【作者】 荣誉；

【导师】 金振林；

【作者基本信息】 燕山大学 ， 机械制造及其自动化， 2006， 硕士

【摘要】 本文对一种基于三分支非均匀分布球面三自由度并联机构的仿人机器人的腰关节进行了分析与设计。根据人体腰关节的结构特点阐述了仿人机器人的腰关节的设计思想，采用球面三自由度并联机构作为腰关节的机构原型。运用球面解析理论分析了球面机构的位置正反解，详细阐述了腰关节机构的位置正反解的整个推导过程，举例说明输入和输出之间的关系，进行了数值特例分析，绘制出输入和输出之间的关系曲线。通过约束分析，研究了不同设计参数下工作空间的截面分布情况，并定量分析了设计参数对工作空间大小的影响，选取了满足腰关节性能的参数。分析了腰关节的运动学传递性能和力学传递性能，求出雅可比矩阵和力雅可比矩阵。定义了全域角速度精度传递评价指标和全域力矩精度传递评价指标，并绘制出球面机构的设计参数与各性能指标之间的关系图，选取传递性好的参数，同时建立了结构仿真模型。以各性能指标、工作空间以及组装条件为依据，选取满足腰关节工作空间要求及组装条件的合理的机构设计参数值，确定机构参数，设计出一种基于三分支非均匀分布球面并联机构的仿人机器人的腰关节。本文的研究工作为仿人机器人的整体研究奠定了基础。更多还原

【Abstract】 The thesis focuses on analysis and design of the humanoid robots’ waist joint based on the three branches unequal spaced distribution spherical 3-DOF parallel manipulator.Design thought is given, which indicates the spherical 3-DOF parallel manipulator is fit to become the humanoid robots’ waist joint. The forward and reverse position are analyzed by using the spherical analytic theory, and corresponding numerical examples are also given to show the relations between the inputs and the outputs.The section distributions of different design parameters workspace are investigated, what’s more, effects of design parameters on workspace volume are analyzed quantificationally. The global angle velocity precision transfer evaluation index and the global moment precision transfer evaluation index are defined, and the relation plots between seven design parameters and performance indexes are drawn.The mechanism parameters are confirmed according to the performance indexes, workspace volume and assembly conditions, then the humanoid robots’ waist joint based on the spherical parallel manipulator is designed. Kinematics simulation is accomplished, and the simulation results and the theoretics calculation results are compared.The research of this thesis provides better base on the whole study of the humanoid robot.更多还原