摘要
提出了一种新型的7自由度手臂,3-RRR作为肩关节,两自由度球面机构Ur作为肘关节和腕关节,设计紧凑,可以提高承载力和灵活性。对手臂的运动学反解进行了分析,推导出拟人手臂的位置反解计算公式。利用虚拟样机技术对手臂期望轨迹进行了规划,得到驱动电机的转角运动轨迹。最后通过规划结果验证反解的正确性。
A new arm with parallel mechanism is presented. A parallel mechanism 3-RRR is used as its shoulder joint and a 2-DOF parallel mechanism U^r is used as its wrist joint and elbow joint. The computation formula of inverse kinematics is deduced, and trajectory planning is achieved through the virtual prototype technology. Then the movement rules of inputs are achieved. Using the results of the trajectory the correctness of the formula of inverse kinematics is verified.
出处
《机械科学与技术》
CSCD
北大核心
2009年第10期1266-1270,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家973项目(2006CB705402)
航空科学基金项目(20060157001)
国家自然科学基金项目(50775065)
天津市自然科学基金项目(08JCYBJC03200)资助
关键词
拟人手臂
反解
轨迹规划
虚拟样机技术
humanoid arm
inverse kinematics
trajectory planning
virtual prototype technology
