【作者】 王林；

【导师】 李研彪；

【作者基本信息】 浙江工业大学 ， 机械工程， 2018， 硕士

【摘要】 目前,大多数拟人机械臂的结构以串联机构为主,存在误差累积效应、承载能力小、动态特性差等问题。而并联机构具有承载能力强、运动惯性小、动态特性好等优点,有效的弥补了串联机构的不足之处。为了克服当前拟人机械臂的缺陷,提出了一种新型的串并混联拟人机械臂,并对该机械臂的运动学、动力学和动载协调分配等问题进行研究,论文的主要研究内容和成果如下:(1)提出了一种新型的串并混联拟人机械臂,其肩关节、肘关节和腕关节分别采用球面5R并联机构、四杆机构和3-UPS/S并联机构,且各关节通过串联连接构成2-1-3布局形式。该拟人机械臂发挥了串联机构和并联机构的优点。(2)建立了肩关节机构、腕关节机构的运动学模型和动力学模型,定义了动力学性能评价指标和力映射性能评价指标,并分析了各项性能指标在工作空间内的分布情况。(3)建立了串并混联拟人机械臂的运动学模型和动力学模型,定义了动力学性能评价指标和力映射性能评价指标,并分析了各项性能指标在工作空间内的分布情况。(4)提出了一种拟人机械臂的动载协调分配优化方法。建立了综合性能最优的轨迹方程,考虑时间、能耗和稳定性,定义了广义时间优化目标,采用遗传算法得到了最优轨迹运动所需的最短广义时间。本论文对拟人机械臂的动载协调分配问题进行了研究,得到了动力学性能评价指标和力映射性能评价指标在工作空间内的分布情况,以及最优的运动轨迹和最短的广义时间,为拟人机械臂的工程应用提供了理论基础。更多还原

【Abstract】 At present,the structure of most humanoid arms is dominated by a tandem mechanism,which has the problems of cumulative error,small carrying capacity and poor dynamic characteristics.The parallel mechanism has the advantages of strong bearing capacity,small motion inertia and good dynamic characteristics,which effectively makes up for the shortcomings of the tandem mechanism.In order to overcome the defects of the present humanoid arms,a novel serial-parallel hybrid humanoid arm is proposed.The humanoid arm is studied,including the kinematics,dynamics and dynamic load distribution etc.The following work has been achieved:(1)A novel serial-parallel hybrid humanoid arm is proposed,and the spherical 5R parallel mechanism,4-bar mechanism and 3-UPS/S parallel mechanism are adopted as the shoulder,elbow and wrist joint.3-DOF shoulder joint,1-DOF elbow joint and 3-DOF wrist joint are connected in series.The humanoid arm has a lot of advantages of the parallel and series mechanisms.(2)The kinematic model and dynamic model of shoulder joint and wrist joint is established.The dynamic performance evaluation index and force mapping performance evaluation index are defined.And the distribution of each performance index in the working space is drawn and analyzed.(3)The kinematic model and dynamic model of the series-parallel hybrid humanoid arm is established.The dynamic performance evaluation index and force mapping performance evaluation index are defined.And the distribution of each performance index in the working space is drawn and analyzed.(4)An optimization method of dynamic load distribution of the humanoid arm is proposed.The trajectory equation with the best overall performance is established.By considering the time,energy consumption and stability,the generalized time optimization objective is defined.The shortest generalized time for optimal trajectory motion is obtained by genetic algorithm.In this paper,the optimization method of dynamic load distribution of the humanoid arm is studied.And the distribution of the dynamic performance evaluation index and the force mapping performance evaluation index in workspace are studied.The optimal trajectory and the shortest generalized time is obtained.These research results provide a theoretical basis for the engineering application of humanoid arms.更多还原