基于Pro/E的双拟人臂机器人设计
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摘要
为提高机械臂的灵活性,设计一款双拟人臂机器人并对其运动过程进行仿真。首先,对人臂的构型与运动进行分析,确定各个关节的自由度;然后利用Pro/E对7自由度的拟人机械臂进行三维建模,其主要由肩、肘、腕关节构成,分别具有三个、两个、两个自由度,利用电机驱动与皮带传动方式实现拟人机械臂的运动;最后利用Pro/E分析双拟人臂机器人的摆臂运动,模仿人走路过程中手臂的摆动动作。仿真结果表明,所设计的双拟人臂机器人运动过程平稳、具有较高的灵活性,能产生与人臂运动过程相近的动作。
In order to improve the flexibility of the manipulator,a robot with double humanoid robotic arms is designed and the motion process is simulated. Firstly,the configuration and the motion of humanoid arms are analyzed,and the degrees of freedom of each joint are determined. Secondly,the 3 D model of the 7-DOF humanoid robotic arm is established based on Pro/E. It mainly consists of shoulders,elbows and wrist joints,which have 3-DOF,2-DOF and 3-DOF respectively. The motion of humanoid robotic arms is realized by motor and belt transmission mechanism. Finally,the swinging arm motion of the humanoid robotic arms imitates the arm swing during human walking is analyzed by Pro/E. The simulation results show that the designed robot has stable motion and high flexibility,and it could produce the action similar to the movement process of human arms.
In order to improve the flexibility of the manipulator,a robot with double humanoid robotic arms is designed and the motion process is simulated. Firstly,the configuration and the motion of humanoid arms are analyzed,and the degrees of freedom of each joint are determined. Secondly,the 3 D model of the 7-DOF humanoid robotic arm is established based on Pro/E. It mainly consists of shoulders,elbows and wrist joints,which have 3-DOF,2-DOF and 3-DOF respectively. The motion of humanoid robotic arms is realized by motor and belt transmission mechanism. Finally,the swinging arm motion of the humanoid robotic arms imitates the arm swing during human walking is analyzed by Pro/E. The simulation results show that the designed robot has stable motion and high flexibility,and it could produce the action similar to the movement process of human arms.
引文
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[3]胡磊,胡宁,王立权,等.3SPS-1S并联机构的仿人机械臂系统设计[J].哈尔滨工程大学学报,2015,36(11):1515-1521+1531.
[4]陈鹏,刘璐,余飞,等.一种仿人机械臂的运动学逆解的几何求解方法[J].机器人,2012,34(2):211-216.
[5]Zulkifli M,Mitsuki K,Shin-ichiro K,et al.Humanoid robot arm performance optimization using multi objective evolutionary algorithm[J].International Journal of Control,Automation and Systems,2014,12(4):870-877.
[6]刘雷.基于惯性运动捕捉的仿人机械臂控制系统算法研究[D].西安:西北大学,2015.
[7]田凤娟.仿人机械臂的末端执行器的运动学与力学分析[D].石家庄:河北工业大学,2015.
[8]秦利,刘福才,梁利环,等.仿人机器人混联构型手臂的动力学建模与控制[J].高技术通讯,2014,24(4):420-428.
[9]张程,张卓.5-DOF仿人型机械臂关节空间轨迹规划研究[J].组合机床与自动化加工技术,2017(9):23-26+30.