基于非完整约束原理的欠驱动机械臂机构的设计

The design of underactuated manipulator based on nonholonomic constraint theory

依据现有的非完整约束理论、机器人机构学与控制理论,采用摩擦圆盘运动分解合成机构,提出了一种可在三维空间内运动的非完整机械臂机构,并研究其运动规律。这种三维非完整机械臂机构,既表现出运动约束的不可积性(即非完整性),还表现出运动的非线性和可控性。这类机械臂由于驱动单元数较少,从而降低了机械臂的重量和成本,这种机构对于探索三维复杂非完整机械系统具有重要的科学意义。

The paper proposes a new kind of underactuated manipulator mechanism which can move in three-dimensional space and studies its motion planning based on the present nonholonomic constraint theory, the theory of robot study and control, and the nonholonomc of the disk free-rolling constraint on the plane. This mechanism of manipulator shows the properties of nonholonomic, nonlinear and controllable of movement constraint. The weight and cost of manipulator is reduced due to the less driver modules. Researching this kind of mechanism is of great scientific significance for exploring the complicated nonholonomc three-dimensional machinery system.