基于液压驱动的拟人机器人上肢机构设计

Design of Humanoid Robot for Upper Limb Mechanism based on Hydraulic Drive

为提高拟人机器人的集成性与负载能力,对拟人机器人上肢机械结构及其控制系统进行研究.运用CREO软件对拟人机器人上肢各主要关节进行三维模型,并完成虚拟装配.对液压驱动拟人机器人液压驱动系统实现了集成式模块化控制,液压管路布线均匀整齐.基于MATLAB软件对机器人手臂工作空间进行仿真分析,得到了机器人手臂末端执行结构的工作空间云图,并采用FluidSIM液压仿真软件对液压系统原理进行建模,验证液压系统设计的合理性.利用LabVIEW软件设计拟人机机器人上位管理界面,实现了其控制功能,为拟人机器人的设计、改进提供一定的理论基础.

To improve the integration and load capacity of the anthropomorphic robot,the mechanical structure of the upper limb of the anthropomorphic robot and its control system were studied.The Creo software is used to perform a three-dimensional model of the main joints of the upper limbs of the anthropomorphic robot,and the virtual assembly is completed.The integrated hydraulic control of the hydraulically driven anthropomorphic hydraulic drive system enables uniform and tidy hydraulic piping.Based on the Matlab software,the robot arm working space is simulated and analyzed.The working space cloud diagram of the robot arm end structure is obtained.The hydraulic system principle is modeled by FluidSIM hydraulic simulation software to verify the rationality of the hydraulic system design.The LabView software is used to design the host management interface of the anthropomorphic robot,which realizes its control function and provides a theoretical basis for the design and improvement of the anthropomorphic robot.