一种液动柔性机械手手腕结构的设计与分析

Design and Research of Hydraulic Flexible Manipulator Wrist

提出一种基于OHM(Oil Hydraulic Muscle)的柔性机械手手腕机械结构的设计,应用一定的柔性机械手腕驱动。通过定义关节结构的笛卡尔坐标系,建立反应关节结构参数与工作空间、动力学特性之间的数学模型,得出了腕关节在不同动作方式下的驱动原理,最后利用CATIA对腕关节结构进行了电子样机分析。仿真结果表明基于OHM的柔性机械手手腕结构简洁、灵巧,能达到人手手腕的运动范围。

For applying a kind of driving mode of flexible mechanical wrist, an oil-hydraulic-muscle-based method is proposed to design flexible manipulator wrist joint. Firstly, the cartesian coordinate system of joint mechanism is defined, and a mathematical model is constructed to express the relationships among the structure parameters, workplace and dynamic features of the driving joints. As a result, the principles of driving in different situations are proposed. Finally, the electronic-prototype-analysis of the wrist joint is implemented with software CATIA. The simulation results prove the advantages of the oil-hydraulic-muscle-based wrist joint in terms of succinctness, dexterity, and achieving the motion range same as human wrist.