共查询到19条相似文献,搜索用时 129 毫秒
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《机器人技术与应用》2002,(3)
迎宾指挥机器人是海尔哈工大机器人技术有限公司刚刚开发研制成功的最新产品 ,它将枯燥的机械运动、电气控制、软件编程与优美的音乐指挥完美的结合起来 ,能够充分显示机器人表演艺术的魅力。将机器人放置在固定位置 ,就可实现各种表演功能了。迎宾指挥机器人为全气动机构装置 ,操作简便、工作安全可靠。机器人由本体、气动系统、计算机控制系统、支撑体组成。共有19个气缸 ,模拟人类腰部以上各关节运动 ,可独立完成19个自由度动作。机器人通过音响系统播放优美乐曲 ,机器人运用手臂、头、眼睛、腰部完成多种运动组合 ,实现乐队指挥功能… 相似文献
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连续电驱动四足机器人腿部机构设计与分析 总被引:2,自引:0,他引:2
提出了一种四足机器人腿部的连续电驱动(即电机整周转动驱动腿部实现摆转跨步动作)方案,设计了一种具有由切比雪夫机构、五杆机构组成的2自由度双曲柄复合连杆机构的机器人腿部结构.分析了动物的足端轨迹特性,采用轨迹圆滑、无突变、导数连续的椭圆曲线规划了机器人足端运动轨迹.以规划的足端轨迹再现为优化目标,采用遗传算法与fmincon函数内点法计算得到了腿部机构杆长的最佳尺寸.在此基础上,建立了机器人仿真模型,通过Adams仿真分析了机器人腿部机构的足端运动特性,并研制了腿部结构性能测试平台.完成了单腿足端运动轨迹跟踪实验,验证了腿部结构设计方案的可行性. 相似文献
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受婴儿爬行时独特的躯体形态的启发,设计了具有柔性脊柱和弹性膝关节的欠自由度四足爬行机器人BabyBot,其脊柱为变截面通体柔顺结构,膝关节为无自由度可变形被动关节.利用伪刚体法对柔性脊柱和弹性膝关节的结构参数进行设计,采用中枢模式发生器(CPG)运动控制模型生成对角爬行步态轨迹,柔顺机构与仿生控制有机结合形成了BabyBot机器人"以膝着地、腰髋耦合"的仿婴儿爬行步态.对欠自由度仿婴儿机器人的机构可行性,以及柔性脊柱对机器人运动性能的影响进行仿真及实验,结果表明,具有弹性膝关节的欠自由度四足机器人可以实现平稳的爬行运动,变截面柔性脊柱能够减小机器人行走时躯干在横滚及偏转方向的姿态波动程度,提高了机器人运动的协调性和轨迹准确性,并揭示出婴儿爬行时脊柱的柔顺运动对稳定视觉的潜在作用. 相似文献
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韩永印 《计算机测量与控制》2014,22(12)
为了提高研发效率,需要将机器人的设计过程和分析过程集成起来;针对这一集成要求,提出了基于Pro/E二自由度的机器人仿真平台,并建立两自由度平移运动并联机器人运动仿真模型;验证了机构的实际工作空间和运动情况,指出了该机构的在实际中的应用;最后通过仿真了机器人的位置轨迹、速度轨迹以及加速度轨迹来验证,文章所设计的二自由度机器人性能良好、工作灵活,很好地满足了设计指标要求,具有一定的实用性。 相似文献
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《机器人》2017,(5)
针对辅助外骨骼,分析了单自由度人机交互中的人机偏差因素,建立人机偏差变量模型,运用自对齐机构设计理论设计外骨骼机构,以提升人机耦合性能.首先,深入分析了单自由度人体生物关节,建立了人体简化模型+人机偏差变量模型的外骨骼设计模型参考.然后,运用自对齐机构设计理论和多自由度关节解耦方法,提出了自对齐人体运动的外骨骼机构设计思路与方法.最后,以下肢髋关节为对象,将髋关节外骨骼解耦为3个单自由度关节,设计了髋关节助力外骨骼的运动形式,并进行了人机耦合下的外骨骼动态静力驱动计算.结果显示,该运动设计使人机偏差交互力变得可控,从理论上证明了髋关节外骨骼机构能够跟随下肢运动并提供自适应人体的驱动助力. 相似文献
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A new lockable spherical joint is proposed in this paper, and it can be used as a revolute joint, a universal joint or a spherical joint. Three locking methods are introduced to construct the lockable spherical joint. Based on the proposed lockable spherical joint, a new reconfigurable parallel mechanism (RPM) with large positioning workspace is presented. The RPM has a tripod architecture with a lockable joint in each limb, which enables it three types of parallel mechanisms in six motion cases. Mobility analysis of the six motion cases is conducted. The new RPM can realize both translation and rotation by changing operative modes, which can be employed as machine tools, fixtures or manipulators. Based on the new RPM, two modular reconfigurable manufacturing systems are designed for aircraft assembly production, and a reconfiguration strategy is presented. 相似文献
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Typical kinematic and dynamic analysis of mechanisms considers the joints just as theoretical constraints. Nevertheless, for some particular kinematic joints (e.g. spherical joints) the physical realization takes the shape of distinct components that are attached to the adjacent bodies. While a spherical joint allows three theoretic relative rotations, except the self rotation of the shaft the other two rotations have a reduced range because of constructive limitations. In this paper we propose a function named angular capacity to represent the range of the physically permitted motion in a spherical joint. A graphical representation of the angular capacity is also proposed to intuitively illustrate the relative motion range and the constructive parameters that influence it are identified. Angular capacity of a spherical joint is defined as a constructive feature of the joint assembly—out of the mechanism context—but also as a motion range demanded by the mechanism from the spherical joint. For the first case general relations have been proposed for the constructive angular capacity calculation and useful consideration has been made for the embodiment design of the spherical joints. For the latter, a complete methodology and relationships for mechanisms with two degrees of mobility are proposed as well. Finally, the suspension-steering mechanism of the passenger cars is presented as a use case. 相似文献
