机械科学与技术2025，Vol.44Issue(7)：1127-1135,9.DOI:10.13433/j.cnki.1003-8728.20230292
7自由度类肌腱驱动仿生机械臂的设计及运动分析
Design and Motion Analysis of 7-DOF Tendon-driven Bionic Robotic Arm
摘要
Abstract
In order to improve the flexibility and safety of the bionic robotic arm during human-robot interaction,a seven-degree-of-freedom tendon-driven bionic robotic arm design method is proposed.Based on studying the biological bionic mechanism of human upper limbs,the tendon-like drive mechanism,tension amplification mechanism and series-parallel hybrid wrist mechanism are designed to achieve the modular design of shoulder joint,flexible tension amplification of elbow joint and high dexterity movement of wrist joint.To solve the problem of tension drop during the movement of the rope drive mechanism,a passive motion rope tensioning mechanism design method is proposed to achieve rapid tensioning of the rope during the movement to achieve constant drive force output and ensure the accuracy of the end movement of the robotic arm.In addition,the degree of freedom of the wrist joint 3-UU parallel mechanism is analyzed based on spiral theory to verify the range of joint motion and the feasibility of spherical pure roll motion realization.A ten-axis coupling model of the robotic arm is established,a robotic arm forward and reverse kinematic algorithm is derived,and the correctness of the algorithm is verified through simulation.The working space of the robotic arm is analyzed using the Monte Carlo method.This study provides a theoretical basis for the development and research of tendon-driven bionic robotic arm.关键词
7自由度/类肌腱驱动/柔性张力放大机构/螺旋理论/运动学Key words
7-DOF/tendon-driven/flexible tension amplifying mechanism/spiral theory/kinematics分类
机械制造引用本文复制引用
章宇,陈赛旋..7自由度类肌腱驱动仿生机械臂的设计及运动分析[J].机械科学与技术,2025,44(7):1127-1135,9.基金项目
国家自然科学基金青年基金项目(52005316)与江苏省重点研发计划(BE2020082-3,BE2020082-4) （52005316）
