): 17-32.

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绳驱7自由度仿人机械臂设计及其刚度建模与性能分析

Design of a Cable-driven 7-DOF Anthropomorphic Robotic Arm and Its Stiffness Modeling and Performance Analysis

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