机械手的结构设计与运动控制

Xuanmin Ma, Ziyang Lu, Yunfei Ma
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引用次数: 0

摘要

新型仿生机器人的研究大多是应用于非结构化环境,能够胜任复杂结构或狭窄空间的一些任务。蛇形机械手作为仿生机器人领域的重要成员,具有易接近性好、柔性高、环境适应性强等优点,具有良好的应用前景。本文研究了蛇形机械手的主体结构设计、运动分析、控制系统设计和样机验证。本文对蛇形机械手的主体结构进行了设计,包括驱动方式和关节连接方式。利用SolidWorks软件设计了蛇形机械臂的三维结构模型,并对关键应力构件进行了静力分析,验证了结构的可靠性。完成了蛇形机械手的运动分析。传动机构的运动原理分析、二维平面的运动分析和三维空间的运动学和动力学分析为进一步控制提供了理论依据。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Structure design and motion control of manipulator
Most of the research on new bionic robots are applied in unstructured environment and can be competent for some tasks in complex structure or narrow space. As an important member in the field of bionic robot, snake manipulator has the advantages of good accessibility, high flexibility and strong environmental adaptability, and has a good application prospect. This paper studies the body structure design, motion analysis, control system design and prototype verification of snake manipulator. In this paper, the body structure of snake manipulator is designed, including driving mode and joint connection mode. The three-dimensional structural model of snake manipulator is designed by using SolidWorks, and the static analysis of key stress components is carried out to verify the structural reliability. The motion analysis of snake manipulator is completed. The motion principle analysis of the transmission mechanism, the motion analysis in two-dimensional plane and the kinematics and dynamics analysis in three-dimensional space provide a theoretical basis for further control.
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