新型三自由度并联结构腰关节设计
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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。
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.
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。
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.
引文
1 P. Nordin, G. N. Mats. An Evolutionary Architecture for a Humanoid Robot[R/OL]. http://humanoid.fy.chalmers.se/text/cuba.pdf
2 T. Asfour, K. Bern, R. Dillmann. et al. The Humanoid Robot Armor: Design and Control. Proceedings of The First IEEE International Conference on Humanoid Robots,2000,MIT.USA,MIT Press,2000:7-8
3 W. Rufus. The Shadow Biped[EB/OL]. http://www.shadow.org.uk/projects/bipeds. html
4 K. Toffler, M. Ginger, F. Pfeiffeiup, et a1.Sensor and Control Design of a Dynamically Stable Biped Robot. Proceedings of 2003 IEEE International Conference on Robotics and Automation. Germany.2003.TaiwanI R.O.C,2003:484-490
5 B. Carlos. Jacket[EB/OL].http://www.uc3m.es/uc3m/dpto/IN/dpin04/JACK.html
6 KIST Releases Korea’s Latest Humanoid Robot NBH.1[EB/OL]. http://www.arirnng. com.html
7 KATO.I.et a1.Wabot-2.Autonomous Robot with Dexterous Finger Ann.Proceeding of IEEE Robotics and Automation,1987,5(2):158-162
8 Kato I, Group of Bio-Engineering(Waseda University). Information Power Machine with Senses and Limbs-WABOT[A].Proceedings of CISM-IFTOMM Theory and Practice of Robots and Manipulators.Undine Springer,1974:12-24
9 Toshio Morita ,Hiroyasu Iwata ,Shigeki Sugano. Development of humansymbiotic robot :Wendy. Proc. of the 1999 IEEE International Conference on Robotics and Automation ( ICRA) ,1999,(4):3183-3188
10 K.Kaneko, F.Kanehiro, S.Kajita, K.Yokoyama, K.Akachi, T.Kawasaki, S.Ota, T.lsozumi.Design of prototype humanoid robotics Platforrn for HRP Intelligent Robots and System.2002.IEEE/RSJ International Conference on, 2002,3:2431-2436
11 N.Kanehira, T.U.Kawasaki, S.Ohta, T.Ismumi, T.Kawada, F.Kanehiro, S.Kajita,K.Kaneko.Design and experiments of advaneed leg module(HRP-2L)for humanoid robot(HRP-2) Development Intelligent Robots and System , 2002, IEEE/RSJ International Conferenceon, 2002,3:2455-2460
12 Brooks R A, et al. The Cog project: building a humanoid robot. Computation for Metaphors, Analogy, and Agents, Sp ringer-Verlag Heidelberg ,Berlin, 1999:52-87
13 Scot Nortman,Antonio Arroyo,Michael Nechyba,et a1.Penuman:A humanoid robot implementation.Florida Conference on Recent Advances in Robotics (FCRAR), 2002, 5:1-8
14赵铁军,赵明扬,单光坤,等.仿人机器人柔性腰部机构研究.机器人, 2003,25(2):101-104
15金振林,荣誉.基于三分之非均匀分布球面并联机构的腰关节设计.中国机械工程,2007,18(22):2697-2699
16 Hirai K, et al. The development of Honda humanoid robot[A]. Proc. of the 1998 IEEE International Conference on Robotics and Automation (ICRA), 1998: 1321-1326
17 Kagami S, et al. Design and imp lementation of software research platform for humanoid robotics:H6 [A].Proc. of the 2001 IEEE International Conference on Robotics and Automation (ICRA), 2001:2431-2436
