新型过约束球面并联式关节机构仿生设计.doc

文档介绍：
新型过约束球面并联式关节机构仿生设计#
侯雨雷,胡鑫喆,周玉林*
(燕山大学机械工程学院,河北秦皇岛 066004)
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摘要:关节设计是人形机器人研发的关键。以 3-RRR 3 自由度球面并联机构为原型,在其
静力学及刚度特性分析基础之上,从仿生学角度出发,通过植入中心球面副的方式,提出两
种改进的可应用于人形机器人肩、髋关节的过约束四支链仿生关节机构,并实现了静力全部
或部分卸载及刚度均衡。对引入的机构中心球面副进行结构改进,大幅扩大了机构实际工作
空间。本文新型仿生关节机构的提出及其结构设计对人形机器人关节的研制具有理论指导意
义和实际应用价值。
关键词:球面并联机构;仿生关节;静力卸载;刚度;工作空间
中图分类号:TP24
Bionic Joint Design Based on a Novel Over-constrained
Spherical Parallel Mechanism
HOU Yulei, HU Xinzhe, ZHOU Yulin
(School of Mechanical Engineering, Yanshan University, HeBei Qinhuangdao 066004)
Abstract: The design of joint is the key point for development of humanoid robots. Two bionic
joint mechanisms with four over-constraint chains were proposed based on the 3-RRR spherical
3-DOF spherical parallel mechanism, which could be applied to the shoulder and hip joint for
humanoid robot. In the view of bionics, we introduced the center spherical pair based on the
statics and stiffness characteristics analysis, which can realize the unloading for full or part of the
static and the equilibrium of stiffness. The practical workspace was expanded widely with the
improvement of the structure of the center spherical pair. The presentation and structure design of
the novel bionic joint mechanism possess an important theoretical significance and practical value
for the development of the humanoid robot joint.
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