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下肢康复外骨骼机构人机约束力分析 被引量:3
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作者 张自强 李剑锋 +1 位作者 陶春静 季润 《机械设计与制造》 北大核心 2013年第12期177-180,共4页
下肢康复外骨骼机构与人体下肢之间连接关节轴线分布的不同会对人-机约束力产生不同的影响,从而可能会影响外骨骼机构在使用过程中的安全性和舒适性。基于螺旋理论,对人-机闭链中刚体骨骼模型的大腿构件、小腿构件以及与其相连的外骨骼... 下肢康复外骨骼机构与人体下肢之间连接关节轴线分布的不同会对人-机约束力产生不同的影响,从而可能会影响外骨骼机构在使用过程中的安全性和舒适性。基于螺旋理论,对人-机闭链中刚体骨骼模型的大腿构件、小腿构件以及与其相连的外骨骼机构连杆分别进行了受力分析,求得外骨骼机构对人体下肢在连接位置处的约束力和约束力矩。分析了不同方向的人-机约束力对穿戴过程中安全性和舒适性的影响,并给出了一个数值算例,比较了胡克铰两种轴线分布情况下人-机约束力的变化规律,为外骨骼的结构设计提供一定的依据。 展开更多
关键词 外骨骼 螺旋理论 人-机约束力
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FUZZY COORDINATION AND FORCE/POSITION CONTROL OF ROBOTIC MANIPULATOR
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作者 乔兵 尉忠信 朱剑英 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1999年第1期55-60,共6页
It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on l... It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective. 展开更多
关键词 robotic manipulator force/position control CONSTRAINTS COORDINATION fuzzy synthesis
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ON THE DYNAMICS OF MULTIARM ROBOTS
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作者 WANG Shuxin LIU Youwu ZHANG Dajun (Tianjin University) HUSTON Ronald L (University of Cincinnati, Cincinnati, OH 45221 0072, USA) 《Transactions of Tianjin University》 EI CAS 1996年第1期9-13,共5页
This paper studies the dynamics of multiarm robots and multirobot configuration. With two or more arms holding an object, one or more closed loops are formed by the arms. The system is then a constrained multibody sys... This paper studies the dynamics of multiarm robots and multirobot configuration. With two or more arms holding an object, one or more closed loops are formed by the arms. The system is then a constrained multibody system and is studied as such. Dynamic analyses of constrained multibody systems may be obtained using recently developed procedures based upon Kane′s equations and Huston′s methods. These procedures lead to a numerical formulation of the governing equations, thus producing a simulation of the movement of the system. The procedures are applied and illustrated with a two robot system using PUMA 760 and 562 robots. A good agreement is obtained between theoretical and experimental results. 展开更多
关键词 DYNAMICS multiarm robots constrained multibody system
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PLANNING OF DYNAMICALLY FEASIBLE TRAJECTORIES FOR TRANSLATIONAL,PLANAR,AND UNDERCONSTRAINED CABLE-DRIVEN ROBOTS 被引量:1
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作者 TREVISANI Alberto 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2013年第5期695-717,共23页
Extensively studied since the early nineties,cable-driven robots have attracted the growing interest of the industrial and scientific community due to their desirable and peculiar attributes.In particular,underconstra... Extensively studied since the early nineties,cable-driven robots have attracted the growing interest of the industrial and scientific community due to their desirable and peculiar attributes.In particular,underconstrained and planar cable robots can find application in several fields,and specifically,in the packaging industry.The planning of dynamically feasible trajectories(i.e.,trajectories along which cable slackness and excessive tensions are avoided) is particularly challenging when dealing with such a topology of cable robots,which rely on gravity to maintain their cables in tension.This paper,after stressing the current relevance of cable robots,presents an extension and a generalization of a model-based method developed to translate typical cable tension bilateral bounds into intuitive limits on the velocity and acceleration of the robot end effector along a prescribed path.Such a new formulation of the method is based on a parametric expression of cable tensions.The computed kinematic limits can then be incorporated into any trajectory planning algorithm.The method is developed with reference to a hybrid multi-body cable robot topology which can be functionally advantageous but worsen the problem of keeping feasible tensions in the cables both in static and dynamic conditions.The definition of statically feasible workspace is also introduced to identify the positions where static equilibrium can be maintained with feasible tensions.Finally,some aspects related to the practical implementation of the method are discussed. 展开更多
关键词 Cable robot dynamically feasible trajectories statically feasible workspace trajectoryplanning.
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