五连杆式人机合作机器人运动学及动力学研究

Research on kinematics and dynamics of five-bar Cobot

人机合作机器人(Cobot)是被动的能直接与人合作的机器人.根据差动轮系的不完全约束特性,提出了基于差动轮系的五连杆式人机合作机器人模型.根据差动机构与关节、差动机构与差动机构之间的耦合关系,建立了串联式Cobot的运动学模型和动力学模型.对串联式五连杆Cobot模型样机进行了实验研究.实验结果表明,该五连杆式Cobot能够跟踪理想直线,具有不完全约束特性,如果进一步完善,它可以被应用在大型零件的装配生产线、外科手术以及一些需要人机合作的场合.

Cobots are passive robots intended for direct collaboration with a human operator. In this study a five-bar Cobot architecture based on differential gear is put forward by nonholonomic constraint feature of differential gear. The kinematic and dynamic models of serial Cobot architecture were built up in terms of different coupling modes between differential mechanisms and joints. The prototype of a five-bar serial Cobot architecture was studied and the results show that the five-bar Cobot can track a desirable straight line, and possess non-holonomic constraint feature. If perfected further, it can be applied in assembly production lines of large-size parts, surgery operations and some situations requiring man-machine cooperation.