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Development of a spherical stepper wrist motor 总被引:1,自引:0,他引:1
Kok-Meng Lee George Vachtsevanos Chikong Kwan 《Journal of Intelligent and Robotic Systems》1988,1(3):225-242
This paper presents the design concept of a new spherical stepper robotic wrist motor capable of three degrees of freedom (DOF) motion in a single joint. The spherical wrist motor has significant potential applications where the demands on wrist torque and workspace are low but high speed manipulation of end-effector orientation is required continuously in all directions. Typical applications are plasma and laser cutting and micro-assembly. The spherical motor is developed on the basis of the principle of variable reluctance stepper motors. This paper highlights the fundamental differences between the operation of a three DOF spherical motor and that of the conventional stepper motor. The establishment of a theoretic basis for design, prototype development and performance prediction is sought. In particular, an analysis of torque prediction is discussed along with the presentation of kinematic and dynamic relationships. A hybrid digital/analog laboratory prototype control circuitry has been developed to demonstrate proof of concept feasibility and to assist in achieving an optimum design. 相似文献
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In this paper, we develop a 3-degree of freedom (DOF) mechanism for humanoid robots, which we call the cybernetic shoulder. This mechanism imitates the motion of the human shoulder and does not have a fixed center of rotation, which enables unique human-like motion in contrast to the conventional design of anthropomorphic 7-DOF manipulators that have base three joint axes intersecting at a fixed point. Taking advantage of the cybernetic shoulder's closed kinematic chain, we can easily introduce the passive compliance adopting the elastic members. This is important for the integrated safety of humanoid robots that are inherently required to physically interact with the human. 相似文献
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Feng-Shui Jing Min Tan Zeng-Guang Hou Zi-Ze Liang Yun-Kuan Wang Madan M Gupta Peter N Nikiforuk 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2006,36(2):379-389
In this paper, a new type of six-degrees of freedom (DOF) flexible parallel mechanism (FPM) is presented. This type of parallel mechanism possesses several favorable properties: (1) its number of DOFs is independent of the number of serial chains which make up the mechanism; (2) it has no kinematical singularities; (3) it is designed to move on rails, and therefore its workspace is much larger than that of a conventional parallel manipulator; and (4) without changing the number of DOFs and the kinematics of the mechanisms, the number of the serial chains can be reconfigured according to the needs of the tasks. These properties make the mechanism very preferable in practice, especially for such tasks as joining huge ship blocks, in which the manipulated objects vary dramatically both in weights and dimensions. Furthermore, the mechanism can be used as either a fully actuated