绳索驱动型拟人机械手运动仿真

Kinematics-simulation of the Humanoid Cable-driven Mechanical Arm

为满足肢体缺陷人群对高仿真性且具有高灵巧性的假肢或者替代人手执行危险工作的需求,设计了一款绳索驱动型拟人机械手,使用Solid⁃Works构建了拟人机械手的三维模型;并运用SolidWorks的Simulaition插件、ADAMS软件进行运动仿真,从仿真结果来看,各个手指的指尖均出现速度、加速度跳变的情形。为了使拟人手的指尖从起始端到末端运动平稳,拟人机械手加减速的控制方法宜采用S型速度曲线控制算法,以有效解决机械手的速度、加速度跳变问题,优化各手指的整体运动形态的连贯性以及平滑性。此研究不仅能缩短物理样机的创建周期,还为优化物理样机设计和控制方案提供有价值的参考依据。

In order to meet the needs of people with limb defects for high simulation and high dexterity prosthetics or to perform dangerous work instead of human hands,a rope driven anthropomorphic manipulator was designed.The 3D model of the anthropomorphic manipulator was constructed by using SolidWorks.The simulation plug-in of SolidWorks and ADAMS software were used for motion simulation.From the simulation results,the fingertips of each finger are uniform the speed and acceleration jump.In order to make the fingertip of the humanoid hand move smoothly from the beginning to the end,the S-shaped speed curve control algorithm should be used in the acceleration and deceleration control method of the humanoid manipulator,so as to effectively solve the problem of the speed and acceleration jump of the manipulator,and optimize the continuity and smoothness of the overall motion form of each finger.The research can not only shorten the creation period of physical prototype,but also provide valuable reference for optimizing the design and control scheme of physical prototype.