| 仿生关节机构运动分析 |
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| 引用本文： | 张立杰,潘存云,陶溢,李明宇. 仿生关节机构运动分析[J]. 中国机械工程, 2007, 18(12): 1387-1391 |
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| 作者姓名： | 张立杰 潘存云 陶溢 李明宇 |
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| 作者单位： | 国防科学技术大学,长沙,410073 |
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| 摘 要： | 建立了基于渐开线环形齿球齿轮的仿生关节机构的运动学模型。分析了关节结构特点,定义了坐标系以及与偏转运动密切相关的三个参数,归纳得到了偏转轴方位,推导出关节的变换矩阵,利用方向余弦法分析得到了机构的运动学方程,并用Matlab和SolidEdge仿真验证了结论的正确性。
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| 关 键 词： | 仿生关节 运动分析 方向余弦法 仿真 |
| 文章编号： | 1004-132X（2007）12-1387-05 |
| 修稿时间： | 2006-04-21 |
Kinematic Analysis of the Bionic Joint |
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| Zhang Lijie,Pan Cunyun,Tao Yi,Li Mingyu. Kinematic Analysis of the Bionic Joint[J]. China Mechanical Engineering, 2007, 18(12): 1387-1391 |
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| Authors: | Zhang Lijie Pan Cunyun Tao Yi Li Mingyu |
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| Affiliation: | National University of Defense Technology, Changsha, 410073 |
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| Abstract: | To offer the kinematics equation of bionic joint,composed by spherical gear with ring involute teeth, is the aim of this paper.Firstly,the coordinate system was set up after the structure of joint was analyzed.Then three important parameters were critically defined,which had tight relation with the swing of the mechanism. In succession,in order to get the transformation matrix, the orientation of the parameter n (swinging-axis) was derived.In the following section, the paper concludes the research and achieves the outcomes using direction cosine matrix.As an example,the simulation with MATLAB and SolidEdge testifies the obtained kinematics equation. |
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| Keywords: | bionic joint kinematics analysis direction cosine matrix simulation |
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