高集成三自由度解耦球型手腕

doi:10.3785/j.issn.1008-973X.2014.11.016

浙江大学学报(工学版)

机械工程

高集成三自由度解耦球型手腕

张永顺1,满达1,郑鹏1,郭建超1,邓宗全2,唐德威2

1. 大连理工大学精密与特种加工教育部重点实验室,辽宁大连 116024；2. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨 150001

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

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摘要：

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.

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.

出版日期: 2014-11-01

TP 242.2

基金资助:

国家自然科学基金资助项目(51277018, 61175102)；哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题资助项目(SKLRS200903B)

作者简介: 张永顺(1965-)，男，教授，博导,主要研究方向机器人机电一体化技术.E-mail：zyshun@dlut.edu.cn

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引用本文:

张永顺,满达,郑鹏,郭建超,邓宗全,唐德威. 高集成三自由度解耦球型手腕[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2014.11.016.

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), 10.3785/j.issn.1008-973X.2014.11.016.

链接本文:

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

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