新型PURU+RR+S球面并联人形机器人踝关节机构动力学性能分析

提出了一种新型PURU+RR+S球面并联人形机器人踝关节机构，根据机构的几何约束关系和速度合成定理，建立包括各个构件位姿、速度的机构运动学模型。在此基础上，考虑各构件惯性力的影响，基于虚功原理和拉格朗日方程，建立了机构动力学模型。通过实验测量，得到一组人体踝关节的运动学数据，利用傅里叶公式进行拟合，得到人体踝关节的位姿函数。将此位姿函数分别作为理论模型、踝关节虚拟样机的输出，得到踝关节机构输入的数值解、仿真数据，验证了运动学和动力学模型的正确性。研究结果为该人形机器人踝关节机构在工程中的结构设计与应用提供了动力学理论基础和依据。

Dynamics Property Analyses of a Novel PURU+RR+S Spherical Parallel Humanoid Robotic Ankle Mechanisms

A novel PURU+RR+S spherical parallel humanoid robotic ankle mechanism was proposed herein, the kinematic models including poses, velocities of all components were established according to geometric constraint relations and velocity composition theorem of this mechanism. Based on this, the influences of inertia forces of each components were considered, dynamics model of this mechanism was established based on the principles of virtual work and Lagrange equation. A group of kinematic data of human ankles were obtained by experimental measurements, position and orientation functions of human ankles were derived using Fourier formula. The position function was used as outputs of the theoretical model and the virtual prototype of ankle mechanisms respectively. Numerical solutions and simulation data of the inputs of ankle mechanisms were obtained, and then the correctnesses of kinematic and dynamic models were confirmed. The research provides a theoretical basis of dynamics for structure design and applications of the humanoid robotic ankle mechanisms in engineering.