18扬斌久,蔡光起,罗继曼,等.少自由度并联机器人的研究现状.机床与液压, 2006,5:202-206
19李秦川,黄真.一类可重组模块化少自由度并联机器人.机电工程, 2003,5(20): 165-168
20 K. H. Hunt. Structural Kinematics of in-Parallel-Actuated Robot Arms. Journal of Mechanisms, Transmissions and Automation in Design,1983,105:705-712
21 Lee, K.M. And Shah, D.K. Kinematics Analysis of a Three-Degree-of Freedom in Parallel Actuated Manipulator. IEEE Journal of Robotics and Automation, 1988, 4(3): 354-360
22 Lee, K.M. And Shah, D.K. Kinematics Analysis of a Three-Degree-of Freedom In Parallel Actuated Manipulator. IEEE Journal of Robotics and Automation, 1987,1(5): 354-350
23 Waldron, K.J. Raghacan, M. Roth, B. Kinematics of a Hybrid Serial-Parallel Manipu- laulation System.ASME J. Of Dyn. Sys. Meas. And Cont, 1989, 11(1):211-211
24 C. Gosselin, J. Angeles.The Optimum Kinematic Design of a Spherical 3-DOF Parallel Manipulator. ASME Journal of Mechanism, Transmissions, and Automation in design, 1989,111(7):202-207
25战丽娜.一种基于球面机构的肩关节的分析与设计.燕山大学学报,2006,30(1): 14-17
26孙立宁,刘宇,祝宇虹.一种用于腕关节的球面三自由度并联解耦机构位置分析.中国机械工程,2003,14(10):831-833
27高峰,赵辉,李为民,等.串并联人形机器人.中国发明专利:03102865.9. 2003.1.26
28 D. Zlatanov, C. M. Gosselin. A Family of New Parallel Architecture with Four Degrees of Free- dom. The 2nd workshop on Computational Kinematics, Seoul, 2001:57-66
29 W. J. Chen, M. Y. Zhao, J. P. Zhou, et al. A 2T-2R 4-DOF Parallel Manipulator. AS- ME Design Engineering Technical Conferences, Montreal,2002, MECH-34303
30金振林,高峰,李研彪.一种机器人腰关节.中国发明专利:200710062554.4. 2007.8.8
31 Tian Huang, et al. Design of Hexapod-Base Machine Tools with Special Orientation Capability and well-Conditioned Dexterity. The 10th World Congress for Theory of Machines and Mechanism, Oulu, Finland, 1999: 40-45
32 Siciliano, B. The Tricept Robot:Inverse kinematics algorithm.Robotica, 1999, l7:437
33 Clavel, R. DELTA. A Fast Robot with Parallel Geometry.Proc.of the Int.Symp.On Industrial Rob, Switzerland, 1988:91-100
34 Kenneth H. Pittens, Ron P. Podhorodeski. A family of Stewart Platforms with optimal Dexterity. Journal of Robotic Systems,1993,10(4):463-479
35王乐锋,荣伟彬,孙立宁.三支链六自由度并联柔性铰微动机器人的研究.光学精密工程, 2007,15(4):529-534
36金振林,高峰.新型基于6-PSS三维平台机构的并联微动机器人.仪器仪表学报, 2001,22(6):566-569
37 K. M. Lee, S. Arjunan. A 3-DOF Micro-Motion In-Parallel Actuated Manipulator. IEEE Conference on Robotics and Automation, 1989:1698-1703
38戚开成.仿人形机器人机构设计.[河北工业大学硕士学位论文].2004:41-42
39张寿涛.临床医师手册外科分册.上海:上海科学技术出版社,1989:165-170
40黄真.空间机构学.北京:机械工业出版社, 1989:126-141 1-18
41黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京:机械工业出版社,1997:18-29
42余顺年,马履中.两平移-转动并联机构位置及工作空间分析.农业机械学报, 2005, 36(8): 103-106
43金振林,王军,高峰.新型6-PSS并联机器人工作空间分析.中国机械工程, 2002, 13(13): 1088-1090
44刘辛军,汪劲松,王启明,等.一种空间3自由度并联机器人的工作空间和转动能力分析.自然科学进展,2005,15(2):212-220
45张立杰,刘辛军.球面三自由度并联机器人可达工作空间的研究.中国机械工程, 2001,12(10):1122-1124
46邬昌峰.6-SPS并联机器人工作空间研究及其优化设计.[合肥工业大学硕士学位论文].2003:46-54
47曹永刚,张玉茹,马运忠.6-RSS型并联机构的工作空间分析与参数优化.机械工程学报,2008,44(1):19-24