system or an underactuated system. In the fully actuated case, the mechanism has six DOF motion capabilities and manipulation capabilities. However, in the underactuated case, the mechanism still has six DOF motion capabilities, but it has only five DOF manipulation capabilities. In this paper, both the inverse and forward kinematics are studied and expressed in a closed form. The workspace and singularity analysis of the mechanism are also presented. An example is presented to illustrate how to calculate the kinematics of the mechanism in both fully-actuated and underactuated cases. Finally, an application of such a mechanism to manufacturing industry is introduced. 相似文献
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A dynamic modeling of multibody systems having spherical joints is reported in this work. In general, three intersecting orthogonal
revolute joints are substituted for a spherical joint with vanishing lengths of intermediate links between the revolute joints.
This procedure increases sizes of associated matrices in the equations of motion, thus increasing computational burden of
an algorithm used for dynamic simulation and control. In the proposed methodology, Euler parameters, which are typically used
for representation of a rigid-body orientation in three-dimensional Cartesian space, are employed to represent the orientation
of a spherical joint that connects a link to its previous one providing three-degree-of-freedom motion capability. For the
dynamic modeling, the concept of the Decoupled Natural Orthogonal Complement (DeNOC) matrices is utilized. It is shown in
this work that the representation of spherical joints motion using Euler parameters avoids the unnecessary introduction of
the intermediate links, thereby no increase in the sizes of the associated matrices with the dynamic equations of motion.
To confirm the efficiency of the proposed representation, it is illustrated with the dynamic modeling of a spatial four-bar
Revolute-Spherical–Spherical-Revolute (RSSR) mechanism, where the CPU time of the dynamic modeling based on proposed methodology
is compared with that based on the revolute joints substitution. Finally, it is explained how a complex suspension and steering
linkage can be modeled using the proposed concept of Euler parameters to represent a spherical joint. 相似文献
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Guifang Qiao Guangming Song Ying Zhang Jun Zhang Zhiwen Li 《Journal of Intelligent and Robotic Systems》2016,83(3-4):485-502
This paper presents a wheel-legged robot that features an active waist joint. The proposed wheel-legged robot is composed of a front module, a rear module, and an active waist joint. The proposed robot can perform rectilinear motion and turning motion in both wheeled and legged modes. The active waist joint module is added to make the robot pass through the curved narrow channel. Several experiments have been done to evaluate the performance of the proposed wheel-legged robot. The maximum velocities of the proposed robot in wheeled and legged modes are 17.2 and 10.4 m/min respectively. And the average corresponding deflection rates of the proposed robot in wheeled and legged modes are 3.1 and 3.7 % respectively. The mobility efficiencies of the robot in wheeled and legged modes are up to 96.3 and 94.3 % respectively. Compared with the proposed robot in legged mode, the performance in the turning motion with the active waist joint is better when the proposed robot is in wheeled mode. Two approaches of climbing obstacles are proposed for the proposed robot in legged mode. The wheel-legged robot can climb an obstacle with maximum height of 10 cm. 相似文献