机器人2011，Vol.33Issue(3)：332-339,8.DOI:10.3724/SP.J.1218.2011.00332
仿人机器人轻型高刚性手臂设计及运动学分析
Design and Kinematic Analysis of a Light Weight and High Stiffness Manipulator for Humanoid Robots
摘要
Abstract
The mechanical design and kinematic analysis method of a light weight and high stiffness manipulator with 7DOFs for humanoid robot is presented. Firstly, dynamic simulation, finite element analysis and experiments testing are combined together to design a manipulator with light weight, high stiffness and compact structure. Meanwhile, look-up database and inverse kinematics calculation are used to imitate the posture of human's arm to obtain optimal inverse kinematic solution. In the proposed algorithm, the problem of the multiple solutions of the inverse kinematics brought by the redundant DOF is solved and the joints' angle which make the manipulator's posture natural can be derived conveniently. Experiments show the feasibility of the method.关键词
轻量化/高刚性/机构设计/自然姿态/运动学分析Key words
light weight/ high softness/ mechanical design/ natural posture/ kinematic analysis分类
信息技术与安全科学引用本文复制引用
田野,陈晓鹏,贾东永,孟非,黄强..仿人机器人轻型高刚性手臂设计及运动学分析[J].机器人,2011,33(3):332-339,8.基金项目
国家自然科学基金资助项目(60874048):国家863计划资助项目(2008AA042601) （60874048）
"111"引智计划资助项目(B08043). （B08043）