48王乐锋,荣伟彬,孙立宁.三杆六自由度并联微动机器人的工作空间分析.机械设计与制造,2008,3:6-8
49赵剑波,高峰,岳义.6-PPPS正交六自由度并联机构的姿态空间设计.中国机械工程, 2009,18(17):2025-2028
50刘英想,刘军考,陈维山,等.6-UPS并联机器人奇异姿态空间分析.机械工程师, 2006,6:31-34
51白志富,韩先国,陈五一.基于冗余驱动的大姿态角并联机构优化设计.北京航空航天大学学报, 2006,32(7):856-859
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2 T. Asfour, K. Bern, R. Dillmann. et al. The Humanoid Robot Armor: Design and Control. Proceedings of The First IEEE International Conference on Humanoid Robots,2000,MIT.USA,MIT Press,2000:7-8
3 W. Rufus. The Shadow Biped[EB/OL]. http://www.shadow.org.uk/projects/bipeds. html
4 K. Toffler, M. Ginger, F. Pfeiffeiup, et a1.Sensor and Control Design of a Dynamically Stable Biped Robot. Proceedings of 2003 IEEE International Conference on Robotics and Automation. Germany.2003.TaiwanI R.O.C,2003:484-490
5 B. Carlos. Jacket[EB/OL].http://www.uc3m.es/uc3m/dpto/IN/dpin04/JACK.html
6 KIST Releases Korea’s Latest Humanoid Robot NBH.1[EB/OL]. http://www.arirnng. com.html
7 KATO.I.et a1.Wabot-2.Autonomous Robot with Dexterous Finger Ann.Proceeding of IEEE Robotics and Automation,1987,5(2):158-162
8 Kato I, Group of Bio-Engineering(Waseda University). Information Power Machine with Senses and Limbs-WABOT[A].Proceedings of CISM-IFTOMM Theory and Practice of Robots and Manipulators.Undine Springer,1974:12-24
9 Toshio Morita ,Hiroyasu Iwata ,Shigeki Sugano. Development of humansymbiotic robot :Wendy. Proc. of the 1999 IEEE International Conference on Robotics and Automation ( ICRA) ,1999,(4):3183-3188
10 K.Kaneko, F.Kanehiro, S.Kajita, K.Yokoyama, K.Akachi, T.Kawasaki, S.Ota, T.lsozumi.Design of prototype humanoid robotics Platforrn for HRP Intelligent Robots and System.2002.IEEE/RSJ International Conference on, 2002,3:2431-2436
11 N.Kanehira, T.U.Kawasaki, S.Ohta, T.Ismumi, T.Kawada, F.Kanehiro, S.Kajita,K.Kaneko.Design and experiments of advaneed leg module(HRP-2L)for humanoid robot(HRP-2) Development Intelligent Robots and System , 2002, IEEE/RSJ International Conferenceon, 2002,3:2455-2460
12 Brooks R A, et al. The Cog project: building a humanoid robot. Computation for Metaphors, Analogy, and Agents, Sp ringer-Verlag Heidelberg ,Berlin, 1999:52-87
13 Scot Nortman,Antonio Arroyo,Michael Nechyba,et a1.Penuman:A humanoid robot implementation.Florida Conference on Recent Advances in Robotics (FCRAR), 2002, 5:1-8
14赵铁军,赵明扬,单光坤,等.仿人机器人柔性腰部机构研究.机器人, 2003,25(2):101-104
15金振林,荣誉.基于三分之非均匀分布球面并联机构的腰关节设计.中国机械工程,2007,18(22):2697-2699
16 Hirai K, et al. The development of Honda humanoid robot[A]. Proc. of the 1998 IEEE International Conference on Robotics and Automation (ICRA), 1998: 1321-1326
17 Kagami S, et al. Design and imp lementation of software research platform for humanoid robotics:H6 [A].Proc. of the 2001 IEEE International Conference on Robotics and Automation (ICRA), 2001:2431-2436
18扬斌久,蔡光起,罗继曼,等.少自由度并联机器人的研究现状.机床与液压, 2006,5:202-206
19李秦川,黄真.一类可重组模块化少自由度并联机器人.机电工程, 2003,5(20): 165-168
