仿人机械手臂结构设计与运动学分析

Structural Design and Kinematic Analysis of Humanoid Robot Arms

针对真人在驾驶员注意力监测系统性能测试中重复性执行单一动作存在易疲劳等问题,设计了一种模拟驾驶员接打手持电话和抽烟等行为动作的仿人机械手臂。首先,基于外骨骼的设计方法,进行机械臂和仿生手的结构设计;然后,利用改进的D-H法建立机械手臂运动学模型,进行正逆运动学求解和工作空间分析,并在Adams软件中对机械手臂进行动力学仿真,获得了其运动特性与负载特性。仿真结果表明,该机械手臂结构设计合理,关节柔性执行器选型满足要求。

Aiming at the problem that human beings are prone to fatigue when they repeatedly perform a single action in the performance test of the driver attention monitoring system, a humanoid robot arm is designed to simulate the driver′s behaviors such as answering and making handsets and smoking. Firstly, based on the exoskeleton design method, the structure of the robot arm and the bionic hand is designed. Secondly, the im⁃ proved D-H method is used to establish the kinematics model of the manipulator;the forward and inverse kine⁃ matics are solved, and the workspace is analyzed;the dynamics simulation of the robot arm is carried out in Ad⁃ ams software to obtain its motion characteristics and load characteristics. The simulation results show that the structural design of the manipulator is reasonable, and the selection of joint flexible actuators meets the requirements.