Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design redu...Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.展开更多
The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, ...The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, and the other end which is free fastens the end executor to complete various duties. Each link of this arc welding robot has four kinds of Denavit-Hartenberg parameters: common normal length between two adjacent links, angle of two adjacent joints, distance between the crossing of common normal length and two joints axes, and angle of two adjacent links. The displacement relation between each link of the Motoman HP6 arc welding robot is introduced, and the kinematic positive-going solution and the kinematic passive-going solution are calculated.展开更多
介绍了机器人逆运动学数值解求解方法,详细分析了基于雅克比逆矩阵与雅克比转置矩阵的数值解原理,并给出在雅克比矩阵为奇异矩阵的情况下机器人运动方程的近似解。以Puma560机器人为例,对Matlab R obotics Toolbox逆运动学库函数进行验...介绍了机器人逆运动学数值解求解方法,详细分析了基于雅克比逆矩阵与雅克比转置矩阵的数值解原理,并给出在雅克比矩阵为奇异矩阵的情况下机器人运动方程的近似解。以Puma560机器人为例,对Matlab R obotics Toolbox逆运动学库函数进行验证,结果表明ikine6s函数能很好的解决六轴机器人逆运动学,具有较高的精度。展开更多
基金funded by the National Natural Science Foundation of China(NO.52175069).
文摘Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.
文摘The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, and the other end which is free fastens the end executor to complete various duties. Each link of this arc welding robot has four kinds of Denavit-Hartenberg parameters: common normal length between two adjacent links, angle of two adjacent joints, distance between the crossing of common normal length and two joints axes, and angle of two adjacent links. The displacement relation between each link of the Motoman HP6 arc welding robot is introduced, and the kinematic positive-going solution and the kinematic passive-going solution are calculated.
文摘介绍了机器人逆运动学数值解求解方法,详细分析了基于雅克比逆矩阵与雅克比转置矩阵的数值解原理,并给出在雅克比矩阵为奇异矩阵的情况下机器人运动方程的近似解。以Puma560机器人为例,对Matlab R obotics Toolbox逆运动学库函数进行验证,结果表明ikine6s函数能很好的解决六轴机器人逆运动学,具有较高的精度。
