3-RRR+(S-P)人形机器人仿生肩关节主参数设计及其工作空间分析

Main Parameter Design and Workspace Analysis of a Novel 3-RRR+(S-P) Humanoid Robotic Bionic Shoulder

通过实验测量得到人体肩关节的运动空间。依据结构仿生原则,对比人体肱骨结构参数,将3-RRR+(S-P)人形机器人仿生肩关节的输出偏置角定为45°,并通过坐标变换得到其安全工作空间。依据空间一致性原则,对比人体肩关节的运动空间,确定仿生肩关节定平台在"人体"中的安装位姿角,使仿生肩关节相对于"人体"的安全工作空间与人体肩关节运动空间的中心位置(对称轴线)重合,从而设计完成3-RRR+(S-P)人形机器人仿生肩关节。最后,建立3-RRR+(S-P)人形机器人仿生肩关节与人体肩关节的空间映射关系。

The moving spaces of human shoulder were obtained by experiments. Based on the prin- ciples of structural bionic, the output offset angles of 3-RRR＋（S-P） humanoid robotic bionic shoul- der were designed as 45°referring to the structure of humerus. And then, the secure workspaces of the bionic shoulder were obtained by coordinate transformation. Based on the principles of space con- sistency, the installation orientations of the bionic shoulder relative to ＂human body＂ were determined referring to the moving spaces of human shoulder. The center positions（symmetry axes） of the secure workspaces of the bionic shoulder relative to ＂human body＂ and the moving spaces of human shoulder were coincident. Thereby, the 3-RRR＋（S-P） humanoid robotic bionic shoulder was proposed. Final- ly, the workspace mapping relation between 3-RRR＋（S-P） humanoid robotic bionic shoulder and hu- man shoulder was obtained.