新型线驱动超冗余自由度机器人的设计及分析

Design and Analysis of New String-Driven Hyper-Redundant DOF Robot

超冗余自由度机器人采用远程线驱动方式与电机置于关节处(内)的直接驱动方式相比具有成本低、体积小等优点。提出一种新的远程线驱动结构方案,其特点是拮抗线对末端连接点位于关节(虎克铰)转轴的延长线上,拮抗线对的伸缩量近似相等,基于此特点,提出了采用单个电机驱动的设计方案,这样可使所需电机数减半,降低机器人成本。详细给出了结构方案、线绳伸缩量公式,并通过多组结构参数进行了验证设计方案的可行性。

The remote string driven type of the hyper-redundant DOF robot has the advantages of low cost and small volume compared with the direct driven type with motors placed near or inserted in the joints.It puts forward a new remote string driven hyper-redundant DOF robot structure scheme,which has the unique feature that the antagonistic string pair’s end connection points are all located in the extension line of the rotating joint（Hooke joint）axis.So the stretching and contracting displacements of the two antagonistic strings are approximately equal.Therefore these two strings can be connected at their driven ends and driven by single motor.So the number of driving motors can be reduced by 50% which can reduce the robot cost.It presented in detail the structure scheme and the equation of string stretching and contracting displacement,which is validated by selecting different link parameters.