基于人体工程学的仿人机械臂构型

Configuration of Humanoid Robotic Arm Based on Human Engineering

针对仿人机械臂构型问题,提出一种新的筛选方法,并确定串联结构方式下最符合人臂特征的仿人机械臂构型。从人体解剖学的角度出发,分析人臂的运动机理,并结合人体测量学和机器人学相关原理构建6种不同的仿人机械臂构型。提出全局相对可操作度指标对不同构型进行灵活性分析,并采用可视化方法绘制出各构型的运动灵活性性能分布图。根据人臂的运动特性分析人臂的运动工作空间,将各构型仿人机械臂工作空间与其对比,从而筛选出串联方式下的最佳仿人机械臂构型。该结果为仿人机械臂的设计提供了理论依据,并为后续运动规划奠定了基础。

A new screening method is proposed ifi configuring humanoid robotic arm, and a series configuration which is most consistent with the human arm characteristics is constructed The morement mechamsm of human arm from the point of view of human anatomy is analyzed, and 6 types of humanoid robotic arm combined with the mechanism of anthropometry and robotics are constructed. The global relative manipulability index is put forward, and the dexterity of different types of humanoid robotic arm with this index are analyzed. The visualization method is used to plot the image of dexterous performance distribution. The workspaces of human arm are analyzed, and different types of humanoid robotic arm＇s workspace with it are contrasted, thereby screening the best type of humanoid robotic arm. The results lay the foundation for humanoid robotic arm design and follow-up study of motion planning.