带柔索的串并联关节动力学特性分析.docVIP

 带柔索的串并联关节动力学特性分析 5 10 15 20 25 30  摘要：以双臂式巡线机器人为应用背景，采用拉格朗日方法分别建立了机器人手臂串联驱动 和带柔索串并联驱动的动力学方程，仿真分析了腕关节、肘关节的动力学特性。机器人手臂 串联驱动的仿真结果显示机器人在水平和竖直方向移动时肘关节会产生很大的转矩，而带柔 索串并联驱动的仿真结果显示与串联驱动相比肘关节的转矩大大降低。通过仿真实验分析结 果可以看出，带柔索的串并联驱动关节与串联驱动关节相比能够大大降低肘关节的转矩，提 高肘关节的负载能力，可以解决双臂式巡线机器人串联驱动关节转矩过大的问题，为仿人双 臂式巡线机器人的设计提供了新思路。 关键词：机械动力学与振动；巡线机器人；串并联关节；柔索驱动 中图分类号：TH12 Analysis on Dynamic Characteristics of Serial-parallel Joint with Flexible-Cable WEI Yongle1, CHAO Caiyun2 (1. Mechanical Engineering College, Liaoning Technical University, Fuxin 123000; 2. Fuxin Dongsheng RefrigerationAir-conditioner Equipment, Fuxin 123000) Abstract: Regarding the dual-arms inspection robot as background, the dynamic equations of the serial driven and the serial-parallel driven robotic arm are presented based on Lagrange equation, and the dynamic characteristics of the wrist and elbow joint are simulated. The numerical simulation result of the serial driven robotic arm shows that the elbow joint has great torque when the robot moves horizontally and vertically. However, the numerical simulation result of the serial-parallel driven robotic arm shows that the elbow joint torque reduces greatly comparing with the serial driven arm. By analyzing the results of the simulation experiment, it can be seen that this serial-parallel driven joint with flexible-cable can reduce the elbow torque greatly and improve the load capacity of robotic arm comparing with the serial driven joint, which can solve the problem that the torque of serial driven joint in dual-arms inspection robot is too large and provide a new idea for the design of humanoid dual-arms inspection robot. Key words: Mechanical dynamics and vibration; Inspection robot, Serial-parallel joint, Flexible-cable driven 35 0 引言 机器人驱动系统是机器人技术研究的重要内容之一。并联驱动机构具有刚度大、精度高 和速度高的特点，但工作空间小、灵活性差[1]；串联驱动机构负载能力小，有时无法满足实 际作业的要求，具有冗余度的串并联混合结构的机器人恰好能有效地解决这个问题[2]。串并 40 45 联机构具有结构紧凑、输出力矩大、工作空间大等优点，引起了许多学者的兴趣，并进行了 一定的研究工作[2-4]。 为了保证高压输电线路的可靠性，提高巡线的效率，国内外许多学者和科研院所开展了 有关巡线机器人的相