一种二自由度球型手腕的设计及控制分析

Design and Control Analysis of 2-DOF Spherical Wrist

该文提出一种新的基于伞齿传动的二自由度球型手腕。使用三个伞齿并利用伞齿的传动特性,设计了一款两侧伞齿同向转动用于实现俯仰运动,反向转动用于实现左右摆动的二自由度球型手腕。该球型手腕具有俯仰、摆动两个自由度。通过立体几何法分析了该球型手腕的运动空间并通过齿轮传动关系分析了电机转速和球型手腕运动角速度之间的关系。使用Solidworks Motion验证了该球型手腕的运动特性并使用Matlab处理数据,呈现实验结果。实验结果表明,设计的二自由度球型手腕运动范围大,集成度高,且控制简单方便。

In this paper, a novel design of a 2-DOF spherical wrist which is based on umbrella gear transmission is proposed. Using three umbreUa gear and their attribute, a 2-DOF spherical wrist is designed to have the capability to pitch move when bilateral umbrella gear homodromous rotation and swing move when bilateral umbrella gear inversus rotation. This spherical wrist has two degree of freedom which can pitch and swing. Through constructive solid geometry, the spherical wrist＇s motion space is analyzed. Moreover, through the gear transmission relationship, the relation between the spherical wrist＇s angular velocity and the electromotor＇s angular speed is established. Using the software of Solidworks Motion to verify motion characteristics and Matlab to analyze experimental data and achieve experimental results. The experimental results show that the 2-DOF spherical wrist has large range of movement and high integration. Moreover, it＇s convenient to control the wrist.