| (2SPS/U)&(2SPS/RR)型并联拟人机械臂的设计与运动学分析 |
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| 引用本文： | 马志广,王康康,张磊乐,贾少微,陈参.(2SPS/U)&(2SPS/RR)型并联拟人机械臂的设计与运动学分析[J].机械传动,2021,45(3):64-68. |
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| 作者姓名： | 马志广 王康康 张磊乐 贾少微 陈参 |
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| 作者单位： | 河南开放大学 机电工程学院,河南 郑州 450008;河南开放大学 机电工程学院,河南 郑州 450008;郑州机械研究所有限公司 智能装备事业部,河南 郑州 450001;北京航空航天大学 生物医学与工程学院,北京 100191;河南开放大学 机电工程学院,河南 郑州 450008 |
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| 基金项目： | 高等学校重点科研项目应用研究计划[面向智能制造的运动同步与任务协作研究 |
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| 摘 要： | 针对现有仿生拟人机械臂连续性差、稳定性差和惯性冲击大的问题,提出了一种新型并联拟人机械臂,可以模拟人的腕关节、肘关节、肩关节动作,采用(2SPS/U)&(2SPS/RR)的二级耦合并联机构来驱动各个关节动作.为得到其运动学正反解,利用封闭矢量法和牛顿迭代法计算得到两级并联机构的运动学正反解;并将整个拟人臂的机构构型进行...
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| 关 键 词： | 拟人臂 并联机构 运动学 |
Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator |
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| Ma Zhiguang,Wang Kangkang,Zhang Leile,Jia Shaowei,Chen Can.Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator[J].Journal of Mechanical Transmission,2021,45(3):64-68. |
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| Authors: | Ma Zhiguang Wang Kangkang Zhang Leile Jia Shaowei Chen Can |
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| Affiliation: | (School of Mechanical and Electrical Engineering,The Open University of Henan,Zhengzhou 450008,China;Intelligent Equipment Division,Zhengzhou Research Institute of Mechanical Engineering Co.,Ltd.,Zhengzhou 450001,China;School of Biological and Medical Engineering,Beihang University,Beijing 100191,China) |
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| Abstract: | As the existing bionic humanoid manipulator has large inertia impaction,poor continuity and stability,a novel humanoid manipulator is presented.The humanoid arm can simulate the wrist joint,elbow joint and shoulder joint.The(2SPS/U)&(2SPS/RR)two-stage coupling parallel mechanism is used to drive each joint action In order to obtain its inverse and forward kinematics,the closed vector method and Newton iteration method are used to calculate the positive and negative kinematics solutions of the two-stage parallel mechanism,and then the mechanism configuration of the whole artificial arm is simplified.Based on the D-H method,the forward and inverse position solutions of the whole mechanism are given and validated. |
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| Keywords: | Humanoid manipulator Parallel mechanism Kinematics |
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