家居人形机器人多自由度手臂运动仿真

Kinematic Characteristics and Simulation of Multi-degree Freedom Arm of Home Service Humanoid Robot

设计研发了家居人形机器人多自由度手臂,用D-H(Denarit-Hartenberg)法建立了手臂末端位姿变换矩阵及位姿方程.采用微型直流减速电机作为手臂关节驱动输入,根据实测微电机的电流-电压波形确定手臂运动仿真的输入电机特性,应用ADAMS(automatic dynamic analysis of mechanical system)进行多自由度手臂运动仿真.仿真计算了微型直流减速电机的扭矩、电流、转速特性,以及在此特性情况下手臂末端的位移、角速度、角加速度变化曲线.在此基础上,改变手臂各个关节质量以及质心位置的设计,仿真得出改变设计对手臂末端的角速度、角加速度的影响,为应用微型直流减速电机作为家居人形机器人手臂关节驱动及控制提供技术基础.

Multi-degree of freedom humanoid robot arm was designed and developed for home service. D-H （Denarit-Hartenberg） method was used to establish the transformation matrix and equations of the arm positions. Kinematic simulation of the arm was done with ADAMS （automatic dynamic analysis of mechanical system）, in which micro-DC motors were taken as joint drives for four-degree freedom of robot arm, and the input of the simulation were determined by the test voltage-current waves of the micro-DC motor. The calculation and simulation results showed that the speed and torque varied with the voltage and current of the micro-DC motor, and the characteristics of displacement, angular velocity and angular acceleration of the robot arm under these situations. Furthermore, the simulation and calculation were made for investigation of the kinematic characteristics of the robot arm with different mass variations of each part of arm, which provided the technological foundation for the application of micro-DC motors as robot arm drive and control.