20 K. H. Hunt. Structural Kinematics of in-Parallel-Actuated Robot Arms. Journal of Mechanisms, Transmissions and Automation in Design,1983,105:705-712
21 Lee, K.M. And Shah, D.K. Kinematics Analysis of a Three-Degree-of Freedom in Parallel Actuated Manipulator. IEEE Journal of Robotics and Automation, 1988, 4(3): 354-360
22 Lee, K.M. And Shah, D.K. Kinematics Analysis of a Three-Degree-of Freedom In Parallel Actuated Manipulator. IEEE Journal of Robotics and Automation, 1987,1(5): 354-350
23 Waldron, K.J. Raghacan, M. Roth, B. Kinematics of a Hybrid Serial-Parallel Manipu- laulation System.ASME J. Of Dyn. Sys. Meas. And Cont, 1989, 11(1):211-211
24 C. Gosselin, J. Angeles.The Optimum Kinematic Design of a Spherical 3-DOF Parallel Manipulator. ASME Journal of Mechanism, Transmissions, and Automation in design, 1989,111(7):202-207
25战丽娜.一种基于球面机构的肩关节的分析与设计.燕山大学学报,2006,30(1): 14-17
26孙立宁,刘宇,祝宇虹.一种用于腕关节的球面三自由度并联解耦机构位置分析.中国机械工程,2003,14(10):831-833
27高峰,赵辉,李为民,等.串并联人形机器人.中国发明专利:03102865.9. 2003.1.26
28 D. Zlatanov, C. M. Gosselin. A Family of New Parallel Architecture with Four Degrees of Free- dom. The 2nd workshop on Computational Kinematics, Seoul, 2001:57-66
29 W. J. Chen, M. Y. Zhao, J. P. Zhou, et al. A 2T-2R 4-DOF Parallel Manipulator. AS- ME Design Engineering Technical Conferences, Montreal,2002, MECH-34303
30金振林,高峰,李研彪.一种机器人腰关节.中国发明专利:200710062554.4. 2007.8.8
31 Tian Huang, et al. Design of Hexapod-Base Machine Tools with Special Orientation Capability and well-Conditioned Dexterity. The 10th World Congress for Theory of Machines and Mechanism, Oulu, Finland, 1999: 40-45
32 Siciliano, B. The Tricept Robot:Inverse kinematics algorithm.Robotica, 1999, l7:437
33 Clavel, R. DELTA. A Fast Robot with Parallel Geometry.Proc.of the Int.Symp.On Industrial Rob, Switzerland, 1988:91-100
34 Kenneth H. Pittens, Ron P. Podhorodeski. A family of Stewart Platforms with optimal Dexterity. Journal of Robotic Systems,1993,10(4):463-479
35王乐锋,荣伟彬,孙立宁.三支链六自由度并联柔性铰微动机器人的研究.光学精密工程, 2007,15(4):529-534
36金振林,高峰.新型基于6-PSS三维平台机构的并联微动机器人.仪器仪表学报, 2001,22(6):566-569
37 K. M. Lee, S. Arjunan. A 3-DOF Micro-Motion In-Parallel Actuated Manipulator. IEEE Conference on Robotics and Automation, 1989:1698-1703
38戚开成.仿人形机器人机构设计.[河北工业大学硕士学位论文].2004:41-42
39张寿涛.临床医师手册外科分册.上海:上海科学技术出版社,1989:165-170
40黄真.空间机构学.北京:机械工业出版社, 1989:126-141 1-18
41黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京:机械工业出版社,1997:18-29
42余顺年,马履中.两平移-转动并联机构位置及工作空间分析.农业机械学报, 2005, 36(8): 103-106
43金振林,王军,高峰.新型6-PSS并联机器人工作空间分析.中国机械工程, 2002, 13(13): 1088-1090
44刘辛军,汪劲松,王启明,等.一种空间3自由度并联机器人的工作空间和转动能力分析.自然科学进展,2005,15(2):212-220
45张立杰,刘辛军.球面三自由度并联机器人可达工作空间的研究.中国机械工程, 2001,12(10):1122-1124
46邬昌峰.6-SPS并联机器人工作空间研究及其优化设计.[合肥工业大学硕士学位论文].2003:46-54
47曹永刚,张玉茹,马运忠.6-RSS型并联机构的工作空间分析与参数优化.机械工程学报,2008,44(1):19-24
48王乐锋,荣伟彬,孙立宁.三杆六自由度并联微动机器人的工作空间分析.机械设计与制造,2008,3:6-8
49赵剑波,高峰,岳义.6-PPPS正交六自由度并联机构的姿态空间设计.中国机械工程, 2009,18(17):2025-2028
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