新型机器人肩关节及其运动学分析

Design and Kinematics Analysis of a Novel Robot Shoulder Joint

基于新型正交布置的3RRR球面并联机构,设计了一种机器人肩关节,介绍其结构布局特点,由几何关系推导了该肩关节的位置反解方程和雅可比矩阵,在给定约束条件下,绘制了肩关节的工作空间,定义了该种肩关节的灵巧度评价指标,并绘制了灵巧度评价指标在工作空间上的分布图。该肩关节具有结构紧凑、解耦性好、加工及装配性好等特点,是一种较理想的人形机器人肩关节。

Based on the orthogonal 3RRR spherical parallel mechanism, an unique shoulder joint of humanoid robot with parallel architecture was investigated, and the layout feature of the shoulder joint was described. The inverse kinematics equations and Jacobian matrix were given by the relation of geometry. Condition number which was detrude by Jacobian matrix was used to define dexterity measurement. According to restriction terms of workspace the constant orientation workspace and dexterity measurement were plotted. The results of analyses indicate that the shoulder joint enjoys many advantages over its compact structure, good decoupled property, easy manufacturing and assemble. It shows good performance as a shoulder joint of humanoid robot.