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针对传统机械臂负载自重比小、臂身惯量大、人机交互安全性弱等问题,对绳驱动机械臂的结构、绳驱关节耦合、冗余运动学等方面进行了研究,创新设计了一种新型7自由度冗余绳驱动机械臂。采用绳索间接驱动前端4个关节自由度,作为位置控制;采用电机直接驱动腕部关节3个自由度,作为姿态控制。利用绳索将驱动力从基座电机传递至机械臂关节处,实现驱动机构后置;对绳驱关节耦合问题进行分析,建立了电机-关节耦合映射关系;利用位姿分离方式,结合加权最小范数法,进行机械臂逆运动学冗余位置求解。仿真结果表明:耦合映射关系建立正确,冗余运动学求解准确高效,为绳驱机械臂结构优化、动力学建模奠定了基础。
Aiming at the problems such as the low self-weight of traditional mechanical arm, large inertia of arm and weak safety of human-computer interaction, the paper studies the structure of the rope-driven manipulator, coupling of rope drive and coupler, and redundant kinematics. New 7-DOF redundant rope-driven robotic arm. Indirectly driving the front four joints with a rope, the degree of freedom as a position control; the motor directly drives the wrist joints 3 degrees of freedom, as the attitude control. The driving force is transmitted from the base motor to the joint of the manipulator by the rope to realize the rear of the driving mechanism. The coupling problem of the rope-driven joint is analyzed, and the coupling relationship between the motor and the articulation is established. By using the position-attitude separation method and the minimum weighted range Number method, the arm reverse kinematics redundant position solution. The simulation results show that the coupling mapping is established correctly and the redundant kinematic solution is accurate and efficient, which lays the foundation for structural optimization and dynamic modeling of rope-driven manipulator.