【作者】 赵裕明；

【导师】 金振林；

【作者基本信息】 燕山大学 ， 机械制造及其自动化， 2009， 硕士

【摘要】 在仿人机器人中加入腰关节可以提高仿人机器人的稳定性、协调性和扩展工作空间,因此,腰关节的设计是仿人机器人整体设计中的重要环节。本文采用一种新型的三转动三自由度并联机构作为仿人机器人的腰关节,并进行了运动学性能分析和结构设计。运用螺旋理论求解了新型并联结构腰关节的自由度,给出了该腰关节的位置反解和结构约束条件,分析了该腰关节的工作空间,并定量分析了结构参数对工作空间体积大小的影响,并对比分析了机器人腰关节的工作空间与3-RRR球面并联机器人的工作空间。采用对腰关节机构运动学方程中隐函数求导的方法,求解出该腰关节机构的速度雅可比矩阵,定义了速度传递性能评价指标,并分析了该性能指标在工作空间内的分布情况,并对比分析了机器人腰关节的速度传递性能与3-RRR球面并联机器人的速度传递性能。以工作空间、速度传递性能指标和结构紧凑性为依据,确定腰关节的结构参数,借助三维制图软件完成新型三自由度并联结构腰关节样机设计。更多还原

【Abstract】 Adding waist joint to a humanoid robot can improve the stability, coordination of the robot and extended the workspace. So the design of waist joint is the important link of the whole design of robot.The thesis adopted a kind of three rotation 3-DOF parallel manipulator as the humanoid robot’s waist joint,analysis kinematics performance and design structure of the parallel manipulator.The DOF of the novel parallel waist are given by using the theory of screws, the reverse position also be discussed. By using the inverse kinematics equations established and the architecture constraints,its workspace is investigated. The effects of the structure parameters to the workspace volume are studied quantitatively. Put the waist joint robot’s and the 3-RRR spherical parallel robot in a comparative and analyse the workspace.The velocity Jacobian matrix of the waist joint is established by using kinematics equation derivative. A kinematic transmission evaluation criterion is defined.The distribution of the defined evaluation criterion are presented on the workspace. Put the waist joint robot’s and the 3-RRR spherical parallel robot in a comparative and analyse the kinematics transfer properties.The mechanism parameters are confirmed according to the kinematics transmission isotropic, workspace volume and architecture compact conditions,The model of the novel 3-DOF parallel waist joint is design by three-dimensional software, Complete the prototype design of the waist joint.更多还原