3-RRR+(S-P)人形机器人仿生肩关节主参数设计及其工作空间分析

中国机械工程

3-RRR+(S-P)人形机器人仿生肩关节主参数设计及其工作空间分析

杨龙;褚宏鹏;孙通帅;邱雪松;周玉林

燕山大学机械工程学院，秦皇岛，066004

出版日期:2017-01-25 发布日期:2017-01-20
基金资助:
国家自然科学基金资助项目(51275443,51305384)

Main Parameter Design and Workspace Analysis of a Novel 3-RRR+(S-P) Humanoid Robotic Bionic Shoulder

YANG Long;CHU Hongpeng;SUN Tongshuai;QIU Xuesong;ZHOU Yulin

School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004

Online:2017-01-25 Published:2017-01-20

摘要/Abstract

摘要： 通过实验测量得到人体肩关节的运动空间。依据结构仿生原则，对比人体肱骨结构参数，将3-RRR+(S-P)人形机器人仿生肩关节的输出偏置角定为45°，并通过坐标变换得到其安全工作空间。依据空间一致性原则，对比人体肩关节的运动空间，确定仿生肩关节定平台在“人体”中的安装位姿角，使仿生肩关节相对于“人体”的安全工作空间与人体肩关节运动空间的中心位置（对称轴线）重合，从而设计完成3-RRR+(S-P)人形机器人仿生肩关节。最后，建立3-RRR+(S-P)人形机器人仿生肩关节与人体肩关节的空间映射关系。

关键词: 仿生肩关节, 主参数设计, 结构仿生, 空间一致性

Abstract: The moving spaces of human shoulder were obtained by experiments. Based on the principles of structural bionic, the output offset angles of 3-RRR+(S-P) humanoid robotic bionic shoulder were designed as 45° referring to the structure of humerus. And then, the secure workspaces of the bionic shoulder were obtained by coordinate transformation. Based on the principles of space consistency, the installation orientations of the bionic shoulder relative to “human body” were determined referring to the moving spaces of human shoulder. The center positions(symmetry axes) of the secure workspaces of the bionic shoulder relative to “human body” and the moving spaces of human shoulder were coincident. Thereby, the 3-RRR+(S-P) humanoid robotic bionic shoulder was proposed. Finally, the workspace mapping relation between 3-RRR+(S-P) humanoid robotic bionic shoulder and human shoulder was obtained.

Key words: bionic shoulder, main parameter design, structural bionic, space consistency

中图分类号:

TP24

杨龙, 褚宏鹏, 孙通帅, 邱雪松, 周玉林. 3-RRR+(S-P)人形机器人仿生肩关节主参数设计及其工作空间分析[J]. 中国机械工程.

YANG Long, CHU Hongpeng, SUN Tongshuai, QIU Xuesong, ZHOU Yulin. Main Parameter Design and Workspace Analysis of a Novel 3-RRR+(S-P) Humanoid Robotic Bionic Shoulder[J]. China Mechanical Engineering.

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