一种仿人肩关节的运动学和工作空间分析

doi:10.3969/j.issn.1000-1093.2019.02.019

摘要/Abstract

摘要： 针对人体肩关节的结构特点，提出了一种以球面5R并联机构为原型的仿人肩关节。通过Paden-Kahan子问题思路，推导出了该并联机构的位置反解。基于螺旋理论和指数积公式，并结合直接法和虚拟机构法，给出了少自由度非对称型并联机构的运动学分析方法，得到了该并联机构的速度雅可比矩阵。应用多参数的迭代抽样优化方法，分析了工作空间评价指标与结构参数之间的关系，同时考虑加工装配工艺，最终选取了一组较合理的结构参数。研究结果表明：所提仿人肩关节结构紧凑、工作空间大，且符合人体肩关节活动特点。

关键词: 仿人肩关节, 球面5R并联机构, 雅可比矩阵, 工作空间, 参数优化

Abstract: A humanoid shoulder joint based on spherical 5R parallel mechanism is proposed according to the structural characteristics of human shoulder joint. The inverse position solution of parallel mechanism is derived through the idea of the Paden-Kahan sub-problem. A kinematics analysis method of the asymmetric parallel mechanism with few degrees of freedom is given based on the screw theory and the product of exponentials formula in combination with the direct method and the imaginary mechanism method, and the velocity jacobian matrix of parallel mechanism is obtained. The iterative sampling optimization method for multi-parameter is used to analyze the relationship between the evaluation index of working space and the structural parameter of the mechanism. A reasonable set of structural parameters is selected in consi- dering the processing assembly process. The research results show that the humanoid shoulder joint is compact, and has a large working space and conforms to the kinematical characteristics of human shoulder joint. Key

Key words: humanoidshoulderjoint, spherical5Rparallelmechanism, Jacobianmatrix, workingspace, parameteroptimization

中图分类号:

孙鹏，李研彪，郭明飞. 一种仿人肩关节的运动学和工作空间分析[J]. 兵工学报, 2019, 40(2): 384-394.

SUN Peng， LI Yanbiao, GUO Mingfei. Kinematics and Working Space Analysis of a Humanoid Shoulder Joint[J]. Acta Armamentarii, 2019, 40(2): 384-394.

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