Please wait a minute...
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
    
Highly integrated spherical wrist with decoupled three degrees of freedom
ZHANG Yong-shun1,MAN Da1,ZHENG Peng1, GUO Jian-chao1, DENG Zong-quan2,TANG De-wei2
1. Key Laboratory for Precision & Non-traditional Machining of Ministry of Education,  Dalian University of Technology, Dalian 116024;2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 15001
Download:   PDF(955KB) HTML
Export: BibTeX | EndNote (RIS)      

Abstract  
To improve integration and flexibility of space robot wrist, a 3-DOF decoupled spherical wrist with independent kinematic chains was proposed. The structure of double universal joints and double hemispheres was employed to guarantee compactness and flexibility of the spherical wrist. The transmission relationship of three motions and the workspace of the wrist were analyzed, the structure design of the 3-DOF decoupled spherical wrist was finished, the forward and inverse kinematics and Jacobian matrix of the spherical wrist were derived, the characteristics of motion decoupling and structure decoupling were investigated, and the motion transitive relation between the working space and the joint space was established. The experimental platform of the 3-DOF decoupled spherical wrist was established, the posture motion experiments of pitch, yaw and rotation were conducted, along with the verification experiment of motion trajectory of the wrist end. The study results show that the decoupled motions of the 3-DOF spherical wrist are flexible and smooth, posture angles can be adjusted in large range, and accurate trajectory tracking can be realized.


Published: 01 November 2014
CLC:  TP 242.2  
Cite this article:

ZHANG Yong-shun,MAN Da,ZHENG Peng, GUO Jian-chao, DENG Zong-quan,TANG De-wei. Highly integrated spherical wrist with decoupled three degrees of freedom. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2014, 48(11): 2025-2030.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2014.11.016     OR     http://www.zjujournals.com/eng/Y2014/V48/I11/2025


高集成三自由度解耦球型手腕

针对空间机器人手腕集成度低和灵活性差的问题,提出一种由相对独立运动链组成的三自由度解耦球型手腕机构,采用双万向节和双半球结构来保证腕关节的紧凑性与灵活性.分析运动传动关系和工作空间区域,完成三自由度解耦球型手腕的结构设计,推导正、逆运动学方程和雅克比矩阵,分析结构解耦和运动解耦特性,建立作业空间与关节空间的运动传递关系.构建三自由度解耦球型手腕试验平台,进行侧摆、俯仰、自转试验和末端运动轨迹验证试验.研究结果表明,解耦球型手腕运动灵活、平稳,姿态角调整范围大,轨迹跟踪准确.
[1] MARK E R. Four new robot wrist actuators [C]∥ Robots 10th Conference Proceedings. Chicago,IL,USA:RI/SME,1986:81,845.
[2] MARK E R. Robot wrist actuators[M]. New York:Wiley Press,1988:12-18.
[3] 吴伟国,邓喜君,蔡鹤皋.基于直齿轮传动和双环解耦的柔性手腕原理与运动学分析[J].机器人,1998,20(6):433-436.
WU Wei-guo,DENG Xi-jun,CAI He-gao. Principle and kinematics analysis of the flexible wrist on the straight gear drive and the double -ring uncoupling[J]. Robot,1998,20(6):433-436.
[4]刘宪锋,潘存云,杨昂岳. 基于球形齿轮传动的柔性手腕动作原理及运动分析[J]. 机器人,1996,18(4):201-205.
LIU Xian-feng,PAN Cun-yun,YANG Ang-yue. Moving principle and kinematics analysis of the wrist actuator based on spherical gear transmission
[J]. Robot,1996,18(4):201-205.
[5] 潘存云,温熙森. 基于渐开线球齿轮的机器人柔性手腕结构与运动分析[J]. 机械工程学报,2005,41(7):141-146.
PAN Cun-yun,WEN Xi-sen. Construction and kinematics analysis of the robots flexible wrist based on the involute spherical gear [J].
Chinese Journal of Mechanical Engineering,2005,41(7):141-146.
[6] NAOKI S,NORIHIKO S,TOSHIYUKI S. Development of spherical joint robot using pneumatic artificial muscles[C]∥ Proceedings 34th Annual Conference of the IEEE Industrial Electronics Society. Orlando,FL,United States:IEEE,2008:1614-1619.
[7] HIROSE S. Biologically inspired robot[M]. England:Oxford Science Publication,1993:1402-1408.
[8] IKEDA H,TAKANASHI N. Joint Assembly moveable like a human arm:United States,4683406[P]. 1987-07-28.
[9] ERIC P,TIMOTHY O,SAMAD H. The JPL serpentine robot:a 12-DOF system for inspection[C] ∥ Proc. Of IEEE Int. Conf. on Robotics and Automation. Nagoya,Japan:IEEE,1995:3143-3148.
[10] ASANO K, OBAMA M,ARIMURA Y. Multijoint inspection robot [J]. IEEE Transactions On Industrial Electronics,1983,30(3):277-281.
[11] NILSSON M. Snake robot, free climbing[J]. IEEE control Systems Magazine,1998,18(1):21-26.
[12] ALBERT A,SVEN B,JENS O, et al. Upper body of a new humanoid robot-the design of ARMAR Ⅲ[C]∥ Proc.IEEE-RAS Int. Conf. Humanoid Rob. Genoa,Italy. IEEE:2006:308-313.
[13] LI Meng,HUANG Tian,LI Zhan-xian. Conceptual design and kinematic analyses of a 3-DOF robot wrist[C]∥Proc IEEE Int Conf Rob Autom. Taipei,China: IEEE,2003:330-335.
[14] CHOI H R,RYEW S M. Anthropomorphic joint mechanism with two degrees of freedom[C] ∥ Proc IEEE Int Conf Robot Autom. San Francisco,CA,USA. IEEE,2000:1525-1530.
[15] RYEW S,CHOI H. Double active universal joint (dauj):robotic joint mechanism for humanlike motions[J]. IEEE Transactions on Robotics and Automation,2001,17(3):290-300.
[1] HUANG Qi wei, ZHANG Ming, QU Wei wei, LU Xian gang, KE Ying lin. Posture optimization and smoothness for robot drilling[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(12): 2261-2268.
[2] CHEN Qing-cheng, ZHU Shi-qiang, WANG Xuan-yin, ZHANG Xue-qun. Inverse kinematics sub-problem solution algorithm for serial robot based on screw theory[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2014, 48(1): 8-14.
[3] WU Wen-xiang, ZHU Shi-qiang, JIN Xing-lai. Dynamic Identification for Robot Manipulators Based on
Modified Fourier Series
[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2013, 47(2): 231-237.
[4] WANG Hui-fang, ZHU Shi-qiang, WU Wen-xiang. INSGA-Ⅱ based multi-objective trajectory planning for manipulators[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2012, 46(4): 622-628.
[5] DING Yuan-ming, WANG Xuan-yin. Optimization method of serial manipulator structure[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2010, 44(12): 2360-2364.